Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

2018 ◽  
Vol 29 (19) ◽  
pp. 3829-3844 ◽  
Author(s):  
Seung-Woo Cha ◽  
Seok-Rae Kang ◽  
Yong-Hoon Hwang ◽  
Seung-Bok Choi ◽  
Yang-Sup Lee ◽  
...  
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Repulsive Force ◽  
The Body ◽  
Tracking Accuracy ◽  
Magneto Rheological ◽  
Feed Forward Controller ◽  
Repulsive Forces ◽  
6 Degrees Of Freedom ◽  
And Control

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

scholarly journals Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery

Materials ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 1268 ◽  
Author(s):  
Jong-Seok Oh ◽  
Jung Sohn ◽  
Seung-Bok Choi
Keyword(s):  
Viscoelastic Property ◽  
Material Characterization ◽  
Degrees Of Freedom ◽  
Reaction Force ◽  
Robot Assisted ◽  
Magneto Rheological ◽  
6 Degrees Of Freedom ◽  
Force Characteristics ◽  
Robot Assisted Surgery

In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only.

The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom

1996 ◽  
Vol 118 (4) ◽  
pp. 683-690 ◽  
Author(s):  
Ching-Long Shih
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
The Body ◽  
Walking Robot ◽  
Walking Test ◽  
Biped Walking ◽  
Double Support ◽  
Dynamics And Control ◽  
Biped Walking Robot ◽  
And Control

This research studies the dynamics and motion control of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The statically stable walking of the biped robot is implemented by maintaining the center-of-gravity (cg) inside the convex region of the supporting foot/feet during both single-support and double-support phases. The dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of a prototype biped BR-1 and its experimental walking test results are described. The biped robot is able to walk on an even floor both statically and dynamically. On a flat plane, the biped can walk with a speed of 8 cm/second statically, and 20 cm/second dynamically.

Study on Design and Combined Adaptive Control for a Remotely Operated Vehicle (VIAM-ROV900)

2020 ◽  
Vol 902 ◽  
pp. 13-22
Author(s):  
Ngoc Huy Tran ◽  
Thanh Nam Nguyen
Keyword(s):  
Degrees Of Freedom ◽  
Main Task ◽  
Remotely Operated Vehicle ◽  
Underwater Robots ◽  
Model Base ◽  
Model Control ◽  
Simulation Results ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Base Design

This paper presents the research of model-base design and control of Remotely Operated Vehicle (ROV) built in VietNam Automation & Mechatronics Laboratory (VIAMLAB). This is one of the most important types of underwater robots used in water environments for many purposes, especially for navy and marine industries. The design keeps our tethered ROV self-stabilized in the horizontal plane. It is also equipped with thrusters and sensor feedbacks, allowing 6 degrees-of-freedom motion. Moreover, cameras and grabber integrated into ROV support underwater survey tasks. In addition, the paper also simulates controllers with the main task of keeping depth for ROV. The controllers designed and surveyed here include: PID, optimal control (LQR), standard model control (MRAC) and combination controller between LQR and MRAC. The performance of the algorithm will be evaluated through simulation results using Matlab / Simulink.

Loose Guide for Passive Omnidirectional Mobility Aid

2006 ◽  
Vol 18 (4) ◽  
pp. 511-518 ◽  
Author(s):  
Naemeh Nejatbakhsh ◽  
◽  
Kazuhiro Kosuge ◽  
Keyword(s):  
Passive Control ◽  
The Elderly ◽  
Path Tracking ◽  
Indoor Navigation ◽  
Human Interaction ◽  
Tracking Accuracy ◽  
Objective System ◽  
Mobility Aid ◽  
Magneto Rheological ◽  
And Control

This paper details the design and control of an intelligent mobility aid for the elderly and gait-disabled, called Omni RT Walker (ORTW). Omni RT Walker-II, version 2 of ORTW, consists of an omnidirectional platform and uses magneto-rheological brakes for passive control. ORTW-II enables the elderly to use the driving skills they possess while supplementing movement that may have declined due to their age or fatigue. We choose indoor navigation as the task to be realized by shared control of ORTW-II. Unlike most path tracking methods, which attempt to lead an objective system on a desired trajectory, our new algorithm restricts mobility to a pathway called thePotential Canal, while mobility is conducted by the user. In systems with direct human interaction similar to mobility aids, our proposal is expected to increase user-dependability in system operation while increasing user freedom and safety. A collision-free Potential Canal is maintained using realtime modification based on environmental information. Experimental results are included to demonstrate path tracking accuracy and quality.

