scholarly journals Robotic Measurement and Control for Chiropractic Research

2006 ◽  
Vol 3 (1) ◽  
pp. 43-48 ◽  
Author(s):  
P. Goldsmith ◽  
S. Wynd ◽  
G. Kawchuk
Keyword(s):  
Robot Manipulator ◽  
Vision System ◽  
Parallel Robot ◽  
Calibration Procedure ◽  
Positional Accuracy ◽  
Experimental Procedure ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control ◽  
Chiropractic Research

The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.

scholarly journals Improvement of Measurement and Control Scheme on Human Body Motion Interface

2012 ◽  
Vol 2 (4) ◽  
pp. 53-59 ◽  
Author(s):  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
Yasuhiro Ohyama ◽  
Daisuke Chugo ◽  
Jinhua She ◽  
...  
Keyword(s):  
Human Body ◽  
Body Motion ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control

scholarly journals A Simplified Model Predictive Control for T-Type Inverter with Output LC Filter

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 31 ◽  
Author(s):  
Van-Quang-Binh Ngo ◽  
Minh-Khai Nguyen ◽  
Tan-Tai Tran ◽  
Young-Cheol Lim ◽  
Joon-Ho Choi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Performance Simulation ◽  
Control Scheme ◽  
Finite Control ◽  
Lc Filter ◽  
The Cost ◽  
And Control ◽  
Measurement And Control ◽  
Selection Of

In this paper, a model predictive control scheme for the T-type inverter with an output LC filter is presented. A simplified dynamics model is proposed to reduce the number of the measurement and control variables, resulting in a decrease in the cost and complexity of the system. Furthermore, the main contribution of the paper is the approach to evaluate the cost function. By employing the selection of sector information distribution in the reference inverter voltage and capacitor voltage balancing, the execution time of the proposed algorithm is significantly reduced by 36% compared with conventional model predictive control without too much impact on control performance. Simulation and experimental results are studied and compared with conventional finite control set model predictive control to validate the effectiveness of the proposed method.

scholarly journals Non-Contact True Temperature Measurements for Process Diagnostics

1988 ◽  
Vol 117 ◽  
Author(s):  
Mansoor A. Khan ◽  
Charly Allemand ◽  
Thomas W. Eagar
Keyword(s):  
Calibration Procedure ◽  
Temperature Measurements ◽  
Physical Contact ◽  
True Temperature ◽  
Hostile Environment ◽  
Process Diagnostics ◽  
The Subject ◽  
And Control ◽  
Measurement And Control

The accurate measurement and control of temperature can be of great importance in most materials manufacturing and processing applications. With present-day technology such measurement almost always requires either physical contact with the subject or an extensive calibration procedure. In many cases contact is either not desirable, because such contact may significantly alter the temperature or other characteristics of the subject, or is not possible because the subject is moving, is too far away, is too hot or is in an otherwise hostile environment. Similarly calibration may not be possible if the characteristics change too much.

Kinematics, Dynamics and Control of a Planar 3-DOF Tensegrity Robot Manipulator

2007 ◽  
Author(s):  
Rafael E. Vasquez ◽  
Julio C. Correa
Keyword(s):  
Nonlinear Control ◽  
Feedback Linearization ◽  
Robot Manipulator ◽  
Equation Of Motion ◽  
Tensegrity Systems ◽  
Control Scheme ◽  
Dynamics And Control ◽  
Cartesian Coordinate ◽  
Three Degree Of Freedom ◽  
And Control

In this paper the kinematic and the dynamic analysis, and a nonlinear control strategy for a planar three-degree-of-freedom tensegrity robot manipulator are addressed. A geometric method is used to obtain the set of equations that describe the position analysis. Initially, solutions to the problems concerning forward and reverse kinematic analysis are presented; then, the forward velocity coefficients matrix is obtained analytically. The Lagrangian approach is used to deduce the dynamic equation of motion and its main properties are described using the nonlinear control system theory. Finally, a feedback-linearization-based nonlinear control scheme is applied to the mechanism to follow a prescribed path in the Cartesian coordinate system. The obtained results show that lightweight mechanisms which incorporate tensegrity systems could be used in a positioning problem.

A Precise Automatic Assembly System for Fabrication of Complex Miniature Products

2011 ◽  
Vol 317-319 ◽  
pp. 757-763 ◽  
Author(s):  
Xi Wen Zhang ◽  
Xiao Dong Wang ◽  
Yi Luo ◽  
Lin Teng ◽  
Liang Chen ◽  
...  
Keyword(s):  
Vision System ◽  
Control Strategies ◽  
Force Sensor ◽  
Assembly System ◽  
Screw Thread ◽  
Feature Fitting ◽  
Local Feature Extraction ◽  
And Control ◽  
Measurement And Control ◽  
Assembly Error

Assembly is one of the most important procedure in manufacturing complex miniature products. Batch assembly is limited by the manual manipulation, for which specially trained technicians is required. In order to automatically assembly certain complex miniature products consisting of multiple parts with different shape and various dimension, and also to reduce the production cost and improve efficiency, an assembly system was developed. Hardware architecture of the system was discussed in detail. Measurement and control strategies in assembling procedure were presented. Local feature extraction and fitting algorithms, reference datum setting were applied to overcome the occlusion. Linear and circular feature fitting from multiple local images of parts, coordinate transformation and the compensation of stages assembly error angle among three local coordinates were adopted to improve the measuring accuracy of vision system. Microscale force sensor was introduced to control the contact force, and the accuracy obtained is less than 1mN. Torque sensor was adopted for sensing the torque during the screw thread assembling, stepping motor and flexible coupler were applied to make the torque smoothly transferred, all of which help precisely measuring and controlling the torque during the M1.4 screw thread assembly.

scholarly journals Robotic measurement and control for chiropractic research

2006 ◽  
Vol 3 (1) ◽  
pp. 43-48 ◽  
Author(s):  
P. Goldsmith ◽  
S. Wynd ◽  
G. Kawchuk
Keyword(s):  
And Control ◽  
Measurement And Control ◽  
Chiropractic Research

scholarly journals Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

Automation ◽  
2021 ◽  
Vol 2 (3) ◽  
pp. 127-140
Author(s):  
Jorge Antonio Sarapura ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Moving Objects ◽  
Robot Manipulator ◽  
Vision System ◽  
Robot Dynamics ◽  
Complete Control ◽  
Scara Robot ◽  
Dynamic Controller ◽  
Control Scheme

In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be unknown. The design of the control algorithm is based on an adaptive kinematic visual servo controller whose objective is the tracking of moving objects even with uncertainties in the parameters of the camera and its mounting. The design also includes a dynamic controller in cascade with the former one whose objective is to compensate the dynamics of the manipulator by generating the final control actions to the robot even with uncertainties in the parameters of its dynamic model. Using Lyapunov’s theory, we analyze the two proposed adaptive controllers for stability properties, and, through simulations, the performance of the complete control scheme is shown.

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