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.

scholarly journals Robust Control of Robot Manipulator based on QFT and H∞

2022 ◽  
Vol 16 ◽  
pp. 17-22
Author(s):  
J. J. Carreño ◽  
R. Villamizar
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Parametric Uncertainty ◽  
Robot Dynamics ◽  
Robust Controllers ◽  
Control Techniques ◽  
Behavioral Indices ◽  
6 Degrees Of Freedom ◽  
Control Methodology

Robust controllers have been developed by both control techniques QFT and H∞ applied in the waist, shoulder and elbow of a manipulator of 6 degrees of freedom. The design is based on the identification of a linear model of the robot dynamics which represents the non-linearity of the system using parametric uncertainty. QFT control methodology is used to tune the robust PID-controller and pre-filters of the system, and H∞ controllers are obtained by designing the weighting functions and using the MATLAB hinfopt tool. Finally the performance of robust controllers is compared designed based on the calculation and analysis of some behavioral indices.

scholarly journals Design and implementation of positioning and control systems for capsule endoscopes

2020 ◽  
Vol 14 (7) ◽  
pp. 745-754 ◽  
Author(s):  
Ibrahim K. Mohammed ◽  
Bayan S. Sharif ◽  
Jeffrey A. Neasham
Keyword(s):  
Control Systems ◽  
Design And Implementation ◽  
Capsule Endoscopes ◽  
And Control

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

Embedded and Control Systems Design and Implementation of T-Shaped Tilt-Rotor Tri-copter

2021 ◽  
Author(s):  
Muhammad Shahzaib Atif ◽  
Zarrar Haider ◽  
Malik Muhammad Zohaib ◽  
Mirza Ali Raza
Keyword(s):  
Control Systems ◽  
Systems Design ◽  
Tilt Rotor ◽  
Design And Implementation ◽  
Control Systems Design ◽  
And Control

Establishment of an experimental-computational framework for promoting Project-based learning for vibrations and controls education

2020 ◽  
pp. 030641902095025
Author(s):  
Yucheng Liu ◽  
Silas Whitaker ◽  
Connor Hayes ◽  
Jared Logsdon ◽  
Logan McAfee ◽  
...  
Keyword(s):  
Control Systems ◽  
Computational Study ◽  
Software Tool ◽  
Project Based Learning ◽  
State University ◽  
Computational Framework ◽  
Matlab Simulink ◽  
Computer Lab ◽  
And Control ◽  
Excitation Model

A curriculum enhancement project of embedding MATLAB and Simulink to a mechanical engineering (ME) vibrations and controls course is presented in this paper. MATLAB/Simulink is a popular software tool for vibration analysts and control designers, which is consistently regarded as one of the most in-demand technical skills that employers are looking for. In the past, the ME students at Mississippi State University (MSU) did not have the training opportunity to use MATLAB/Simulink for design and analysis of vibration and control systems. With the support of a teaching grants, the author created an experimental lab section to ask students to design and build vibration and control devices, and integrated these device into his vibrations and controls course. In this study, the author develops a computer lab section based on the implementation of MATLAB/Simulink, which complements with the experimental lab section to provide the students with a full lab experience. The experimental-computational lab allows the students to not only observe and characterize the dynamic response of vibration and control systems through experimental operations and measurements, but also validate experimental results and confirm experimental phenomena through computational analysis. As well as exploring dynamic behaviors of the systems in a variety of conditions through numerical simulations with different settings. An example of student project is presented to show an experimental-computational study conducted by a student team using MATLAB/Simulink software tool and self-developed data acquisition systems based on a base excitation model demonstrated in class. A questionnaire was conducted at the end of that class and results confirms that the implementation of MATLAB/Simulink into the course effectively develops the ME students’ programming skills and strengthens their capacity in modeling, simulating, and analyzing vibration, control, and other dynamic systems. The developed computational lab and the current experimental lab complementarily promote student understanding of principles and concepts conveyed in classroom lectures.

scholarly journals Energy Consumption and Tailpipe Emission Reductions by Personalized Control of Connected Vehicles

2017 ◽  
Vol 139 (09) ◽  
pp. S5-S11
Author(s):  
Junmin Wang
Keyword(s):  
Energy Consumption ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Connected Vehicles ◽  
Emission Reductions ◽  
Physical Systems ◽  
Information Richness ◽  
Optimization And Control ◽  
Vehicle Automation ◽  
And Control

This article demonstrates several approaches to the vehicle energy consumption and tailpipe emission reduction opportunities. The article leverages the vehicle storage dynamics through smart and personalized optimization and control approaches in the context of connected vehicles. Recent advances in vehicle connectivity and automation have brought unprecedented information richness and new degrees of freedom that can be synergized with insightful understanding of vehicle powertrain and aftertreatment physical systems. Vehicle automation also provides new degrees of freedom that can be further leveraged by the vehicle control systems to improve vehicle energy efficiency and reduce tailpipe emissions. While vehicle automation levels probably will keep increasing, humans will still be involved in vehicle operations at various levels for the foreseeable future. The prediction of future vehicle’s power demand based on vehicle connectivity can significantly benefit tailpipe emission reductions and fuel economy.

Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator

2019 ◽  
Author(s):  
Alex Bertino ◽  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Deep Learning ◽  
Stereo Vision ◽  
Robot Manipulator ◽  
Control Techniques ◽  
Minimal Error ◽  
Autonomous Operation ◽  
Pick And Place ◽  
Place Task ◽  
Position And Orientation ◽  
And Control

Abstract In this paper, we examine the autonomous operation of a high-DOF robot manipulator. We investigate a pick-and-place task where the position and orientation of an object, an obstacle, and a target pad are initially unknown and need to be autonomously determined. In order to complete this task, we employ a combination of computer vision, deep learning, and control techniques. First, we locate the center of each item in two captured images utilizing HSV-based scanning. Second, we utilize stereo vision techniques to determine the 3D position of each item. Third, we implement a Convolutional Neural Network in order to determine the orientation of the object. Finally, we use the calculated 3D positions of each item to establish an obstacle avoidance trajectory lifting the object over the obstacle and onto the target pad. Through the results of our research, we demonstrate that our combination of techniques has minimal error, is capable of running in real-time, and is able to reliably perform the task. Thus, we demonstrate that through the combination of specialized autonomous techniques, generalization to a complex autonomous task is possible.

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