scholarly journals Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2558
Author(s):  
Mario Troise ◽  
Matteo Gaidano ◽  
Pierpaolo Palmieri ◽  
Stefano Mauro
Keyword(s):  
Preliminary Analysis ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Dynamic Models ◽  
Robotic Systems ◽  
Inflation Pressure ◽  
Space Applications ◽  
Space Industry ◽  
Rigid Body Model ◽  
Soft Manipulator

The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Construction of program movements of two!handed technological robots

2021 ◽  
pp. 44-50
Author(s):  
Keyword(s):  
Motion Control ◽  
Relative Motion ◽  
Control Algorithm ◽  
Robotic Systems ◽  
And Control

Some issues of creation and control of two-handed robotic systems are considered. Keywords: two-handed robot, relative manipulation mechanism, relative motion, control algorithm, assembly [email protected]

scholarly journals Influence of response time of magnetorheological valve in Skyhook controlled three-parameter damping system

2018 ◽  
Vol 10 (11) ◽  
pp. 168781401881119 ◽  
Author(s):  
Zbyněk Strecker ◽  
Jakub Roupec ◽  
Ivan Mazůrek ◽  
Ondřej Macháček ◽  
Michal Kubík
Keyword(s):  
Response Time ◽  
Control Algorithm ◽  
Vibration Isolation ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Semiactive Control ◽  
Control Loop ◽  
Space Industry ◽  
Magnetorheological Valve ◽  
Suspension Performance

A three-parameter suspension system is often used for vibration isolation of sensitive devices especially in a space industry. This article describes the three-parameter suspension system with magnetorheological valve controlled by Skyhook algorithm. Simulations of such systems showed promising results. They, however, showed that the suspension performance is strongly influenced by magnetorheological valve response time. Results from simulations proved that the semiactive control of such system with response time of magnetorheological damper up to 4 ms outperforms any passive setting. The simulations were verified by an experiment on suspension system with magnetorheological valve with response time between 3.5 and 4.1 ms controlled by a Skyhook algorithm. Although the control algorithm was slightly modified in order to prevent instabilities of control loop caused by signal noise, the results from the experiment showed the same trends like the simulations.

DELTA: a simple and efficient parallel robot

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 105-109 ◽  
Author(s):  
F. Pierrot ◽  
C. Reynaud ◽  
A. Fournier
Keyword(s):  
Inverse Kinematics ◽  
Research Team ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematic Parameters ◽  
Mechanical Structure ◽  
Serial Robots ◽  
École Polytechnique

SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

Research on Dynamic Modelling and Simulation of Erection System of Mobile Equipment in Absolute Coordinates

2011 ◽  
Vol 66-68 ◽  
pp. 2034-2040
Author(s):  
Qin He Gao ◽  
Xiang Yang Li
Keyword(s):  
Rigid Body ◽  
Dynamic Models ◽  
Dynamic Modelling ◽  
Hydraulic Cylinder ◽  
Correction Method ◽  
Integration Time ◽  
Multi Stage ◽  
Rigid Body Model ◽  
Absolute Coordinates ◽  
The Impact

This paper employed the theories of multibody system dynamics to analyze the multi-rigid-body model of erection system and build the general dynamic models in absolute coordinates. The impact theory of contact mechanics and nonlinear spring-damper force function were used to model the impact problems between rods of multi-stage hydraulic cylinder of erection system and educe the dynamic models of multi-rigid-body erection system with impact. An automatic violation correction method according to the step of integration time was given to solve the violation which is an incident problem in numerical integration of dynamic models in absolute coordinates. Simulation results show that these dynamic models are effective.

Impedance Control: An Approach to Manipulation: Part II—Implementation

1985 ◽  
Vol 107 (1) ◽  
pp. 8-16 ◽  
Author(s):  
Neville Hogan
Keyword(s):  
Feedback Control ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Dynamic Interaction ◽  
End Point ◽  
Inverse Kinematics Problem ◽  
Theoretical Reasoning ◽  
Redundant Actuators

This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. In Part II the implementation of impedance control is considered. A feedback control algorithm for imposing a desired cartesian impedance on the end-point of a nonlinear manipulator is presented. This algorithm completely eliminates the need to solve the “inverse kinematics problem” in robot motion control. The modulation of end-point impedance without using feedback control is also considered, and it is shown that apparently “redundant” actuators and degrees of freedom such as exist in the primate musculoskeletal system may be used to modulate end-point impedance and may play an essential functional role in the control of dynamic interaction.

scholarly journals The Use of Low-Budget Self-Assembly Sets for Research and Robotics Education

2019 ◽  
Vol 27 (1) ◽  
pp. 55-62
Author(s):  
Piotr Cheluszka
Keyword(s):  
Self Assembly ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Practical Knowledge ◽  
Low Cost ◽  
Serial Communication ◽  
Control Algorithms ◽  
Robotics Education ◽  
Drive Systems ◽  
And Robotics

AbstractThe article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.

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