scholarly journals INVERSE KINEMATICS AND PID CONTROLLER IMPLEMENTATION OF HEXAPOD ROBOT FOR WALL FOLLOWER NAVIGATION

2019 ◽  
Vol 2 (2) ◽  
pp. 57
Author(s):  
Riky Tri Yunardi ◽  
Arief Muchadin ◽  
Kurnia Latifa Priyanti ◽  
Deny Arifianto
Keyword(s):  
Pid Controller ◽  
Inverse Kinematics ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Barrier Detector ◽  
Leg Movement ◽  
Average Success Rate ◽  
The Stability ◽  
Proportional Derivative Controller ◽  
Wall Following

Wall following is one of the methods used in navigating the movement of robot applications. Because the robot moves along the wall, the ultrasonic sensor is used as a barrier detector capable of measuring the distance between the robot and the wall. The six-legged robot is a hexapod robot has six pieces of legs and each leg has three joints that are used to move. The leg movement is based on the inverse kinematics to obtain the angle value of each joint. Nevertheless, a six-legged robot requires stability in order to move smoothly while following the wall. In this work, a robot was developed using a proportional derivative controller to implemented on wall follower navigation. The PID controller is determined using analytic tuning to produce the controller parameters that are used to make the robot move straighten and keep the position against the wall. Overall, the application of inverse kinematics and PID control on the wall following robot navigation can improve the stability of the robot with a set point value of 8-16 cm on the wall length of 1.5 within 92–96 % of average success rate.

scholarly journals CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

2013 ◽  
Vol 5 (2) ◽  
pp. 96-100
Author(s):  
Raimondas Zubavičius ◽  
Nerijus Paulauskas ◽  
Martynas Šapurov
Keyword(s):  
Inverse Kinematics ◽  
Servo Control ◽  
Movement Trajectory ◽  
Control Methods ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Control Signals ◽  
Leg Movement ◽  
Robot Leg ◽  
Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

scholarly journals Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

2021 ◽  
Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin
Keyword(s):  
Legged Robots ◽  
Measurement Unit ◽  
Support Vector ◽  
Hexapod Robot ◽  
Terrain Classification ◽  
Adaptive Locomotion ◽  
Joint Torques ◽  
Active Compliance ◽  
Outdoor Environments ◽  
The Stability

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

Retuning the actuator proportional–integral–derivative controller of spinning missiles

2016 ◽  
Vol 231 (14) ◽  
pp. 2594-2602 ◽  
Author(s):  
Wei Zhou ◽  
Shuxing Yang ◽  
Liangyu Zhao
Keyword(s):  
Angular Motion ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Out Of Plane ◽  
Integral Element ◽  
The Stability ◽  
Proportional Derivative Controller

The hinge moment acting on the actuator will cause an out-of-plane moment, which is a destabilizing factor to the angular motion of spinning missiles. A new tuning criterion for the actuator controller is proposed to decrease the out-of-plane moment. It is noted that the integral element does not decrease the out-of-plane moment. A carefully designed proportional–derivative controller with some compromises can ensure the stability of the missile and provide good performance for the actuator.

Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

2021 ◽  
pp. 095440622110279
Author(s):  
Vahid Bahrami ◽  
Ahmad Kalhor ◽  
Mehdi Tale Masouleh
Keyword(s):  
Dynamic Modeling ◽  
Pid Controller ◽  
Feedback Linearization ◽  
Tracking Error ◽  
Pid Controllers ◽  
Serial Chain ◽  
Simulation Results ◽  
The Stability ◽  
Feedback Linearization Approach ◽  
Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

scholarly journals Optimization and comparative analysis of PID and FOPID controller for BLDC motor

2019 ◽  
Vol 8 (3) ◽  
pp. 174
Author(s):  
P. Vimala ◽  
C. R. Balamurugan ◽  
A. Subramanian ◽  
T. Vishwanath
Keyword(s):  
Genetic Algorithm ◽  
Comparative Analysis ◽  
Input Signal ◽  
Pid Controller ◽  
Input Voltage ◽  
Bldc Motor ◽  
Phase Inverter ◽  
Three Phase ◽  
The Stability ◽  
Three Phase Inverter

The FOPID and PID controller are designed to control the speed of <br /> the BLDC motor. The parameters , , , λ and µ of these controller are optimized based on genetic algorithm. The optimized coefficients keep in track with zero error signals. The output of the controller is given to the variable dc source which varies the input voltage to the three phase inverter depending on the input signal. The three phase inverter gives the voltage to the BLDC motor which enhances the stability of the system. <br /> The effectiveness of the controller is demonstrated by simulation.

The Effect of Thermal Contact Resistance on Heat Management in a Shuttling PCR System

2013 ◽  
Vol 284-287 ◽  
pp. 1941-1945
Author(s):  
Jyh Jian Chen ◽  
Wei Hua Chen ◽  
Yi Shiang Shie
Keyword(s):  
Pid Controller ◽  
Thermal Contact Resistance ◽  
Thermal Contact ◽  
Computer Code ◽  
Reaction Chamber ◽  
Operational Parameters ◽  
Heat Management ◽  
Dna Templates ◽  
Polymerase Chain ◽  
The Stability

A novel shuttling polymerase chain reaction (PCR) system is assembled to make temperature uniform in the reaction chamber. The chamber is oscillated by a servo motor and contacted with three different isothermal zones to complete several thermal cycles. The home-made computer code is utilized to investigate the influences of operational parameters on the temperature inside the chamber. Numerical results show that the contact resistances between the heating blocks and the reaction chamber dominate the temperatures inside the PCR chamber. In this work a PCR system that is composed of the PID controller, the moving stage, three aluminum blocks for three different isothermal zones and a reaction chamber is also developed. Experimental results demonstrated that the stability of this shuttling PCR system is confirmed. And results show that DNA templates provided with the yT&A® cloning vector are amplified successfully in this PCR system.

scholarly journals Characteristics Analysis and Fuzzy Fractional-Order PID Parameter Optimization for Primary Frequency Modulation of a Pumped Storage Unit Based on a Multi-Objective Gravitational Search Algorithm

Energies ◽  
2019 ◽  
Vol 13 (1) ◽  
pp. 137 ◽  
Author(s):  
Xin Wu ◽  
Yanhe Xu ◽  
Jie Liu ◽  
Cong Lv ◽  
Jianzhong Zhou ◽  
...  
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Search Algorithm ◽  
Gravitational Search Algorithm ◽  
Storage Unit ◽  
Water Head ◽  
Pumped Storage ◽  
The Stability ◽  
Primary Frequency ◽  
Fractional Order Pid

Compared with conventional hydropower units, the pumped storage unit has the characteristics of diverse working conditions and frequent switching. Therefore, the stability and regulation quality of the primary frequency modulation transition process of the regulating system is very important. Due to the “S” characteristics of the pumped storage unit (PSU), the pumped storage unit regulating system has a strong nonlinearity, and the conventional proportional-integral-derivative (PID) controller cannot provide high-quality control under low water head conditions. In this paper, the nonlinear PSU model with an elastic water hammer effect is studied, and the fuzzy fractional-order PID (FFOPID) controller is designed to improve the stability of the system. The membership function and the control parameters of the fractional-order PID are optimized based on the multi-objective gravitational search algorithm (MOGSA). The experimental results show that the optimized design of the FFOPID controller has better control quality than the traditional PID controller, the fractional-order PID (FOPID) controller, and the fuzzy PID controller (FPID) when the system is disturbed by the rotating speed under low water head.

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