Modeling and Control of Four Degrees of Freedom Surgical Robot Manipulator Using MATLAB/SIMULINK

2015 ◽  
Vol 8 (11) ◽  
pp. 47-78 ◽  
Author(s):  
Farzin Piltan ◽  
Ali Taghizadegan ◽  
Nasri B Sulaiman
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Surgical Robot ◽  
Matlab Simulink ◽  
Modeling And Control ◽  
And Control

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.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

scholarly journals Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

2017 ◽  
Author(s):  
Zhengru Ren ◽  
Roger Skjetne ◽  
Zhen Gao
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Multiple Shooting ◽  
Control Input ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Overload Protection ◽  
And Control

This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.

Design and Control of Supporting Arm for Reducing Factory Worker Load With Desired Support Force and Stiffness Characteristics

2016 ◽  
Author(s):  
Tetsuro Miyazaki ◽  
Takuya Iijima ◽  
Kazushi Sanada
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulator ◽  
Experimental System ◽  
Factory Worker ◽  
Target Weight ◽  
Support Force ◽  
Stiffness Characteristics ◽  
And Control ◽  
Pneumatic Cylinders

This paper proposes a design and control method of a supporting arm which reduces factory worker load. The supporting arm is a robot manipulator, which is driven by pneumatic cylinders, and is attached to the worker’s hip. In some situation, the factory worker is forced to work with an uncomfortable posture. By using the supporting arm, the worker leg loads are relaxed, and the worker posture is stabilized. To support 50 % weight of the worker, the link system of the supporting arm is designed, and the pneumatic cylinders for actuation are selected. There are two required specifications: (i) support force is sufficient for supporting target load, and (ii) desired stiffness characteristics in the hip height direction can be obtained. The support force is controlled by a two degrees of freedom control system to satisfy the required specifications. An experimental system of the supporting arm was developed, and its performance was evaluated by experiments. As a result, the experimental system shows capability of supporting the target weight and controllability of stiffness.

scholarly journals Coordinate-Invariant Modeling and Control of a Three-DOF Robot Manipulator

2021 ◽  
Vol 54 (19) ◽  
pp. 230-236
Author(s):  
Maximilian Herrmann ◽  
Dhananjay Tiwari ◽  
Paul Kotyczka ◽  
Ravi Banavar
Keyword(s):  
Robot Manipulator ◽  
Modeling And Control ◽  
And Control

scholarly journals Modeling and Control of a Six Degrees of Freedom Maglev Vibration Isolation System

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3608 ◽  
Author(s):  
Qianqian Wu ◽  
Ning Cui ◽  
Sifang Zhao ◽  
Hongbo Zhang ◽  
Bilong Liu
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
Nonlinear Dynamic Model ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Modeling And Control ◽  
And Control ◽  
Isolation Performance

The environment in space provides favorable conditions for space missions. However, low frequency vibration poses a great challenge to high sensitivity equipment, resulting in performance degradation of sensitive systems. Due to the ever-increasing requirements to protect sensitive payloads, there is a pressing need for micro-vibration suppression. This paper deals with the modeling and control of a maglev vibration isolation system. A high-precision nonlinear dynamic model with six degrees of freedom was derived, which contains the mathematical model of Lorentz actuators and umbilical cables. Regarding the system performance, a double closed-loop control strategy was proposed, and a sliding mode control algorithm was adopted to improve the vibration isolation performance. A simulation program of the system was developed in a MATLAB environment. A vibration isolation performance in the frequency range of 0.01–100 Hz and a tracking performance below 0.01 Hz were obtained. In order to verify the nonlinear dynamic model and the isolation performance, a principle prototype of the maglev isolation system equipped with accelerometers and position sensors was developed for the experiments. By comparing the simulation results and the experiment results, the nonlinear dynamic model of the maglev vibration isolation system was verified and the control strategy of the system was proved to be highly effective.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Fuzzy Control of a Pneumatic Muscle Driven Parallel Robot for Ankle Rehabilitation

2009 ◽  
Author(s):  
Prashant K. Jamwal ◽  
Shane Xie ◽  
Jack Farrant
Keyword(s):  
Fuzzy Control ◽  
Degrees Of Freedom ◽  
Fuzzy Controller ◽  
Parallel Robot ◽  
Modeling And Control ◽  
Pneumatic Muscle ◽  
Linear Behavior ◽  
Improved Performance ◽  
Unpredictable Environment ◽  
And Control

A new wearable parallel robot has been designed and constructed for ankle joint rehabilitation treatments. The robot employs four pneumatic muscle actuators (PMA) together with cables to achieve three rotational degrees of freedom (dof) of its end platform. Parallel topology of the robot, unpredictable environment along with the time varying and non-linear behavior of actuators impose modeling and control challenges which are difficult to comprehend. In this paper an optimal fuzzy dynamic model of the pneumatic muscle has been developed to accurately predict the muscle behavior. The model is capable of mapping the complex relationship in length, force and pressure of the PMA with higher accuracy. This model has been further used to develop a fuzzy control scheme for the ankle robot. Experimental results are obtained to study and model the simultaneous actuation of all the actuators. Comparison with the previous dynamic modeling and control schemes demonstrates an improved performance of the proposed fuzzy controller.

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