scholarly journals Design and Implementation of Composed Position/Force Controllers for Object Manipulation

2021 ◽  
Vol 11 (21) ◽  
pp. 9827
Author(s):  
Sergio Hernandez-Mendez ◽  
Elvia Ruth Palacios-Hernandez ◽  
Antonio Marin-Hernandez ◽  
Ericka Janet Rechy-Ramirez ◽  
Hector Vazquez-Leal
Keyword(s):  
Pid Controller ◽  
Fuzzy Controller ◽  
Force Sensor ◽  
Object Manipulation ◽  
Robotic Manipulator ◽  
Robotic Arm ◽  
Type I ◽  
Type Ii ◽  
Proportional Integral Derivative ◽  
Finger Force

In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force).

Force Control of Robot Manipulator by Neural Network Model - Experiment and Evaluation of One-Degree-of-Freedom Manipulator -

1990 ◽  
Vol 2 (4) ◽  
pp. 273-281 ◽  
Author(s):  
Masatoshi Tokita ◽  
◽  
Toyokazu Mitsuoka ◽  
Toshio Fukuda ◽  
Takashi Kurihara ◽  
...  
Keyword(s):  
Neural Network ◽  
Network Model ◽  
Neural Network Model ◽  
Force Control ◽  
Pid Controller ◽  
Robot Manipulator ◽  
Force Sensor ◽  
Robotic Manipulator ◽  
The Neural Network ◽  
The Stability

In this paper, a force control of a robotic manipulator based on a neural network model is proposed with consideration of the dynamics of both the force sensor and objects. This proposed system consists of the standard PID controller, the gains of which are augmented and adjusted depending on objects through a process of learning. The authors proposed a similar method previously for the force control of the robotic manipulator with consideration of dynamics of objects, but without consideration of dynamics of the force sensor, showing only simulation results. This paper shows the similar structure of the controller via the neural network model applicable to the cases with consideration of both effects and demonstrates that the proposed method shows the better performance than the conventional PID type of controller, yielding to the wider range of applications, consequently. Therefore, this method can be applied to the force/compliance control problems. The effects of the number of neurons and hidden layers of the neural network model are also discussed through the simulation and experimental results as well as the stability of the control system.

scholarly journals PD-SVM Integrated Controller for Robotic Manipulator Tracking Control

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Neha Kapoor ◽  
Jyoti Ohri
Keyword(s):  
Neural Network ◽  
Support Vector Machine ◽  
System Performance ◽  
Tracking Control ◽  
Pid Controller ◽  
Robotic Manipulator ◽  
Support Vector ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Noise Disturbances

Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) controller. It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.

Simulation Analysis of Non-Linear Fuzzy PID Temperature Controller

2013 ◽  
Vol 465-466 ◽  
pp. 677-681 ◽  
Author(s):  
Ling Yuen Ang ◽  
Fairul Azni Jafar
Keyword(s):  
Pid Controller ◽  
Fuzzy Controller ◽  
Simulation Analysis ◽  
Fuzzy Pid ◽  
Proportional Integral Derivative ◽  
Integral Term ◽  
Temperature Controller ◽  
Non Linear ◽  
The Stability

The objectives of the project are to simulate linear Mamdami type fuzzy temperature controller and non-linear Takegi-Sugeno type fuzzy temperature controllers using MATLAB and Simulink, and to compare the performance between the two controllers. A case study has been created to test the controllers involved a water boiler, where the system is modeled using Joules Law and Law of Thermodynamics. A Proportional-Integral-Derivative (PID) controller was tuned and the PID parameters were then used to obtain the gain of the fuzzy controllers. Simulation results confirmed that non-linear fuzzy controller has smaller overshoot and faster settling time compared to the linear fuzzy controller and PID controller, although an extra derivative gain may be needed for the non-linear fuzzy controller if the integral term is huge enough to affect the stability of the system.

