scholarly journals The aerial posture control of a horizontal bar robot : Control law of the driving torque

2003 ◽  
Vol 2003.9 (0) ◽  
pp. 291-292
Author(s):  
Kunio HATTORI ◽  
Hiroshi YAMAURA ◽  
Kyosuke ONO
Keyword(s):  
Robot Control ◽  
Posture Control ◽  
Control Law ◽  
Driving Torque

Design of the Model Following Control System for Robot Control System

2011 ◽  
Vol 467-469 ◽  
pp. 1462-1466
Author(s):  
Da Zhong Wang ◽  
Shu Jing Wu ◽  
Wu Shan Cheng ◽  
Min Liang Zhang
Keyword(s):  
Control System ◽  
Control Problem ◽  
Robot Control ◽  
Control Design ◽  
Control Law ◽  
Control Techniques ◽  
Model Following Control ◽  
Model Following ◽  
Input Control ◽  
Internal States

We propose a new study of the robot control by using model following control system (MFCS). With the MFCS method [1-5], we obtain a simple input control law. The bounded property of the internal states for the control is given and the utility of this control design is guaranteed. In this paper, MFCS control techniques are applied to robot control problem, and simulations are given to illustrate the effectiveness of the proposed method.

Risk-Aware Control

2014 ◽  
Vol 26 (12) ◽  
pp. 2669-2691 ◽  
Author(s):  
Terence D. Sanger
Keyword(s):  
Feedback Control ◽  
Robot Control ◽  
Human Movement ◽  
Spiking Neurons ◽  
Cost Functions ◽  
Control Law ◽  
Time Varying ◽  
Unknown Parameters ◽  
Current State ◽  
The Cost

Human movement differs from robot control because of its flexibility in unknown environments, robustness to perturbation, and tolerance of unknown parameters and unpredictable variability. We propose a new theory, risk-aware control, in which movement is governed by estimates of risk based on uncertainty about the current state and knowledge of the cost of errors. We demonstrate the existence of a feedback control law that implements risk-aware control and show that this control law can be directly implemented by populations of spiking neurons. Simulated examples of risk-aware control for time-varying cost functions as well as learning of unknown dynamics in a stochastic risky environment are provided.

Identification of Coulomb Friction in Robot Drives and Other Mechanical Systems Through Observation of Third Harmonic Generation

1994 ◽  
Vol 208 (5) ◽  
pp. 329-336 ◽  
Author(s):  
D J Brookfield
Keyword(s):  
Coulomb Friction ◽  
Robot Control ◽  
Control Strategies ◽  
Harmonic Component ◽  
Experimental Tests ◽  
Third Harmonic ◽  
The Third ◽  
Drive Systems ◽  
Driving Torque ◽  
Frictional Behaviour

One of the main difficulties in introducing improved robot control strategies is a lack of knowledge of the frictional behaviour of robot drive systems. The aim of the present paper is to describe a technique for the identification of Coulomb friction based on the response of the robot drive to a sinusoidal driving torque The presence of a third harmonic component in the resulting velocity is a consequence of the Coulomb non-linearity and it is shown theoretically, through computer simulation and in experimental tests, that the coefficient of Coulomb friction can be estimated from the amplitude of the third harmonic component. The identification method is shown to be applicable to any mechanical system that can be subjected to a sinusoidal forcing torque or force.

Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

2010 ◽  
Vol 26-28 ◽  
pp. 194-197
Author(s):  
Yan Jie Li ◽  
Zhen Wei Wu
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Modeling And Simulation ◽  
Dynamic Simulation ◽  
Dynamic Modeling ◽  
Contact Force ◽  
Robot Control ◽  
Kinematic Simulation ◽  
Adams Software ◽  
Driving Torque

The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

Standing and Stepping Control with Switching Rules for Bipedal Robots Based on Angular Momentum Around Ankle

2019 ◽  
Vol 16 (05) ◽  
pp. 1950022
Author(s):  
Mitsunori Uemura ◽  
Hiroaki Hirai
Keyword(s):  
Angular Momentum ◽  
Theoretical Analysis ◽  
Mass Distribution ◽  
Robot Control ◽  
Balance Control ◽  
Posture Control ◽  
Bipedal Robots ◽  
Ankle Torque ◽  
Trunk Posture ◽  
Simulation Results

In this paper, we propose standing and stepping control with switching rules based on angular momentum around the ankle for planar bipedal robots. A theoretical analysis under some approximation and mass distribution conditions shows that the proposed standing control maximizes stable regions. We can then classify the state of robots into the following three categories: (1) stabilizable via ankle torque; (2) unstabilizable only via ankle torque and stabilizable via ankle torque and trunk posture control; and (3) unstabilizable via ankle torque and trunk posture control. This criterion enables switching rules to appropriately switch robot control to balance control via ankle torque, balance control via ankle torque and trunk posture control, or stepping control. The proposed method is applicable to robots without feet. Simulation results demonstrate that the proposed method appropriately switches control according to the amplitudes of disturbances and maintains the balance of robots with and without feet.

Posture Control in Mild Mental Retardation

2003 ◽  
Author(s):  
Huh Jin-Young ◽  
Lee Jae-Won ◽  
Lee Chai-Hang
Keyword(s):  
Mental Retardation ◽  
Posture Control ◽  
Mild Mental Retardation
Sign in / Sign up

Export Citation Format

Share Document