Micro Autonomous Robotic System

Miniaturized autonomous robots have been developed by several research groups. The miniaturized autonomous robot is defined as a miniaturized closed-loop system with microprocessors, microactuators, and microsensors. We developed a micro autonomous robot (MARS) consisting of a microprocessor, microsensors, microactuators, communication units, and batteries. MARS controls itself by a downloaded program supplied through infrared communication. We demonstrate performance of MARS, and discuss system features.

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Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances

Journal of Control Science and Engineering ◽

10.1155/2014/715250 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10 ◽

Cited By ~ 4

Author(s):

Jinzhu Peng ◽

Yan Liu

Keyword(s):

Closed Loop ◽

Robot Manipulator ◽

Variable Structure ◽

Robotic System ◽

Loop System ◽

Closed Loop System ◽

Hybrid Scheme ◽

External Disturbances ◽

Control Approach ◽

Quadratic Stabilization

An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) andH∞optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, andH∞approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.

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Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

International Journal of Applied Mathematics and Computer Science ◽

10.2478/amcs-2018-0027 ◽

2018 ◽

Vol 28 (2) ◽

pp. 363-374 ◽

Cited By ~ 5

Author(s):

Isela Bonilla ◽

Marco Mendoza ◽

Daniel U. Campos-Delgado ◽

Diana E. Hernández-Alfaro

Keyword(s):

Closed Loop ◽

Impedance Control ◽

Robot Manipulators ◽

Parametric Uncertainty ◽

Continuous Functions ◽

Path Tracking ◽

Robotic System ◽

Loop System ◽

Closed Loop System ◽

Adaptive Impedance Control

Abstract The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.

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