scholarly journals Fuzzy Adaptive Type II Controller for Two-Mass System

Energies ◽  
2022 ◽  
Vol 15 (2) ◽  
pp. 419
Author(s):  
Piotr Derugo ◽  
Krzysztof Szabat ◽  
Tomasz Pajchrowski ◽  
Krzysztof Zawirski
Keyword(s):  
Cost Function ◽  
Transition Layer ◽  
Fuzzy Controller ◽  
Type I ◽  
Torsional Vibrations ◽  
Type Ii ◽  
Mass System ◽  
Adaptive Fuzzy Controller ◽  
Mechanical Coupling ◽  
Adaptive Fuzzy

This paper presents original concepts of control systems for an electrical drive with an elastic mechanical coupling between the motor and the driven mechanism. The synthesis procedure of the speed controller uses a proposed quality index (cost function) of system operation ensures the minimization of both tracking errors and torsional vibrations. Proper selection of the cost function focusses more on the reduction of torsional vibrations due to their negative influence on the drive’s mechanical coupling vitality. The omission of the plant identification of an adaptive fuzzy controller was proposed. Two types of fuzzy controllers were analyzed, namely with type I and type II fuzzy membership functions. The novelty of the presented approach is in the application of a Petri transition layer in a type II fuzzy controller which reduces the numerical complexity in case of a large number of complicated type II fuzzy sets. The presented simulation and experimental results prove that the best dumping of mechanical vibrations ensures the adaptive fuzzy controller with type II functions and a Petri transition layer.

Track-Hunting Intelligent Car Based on Linear CCD Sensor Using Fuzzy Controller

2014 ◽  
Vol 1006-1007 ◽  
pp. 719-722
Author(s):  
Jin Tao Yang ◽  
Zhe Wen Tian ◽  
Jian Lan Luo
Keyword(s):  
Intelligent Control ◽  
Pid Controller ◽  
Fuzzy Controller ◽  
Daily Life ◽  
Intelligent Vehicles ◽  
Proportional Integral Derivative ◽  
Linear Ccd ◽  
Direction Control ◽  
Control Research ◽  
Self Tuning

Nowadays intelligent vehicles play a more and more important role in daily life. In this paper, a track-hunting intelligent car is presented for intelligent control research. In the direction control of this car, a fuzzy Proportional-Integral-Derivative (PID) controller is applied to make a distinction between different situations and execute self-tuning operation at the same time. The controller is tested by simulation and experiments in this paper, and results prove effectiveness of the controller.

scholarly journals Tractor-Implement Tillage Depth Control Using Adaptive Neuro-Fuzzy Inference System (ANFIS)

2021 ◽  
Vol 19 ◽  
pp. 53-61
Author(s):  
Aristide Timene ◽  
Ndjiya Ngasop ◽  
Haman Djalo
Keyword(s):  
Fuzzy Inference System ◽  
Pid Controller ◽  
Fuzzy Inference ◽  
Fuzzy Controller ◽  
Proportional Integral Derivative ◽  
Hydraulic Actuator ◽  
Inference System ◽  
Neuro Fuzzy ◽  
Depth Control ◽  
Tillage Operations

This study presents a design of an adaptive neuro-fuzzy controller for tractors’ tillage operations. Since the classical controllers allows plowing depth errors due to the variations of lands structure, the use of the combined neural networks and fuzzy logic methods decreases these errors. The proposed controller is based on Adaptive Neuro-Fuzzy Inference System (ANFIS), which permits the generation of fuzzy rules to cancel the nonlinearity and disturbances on the implement. The design and simulations of the system, which consist of a hitch-implement mechanism, an electro-hydraulic actuator, and a neuro-fuzzy controller, are conducted in SolidWorks and MATLAB software. The performance of the proposed controller is analyzed and is contrasted with a Proportional Integral Derivative (PID) controller. The obtained results show that the neuro-fuzzy controller adapts perfectly to the dynamics of the system with rejection of disturbances.

