scholarly journals Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

2008 ◽  
Vol 5 (4) ◽  
pp. 225-234 ◽  
Author(s):  
Concepción A. Monje ◽  
Paolo Pierro ◽  
Carlos Balaguer
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Control Architecture ◽  
Working Environments ◽  
Advanced Control ◽  
Robot Cooperation ◽  
The University ◽  
Carlos Iii

The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

Distributed Embedded Control Architecture of a Leader-Follower Mobile Robot Formation

2015 ◽  
Vol 779 ◽  
pp. 201-204
Author(s):  
Ran Li ◽  
Yun Hua Li
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Distributed Control ◽  
Electronic System ◽  
Control Architecture ◽  
Distributed Control System ◽  
Embedded Control ◽  
Data Bus ◽  
Robot Cooperation

Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

scholarly journals Humanoid robot RH-1 for collaborative tasks: a control architecture for human-robot cooperation

2009 ◽  
Vol 5 (4) ◽  
pp. 225-234 ◽  
Author(s):  
Concepción A. Monje ◽  
Paolo Pierro ◽  
Carlos Balaguer
Keyword(s):  
Humanoid Robot ◽  
Control Architecture ◽  
Robot Cooperation

scholarly journals Predictive Function Optimization Control for a Class of Hydraulic Servo Vibration Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Xugang Feng ◽  
Jiayan Zhang ◽  
Jing Wang ◽  
Shaokang Xiong ◽  
Qiling Wu ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Function Optimization ◽  
Servo Control ◽  
Predictive Function ◽  
Advanced Control ◽  
Hydraulic Servo ◽  
Model Structure Uncertainty ◽  
Speed Accuracy ◽  
The Mathematical Model

This paper is concerned with the problem of predictive function control (PFC) for a class of hydraulic vibration servo control systems. Our aim is to design a new advanced control strategy such that the control system can track trajectory in a fast and accurate way. For this end, the mathematical model of the hydraulic vibration servo control system is firstly studied. By analyzing the nonlinear, time-varying, and model structure uncertainty features of the objects, the desired control strategy is presented based on PFC. Finally, the simulation results show that our proposed method is effective and can be used to improve the tracking speed, accuracy, and robustness.

The Application and Research of Fieldbus and Expert System in the Chemical Examination Station of the Power Plant

2005 ◽  
Author(s):  
Tianhong Wang ◽  
Guili Yuan ◽  
Yan Bai ◽  
Zijie Wang
Keyword(s):  
Control System ◽  
Expert System ◽  
Power Plant ◽  
Process Control ◽  
Power System ◽  
Control Strategy ◽  
Great Influence ◽  
Chemical Examination ◽  
Large Power ◽  
Advanced Control

The occurrence of the Fieldbus brings a revolutionary in the control field again, and the depth and scope exceed anyone historically, and introduce new era in automation. The Fieldbus control system (FCS) will have great influence in process control in the future. Though FCS is started to adopt in domestic power system, but adopt the FCS thoroughly is still not many. Normally, based on the originally control system, increase parts of control conception of FCS, and the application of combining the advanced control strategy (artificial intelligent, nerve network, expert system and so on) is fewer. This thesis intends to attempt actively and explore profitably in the development and application of the Fieldbus technology in the control of product process in the power plant. On the base of the explanation of the system and exhaust about the Fieldbus technology and the concept and principle of Fieldbus control system, I combine the tendency of the development of the thermal automation technology in power plant, use the prevalence of the Fieldbus adequately, and bring up the designing thought and scheme about the application of Foundation Fieldbus and expert system in the system of the auxiliary control in the power plant, in order to make the production and running of the power plant more convenient, more safe, more economical and more dependable. On the base of which, combining the practical project, the technology is applied in product process control of chemical examination station of the chemical water workshop in one domestic large power plant, and the level of the automation and the management is enhanced greatly. This would make great significance in theory and practical about the promotion and application of the technology of the Fieldbus and advanced control strategy in the power system especially in the power plant.

scholarly journals A new approach on human–robot collaboration with humanoid robot RH-2

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 949-957 ◽  
Author(s):  
C. A. Monje ◽  
P. Pierro ◽  
C. Balaguer
Keyword(s):  
Humanoid Robot ◽  
Stability Control ◽  
Control Architecture ◽  
Control Loop ◽  
Motion Patterns ◽  
Control Loops ◽  
Working Environments ◽  
Collaborative Control ◽  
The Stability

SUMMARYThis paper presents a novel control architecture for humanoid robot RH-2. The main objective is that a robot can perform different tasks in collaboration with humans in working environments. In order to achieve this goal, two control loops have to be defined. The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. A case study is presented in order to show the effectiveness of the proposed control architecture.

