Human Dynamic Skill in High Speed Actions and Its Realization by Robot

2000 ◽  
Vol 12 (3) ◽  
pp. 318-324 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Motion Control ◽  
Basic Concept ◽  
High Speed ◽  
Control Method ◽  
Golf Swing ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
Ultra High Speed ◽  
Simulation Results ◽  
And Control

This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.

Development of a Golf Swing Robot to Simulate Human Skill

2000 ◽  
Vol 12 (3) ◽  
pp. 325-332 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Control System ◽  
Motion Control ◽  
Shoulder Joint ◽  
Wrist Joint ◽  
Golf Swing ◽  
Experimental Results ◽  
Simplified Model ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
And Control

We propose a new golf swing robot to simulate dynamic skill of motion control in human golf swing action, that is, multi-step acceleration by dynamic drive. Human swing is simplified as a motion of two-step acceleration, realized by dynamic coupling drive between equivalent shoulder joint and wrist joint. According to the simplified model, a manipulator with one actuated joint and one passive joint equipped with mechanical stopper or brake is proposed as the mechanism of golf swing robot. A small prototype of the golf swing robot to swing a club for junior has been developed, and swing experiments have been done by the robot. The feasibility of the proposed mechanism and control system for golf swing robot is shown by experimental results.

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Integrated guidance and control of interceptors with impact angle constraint against a high-speed maneuvering target

2019 ◽  
Vol 233 (14) ◽  
pp. 5192-5204
Author(s):  
Guanjie Hu ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Impact Angle ◽  
Adaptive Sliding Mode Control ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint

An integrated guidance and control method is investigated for interceptors with impact angle constraint against a high-speed maneuvering target. Firstly, a new control-oriented model with impact angle constraint of the integrated guidance and control system is built in the pitch plane by combining the engagement kinematics and missile dynamics model between the interceptor and target. Secondly, the flight path angle of the target is estimated by extended Kalman filter in order to transform the terminal impact angle constraint into the terminal line-of-sight angle constraint. Thirdly, a nonlinear adaptive sliding mode control law of the integrated guidance and control system is designed in order to directly obtain the rudder deflection command, which eliminates time delay caused by the traditional backstepping control method. Then the Lyapunov stability theory is used to prove the stability of the whole closed-loop integrated guidance and control system. Finally, the simulation results confirm that the integrated guidance and control method proposed in this paper can effectively improve the interception performance of the interceptor to a high-speed maneuvering target.

A Survey on Communication Technology of Smart Grid

2013 ◽  
Vol 749 ◽  
pp. 603-605
Author(s):  
You Jie Ma ◽  
Pan Long Jin ◽  
Xue Song Zhou
Keyword(s):  
Smart Grid ◽  
Communication Technology ◽  
Technology Use ◽  
High Speed ◽  
Control Method ◽  
Power Grid ◽  
Monitoring And Control ◽  
It Use ◽  
Electricity Grid ◽  
And Control

Modern power grid is an important part of national energy strategy. Smart grid is one of the directions to modernize the electricity grid. Smart grid is the intelligent of power system, It is also known as the grid 2.0.It is based on integrated, high-speed bidirectional communication network ,It use the advanced sensor and measuring technology, use advanced equipment and control method to realize the application of the power grid reliability, safety, economic, efficient, environmental friendly and safety. High speed, bidirectional, real-time, and integrated communication system is the foundation and key point when monitoring and control smart grid. So How to improve the communication technology is very important.

scholarly journals Deployment Kinematic Analysis and Control of a New Hoop Truss Deployable Antenna

2019 ◽  
Vol 256 ◽  
pp. 05004
Author(s):  
Sun Zihan ◽  
Yankang Ding ◽  
Yiqun Zhang ◽  
Dongwu Yang ◽  
Na Li
Keyword(s):  
Motion Planning ◽  
Motion Control ◽  
Kinematic Analysis ◽  
Position Control ◽  
Control Method ◽  
Structural Characteristics ◽  
Motion Transformation ◽  
Transformation Relation ◽  
New Type ◽  
And Control

Firstly, based on the structural characteristics of a new type of hoop truss deployable antenna, this paper derives the motion transformation relation between two hoop modules by using the method of coordinate transformation, and establishes the general model for deployment kinematic analysis, which can be applied to analyze the position, velocity and acceleration of any point on the structure. Secondly, according to the relation between the driving cable and the hoop module, the motion planning of the hoop module is transformed into the motion control of the driving cable, which can realize the deploying position control of the antenna. Finally, numerical simulations show the control method can make the antenna smoothly deploy following the specified deployable motion.

Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving

2006 ◽  
Vol 18 (5) ◽  
pp. 598-607 ◽  
Author(s):  
Tomoari Maruyama ◽  
◽  
Chunquan Xu ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Wrist Joint ◽  
High Accuracy ◽  
Human Motion ◽  
Golf Club ◽  
Direct Drive ◽  
Flexible Link ◽  
Ultra High Speed ◽  
Drive Motor

We have developed a golf robot whose swing simulates human motion. The design concept is to realize ultra-high-speed dynamic manipulation using a dexterous mechanism. The robot consists of a shoulder joint with a high-power direct-drive motor and a wrist joint with a low-power direct-drive motor. High-speed golf swings are realized by a sort of motion control, called dynamically-coupled driving which compensates for the lack of drive in the wrist joint. In this paper a new model accounting for golf club flexibility with all parameters identified in experiments was developed. Based on this, we generated and implemented trajectories for different criteria. Experimental results confirmed the high accuracy of motion control and the feasibility of golf club flexibility in ultra-high-speed manipulation.

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