Noncontact Hold and Transfer Control by a Two-link Robot Arm with a Magnetic Robot Hand

1999 ◽  
Vol 11 (4) ◽  
pp. 331-335
Author(s):  
Hiroyuki Kojima ◽  
◽  
Osamu Itagaki ◽  
Toshio Kobayashi
Keyword(s):  
Disturbance Observer ◽  
High Performance ◽  
Current Sensor ◽  
Robot Hand ◽  
Robot Arm ◽  
Excitation Current ◽  
Steel Sphere ◽  
Disturbance Cancellation ◽  
Precision Tracking ◽  
Hall Element

We developed a two-link robot arm with a magnetic hand constructed from an electromagnet and a gap sensor. The sensor consists of an excitation current sensor and a Hall element. We then designed noncontact hold and transfer control consisting of a magnetic H∞ robust levitation controller of the steel sphere using the robot hand and a high-precision tracking controller using a disturbance cancellation controller based on a disturbance observer. The magnetic H∞ robust levitation controller is designed using normalized caprice factorization. We conducted an experiments on non contact hold and transfer control of the steel sphere and demonstrated the high performance of control using the 2-link robot arm and the magnetic robot hand.

White LED Energy-Efficient Drive Technology Based on Luminescent Relaxation Properties

2011 ◽  
Vol 347-353 ◽  
pp. 1494-1497
Author(s):  
Yi Zhang ◽  
Jing Han ◽  
Lian Fa Bai ◽  
Qian Chen ◽  
Guo Hua Gu
Keyword(s):  
High Performance ◽  
Leading Edge ◽  
Pulse Excitation ◽  
White Led ◽  
Excitation Current ◽  
Effective Utilization ◽  
Relaxation Properties ◽  
Attenuation Characteristic ◽  
Driving Model ◽  
Core Idea

This study is a high-performance, energy-saving drive technology for all pcLED based on luminescence relaxation properties. Its core idea is coordination between power driving model and pcLED relaxation properties. Compared with relative small pulse width, forward pulse excitation current can make pcLED luminescence tends to its saturation peak rapidly during this period because of the steep leading edge of relaxation properties. And in the vacant period of forward pulse excitation current, because of the chosen of best duty cycle, it will be the most effective utilization for luminescence afterglow which has slow attenuation characteristic.

SOLVING THE INVERSE KINEMATICAL PROBLEM OF A ROBOT ARM BY USING GROEBNER BASIS

2021 ◽  
Vol 13 (1) ◽  
pp. 15
Author(s):  
Alisya Masturoh ◽  
Bambang Hendriya Guswanto ◽  
Triyani Triyani
Keyword(s):  
Robot Hand ◽  
Polynomial Equations ◽  
Robot Arm ◽  
Groebner Basis

The inverse kinematical problem of a robot arm is a problem to find some appropriate joint configurations for a pair of position and direction of a robot hand which is represented by a polynomial equations system. The system is solved by employing Groebner basis notion. Thus, the appropriate joint configurations for a pair of position and direction of the robot hand are obtained.

Disturbance Observer based Sensorless Predictive Control for High Performance PMBLDCM Drive Considering Iron Loss

2021 ◽  
pp. 1-1
Author(s):  
Prashant Kumar ◽  
Devara Bhaskar ◽  
Utkal Ranjan Muduli ◽  
Abdul R. Beig ◽  
Ranjan Kumar Behera
Keyword(s):  
Predictive Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Iron Loss

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

New continuum surgical robot based on hybrid concentric tube-tendon driven mechanism

2021 ◽  
pp. 095440622110424
Author(s):  
Mohammed Abdel-Nasser ◽  
Omar Salah
Keyword(s):  
Inverse Kinematics ◽  
High Performance ◽  
Analytical Study ◽  
Fuzzy Inference ◽  
Closed Form Solution ◽  
Form Solution ◽  
Robot Arm ◽  
Inference System ◽  
Neuro Fuzzy ◽  
Intelligent Approach

Robotics technology is used widely in minimally invasive surgery (MIS) which provides high performance and accuracy. The most famous robot arm mechanisms, which are used in MIS, are tendon-driven mechanism (TDM), and concentric tube mechanism (CTM). Unfortunately, these mechanisms until now have some limitations, i.e. making friction with the tissue during extracting and retracting and strain limits, for TDM and CTM respectively. A new hybrid concentric tube-tendon driven mechanism (HCTDM) is proposed to overcome these limitations. HCTDM enables the end-effector to get close to and get away from the surgical area during the operation without harming the tissue and with more flexibility. In addition to that, the workspace increases as a result of this combination, too. This benefit serves MIS, especially endoscopic surgeries (ESs). We did an analytical study of this idea and got the forward kinematics. In the inverse kinematics, an intelligent approach which is called an adaptive neuro-fuzzy inference system (ANFIS) is used because the closed-form solution is more complicated for such these mechanisms. Finally, HCTDM is analyzed and evaluated by using a computer simulation. The simulation results show that the workspace becomes wider and has more dexterity than use TDM or CTM individually. Furthermore, various trajectories are used to test the mechanism and the kinematic analysis, which show the mechanism can follow and track the trajectories with maximum mean error 1.279, 0.7027, and [Formula: see text] for X, Y, and Z axes respectively.

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