A Robust Walking Control System of Humanoid Robot

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 484-490
Author(s):  
Lun XIE ◽  
Zhiliang WANG ◽  
Chong WANG ◽  
Jiaming XU
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Walking Control

scholarly journals A Unified Control Strategy of Distributed Generation for Grid-Connected and Islanded Operation Conditions Using an Artificial Neural Network

2021 ◽  
Vol 13 (11) ◽  
pp. 6388
Author(s):  
Karim M. El-Sharawy ◽  
Hatem Y. Diab ◽  
Mahmoud O. Abdelsalam ◽  
Mostafa I. Marei
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Control System ◽  
Distributed Generation ◽  
Control Strategy ◽  
Current Control ◽  
Operating Conditions ◽  
Pi Controllers ◽  
Artificial Neural ◽  
The Stability

This article presents a control strategy that enables both islanded and grid-tied operations of a three-phase inverter in distributed generation. This distributed generation (DG) is based on a dramatically evolved direct current (DC) source. A unified control strategy is introduced to operate the interface in either the isolated or grid-connected modes. The proposed control system is based on the instantaneous tracking of the active power flow in order to achieve current control in the grid-connected mode and retain the stability of the frequency using phase-locked loop (PLL) circuits at the point of common coupling (PCC), in addition to managing the reactive power supplied to the grid. On the other side, the proposed control system is also based on the instantaneous tracking of the voltage to achieve the voltage control in the standalone mode and retain the stability of the frequency by using another circuit including a special equation (wt = 2πft, f = 50 Hz). This utilization provides the ability to obtain voltage stability across the critical load. One benefit of the proposed control strategy is that the design of the controller remains unconverted for other operating conditions. The simulation results are added to evaluate the performance of the proposed control technology using a different method; the first method used basic proportional integration (PI) controllers, and the second method used adaptive proportional integration (PI) controllers, i.e., an Artificial Neural Network (ANN).

scholarly journals Research on an Improved Sliding Mode Sensorless Six-Phase PMSM Control Strategy Based on ESO

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1292
Author(s):  
Hanying Gao ◽  
Guoqiang Zhang ◽  
Wenxue Wang ◽  
Xuechen Liu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Sliding Mode ◽  
High Reliability ◽  
Permanent Magnet Synchronous Motor ◽  
Torque Ripple ◽  
Estimation Accuracy ◽  
Switching Function ◽  
Motor Speed ◽  
Rotor Position

The six-phase motor control system has low torque ripple, low harmonic content, and high reliability; therefore, it is suitable for electric vehicles, aerospace, and other applications requiring high power output and reliability. This study presents a superior sensorless control system for a six-phase permanent magnet synchronous motor (PMSM). The mathematical model of a PMSM in a stationary coordinate system is presented. The information of motor speed and position is obtained by using a sliding mode observer (SMO). As torque ripple and harmonic components affect the back electromotive force (BEMF) estimated value through the traditional SMO, the function of the frequency-variable tracker of the stator current (FVTSC) is used instead of the traditional switching function. By improving the SMO method, the BEMF is estimated independently, and its precision is maintained under startup or variable-speed states. In order to improve the estimation accuracy and resistance ability of the observer, the rotor position error was taken as the disturbance term, and the third-order extended state observer (ESO) was constructed to estimate the rotational speed and rotor position through the motor mechanical motion equation. Finally, the effectiveness of the method is verified by simulation and experiment results. The proposed control strategy can effectively improve the dynamic and static performance of PMSM.

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