Heat-Etching with a Bullivant Type II Simple Freeze-Cleave Device

1970 ◽  
Vol 28 ◽  
pp. 106-107 ◽  
Author(s):  
Ronald S. Weinstein ◽  
N. Scott McNutt
Keyword(s):  
New Zealand ◽  
General Hospital ◽  
Massachusetts General Hospital ◽  
Type I ◽  
Type Ii ◽  
Collaborative Effort ◽  
Temperature And Pressure ◽  
The University

The Type I simple cold block device was described by Bullivant and Ames in 1966 and represented the product of the first successful effort to simplify the equipment required to do sophisticated freeze-cleave techniques. Bullivant, Weinstein and Someda described the Type II device which is a modification of the Type I device and was developed as a collaborative effort at the Massachusetts General Hospital and the University of Auckland, New Zealand. The modifications reduced specimen contamination and provided controlled specimen warming for heat-etching of fracture faces. We have now tested the Mass. General Hospital version of the Type II device (called the “Type II-MGH device”) on a wide variety of biological specimens and have established temperature and pressure curves for routine heat-etching with the device.

Labelling of non-A, non-B hepatitis infected chimpanzee hepatocytes with nuclease-gold conjugates

1984 ◽  
Vol 42 ◽  
pp. 250-251
Author(s):  
G. D. Gagne ◽  
M. F. Miller ◽  
D. A. Peterson
Keyword(s):  
Endoplasmic Reticulum ◽  
Experimental Infection ◽  
Uranyl Acetate ◽  
Type I ◽  
Cellular Injury ◽  
Type Ii ◽  
Tubular Structures ◽  
Type Iii ◽  
Type Iv ◽  
Infected Chimpanzee

Experimental infection of chimpanzees with non-A, non-B hepatitis (NANB) or with delta agent hepatitis results in the appearance of characteristic cytoplasmic alterations in the hepatocytes. These alterations include spongelike inclusions (Type I), attached convoluted membranes (Type II), tubular structures (Type III), and microtubular aggregates (Type IV) (Fig. 1). Type I, II and III structures are, by association, believed to be derived from endoplasmic reticulum and may be morphogenetically related. Type IV structures are generally observed free in the cytoplasm but sometimes in the vicinity of type III structures. It is not known whether these structures are somehow involved in the replication and/or assembly of the putative NANB virus or whether they are simply nonspecific responses to cellular injury. When treated with uranyl acetate, type I, II and III structures stain intensely as if they might contain nucleic acids. If these structures do correspond to intermediates in the replication of a virus, one might expect them to contain DNA or RNA and the present study was undertaken to explore this possibility.

Comparative surface and ultrastructural views of methylotrophic bacteria by TEM, STEM, SE, and freeze-etch electron microscopy.

1987 ◽  
Vol 45 ◽  
pp. 792-793
Author(s):  
T.A. Fassel ◽  
M.J. Schaller ◽  
M.E. Lidstrom ◽  
C.C. Remsen
Keyword(s):  
Cytoplasmic Membrane ◽  
Structural Features ◽  
Methylotrophic Bacteria ◽  
Type I ◽  
Type Ii ◽  
Membrane Complex ◽  
Oxidation Of Methane ◽  
Methane Oxidizing Bacteria ◽  
Wall Structures ◽  
Methylomonas Albus

Methylotrophic bacteria play an Important role in the environment in the oxidation of methane and methanol. Extensive intracytoplasmic membranes (ICM) have been associated with the oxidation processes in methylotrophs and chemolithotrophic bacteria. Classification on the basis of ICM arrangement distinguishes 2 types of methylotrophs. Bundles or vesicular stacks of ICM located away from the cytoplasmic membrane and extending into the cytoplasm are present in Type I methylotrophs. In Type II methylotrophs, the ICM form pairs of peripheral membranes located parallel to the cytoplasmic membrane. Complex cell wall structures of tightly packed cup-shaped subunits have been described in strains of marine and freshwater phototrophic sulfur bacteria and several strains of methane oxidizing bacteria. We examined the ultrastructure of the methylotrophs with particular view of the ICM and surface structural features, between representatives of the Type I Methylomonas albus (BG8), and Type II Methylosinus trichosporium (OB-36).

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