Posture Synthesis and Control of a Symmetric Hexapod Robot on Corrugated Surfaces for Underwater Observation

2007 ◽  
Author(s):  
Xin Wu ◽  
Yaoyu Li ◽  
Thomas R. Consi
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Ccd Camera ◽  
The Body ◽  
Hexapod Robot ◽  
Corrugated Surfaces ◽  
Sensor Platform ◽  
Robotic Leg ◽  
And Control

This paper presents the first stage of a project to develop a six-legged walker (hexapod) as a highly stable mobile sensor platform for in situ benthic observation. The hexapod is radially symmetric with a downward looking, CCD camera-coupled, microscope mounted co-linear with the central axis of the body. A Lynxmotion (Peoria, IL) Model EH-3R radially symmetric 18 degrees-of-freedom hexapod robot has been used for initial land-based experiments and simplified to a 12 degree-of-freedom structure by locking the panning joint of each leg. Forward and inverse kinematics are then used to derive the relationship between the body posture and the proximal and distal joint angles on legs, which is the basis of the microscope’s coarse focusing for the observation. The kinematics analysis has been verified with both Matlab-based simulations and experiments on the hexapod prototype. Finally, passivity-based posture control is developed and simulated based on the inverse dynamics of the robotic leg.

Kinematics Model of the 6-DOF Underwater Manipulator and Control System Design Based on PLC Technology

2014 ◽  
Vol 620 ◽  
pp. 343-346
Author(s):  
Tao Yao ◽  
Zong Yu Chang
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Kinematics Modeling ◽  
Adams Software ◽  
Underwater Manipulator ◽  
Control Requirement ◽  
6 Degrees Of Freedom ◽  
And Control

The paper introduces kinematics analysis for a kind of 6 degrees of freedom underwater manipulator. Firstly, kinematics model was established based on D-H principle; The solving process of kinematics direct solution and inverse solution of manipulator was presented. Secondly, Numerical simulation is performed based on ADAMS software, every joint speed and acceleration curve is obtained. The working principals and control requirement of underwater manipulator are illustrated; Based on kinematics modeling, the control system of manipulator was designed based on PLC and carried out the control the function of the manipulator.

Control Architecture and Control Laws Design for Multiple UAVs Formation Flight

2012 ◽  
Vol 246-247 ◽  
pp. 853-857
Author(s):  
Guang Lei Meng
Keyword(s):  
Degrees Of Freedom ◽  
Formation Flight ◽  
Control Architecture ◽  
Mathematical Representation ◽  
Control Laws ◽  
Multiple Uavs ◽  
Finite State ◽  
Aerial Vehicle ◽  
6 Degrees Of Freedom ◽  
And Control

An autonomous formation-flight method for multiple UAVs (Unmanned Aerial Vehicle) was designed. First the mathematical representation of formation shape was analyzed. Then the control architecture was devised for multiple UAVs formation flight based on finite state machine. The flight states of the wing UAV were built through the formation flight and the transformation relationships of these flight states were defined. So the automated transformation among these flight states could be achieved and the intelligence of the pilots could be mimicked by this way. Aiming at the typical flight state which is capable of maintaining the formation shape, the control laws were contrived for the wing UAVs. Finally, two nonlinear fighter models which have 6 degrees of freedom were selected to carry out autonomous formation-flight experiments. And the results show the control laws designed for maintaining the formation shape are valid.

scholarly journals Design, construction and control of a SCARA manipulator with 6 degrees of freedom

2019 ◽  
Vol 17 (2) ◽  
Author(s):  
Claudio Urrea ◽  
Juan Cortés
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Matlab Simulink ◽  
Graphic Interface ◽  
Control Techniques ◽  
Design And Implementation ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Design Construction

The design and implementation of a robot manipulator with 6 Degrees Of Freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user to easily command this robot and to generate trajectories for it . Materializing this work required the integration of knowledge in electronics, microcontroller programming, MatLab/Simulink programming, control systems, communication between PCs and microcontrollers, mechanics, assembly, etc.

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