scholarly journals An Investigation on the Grasping Position Optimization-Based Control for Industrial Soft Robot Manipulator

Machines ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 363
Author(s):  
Guangcheng Zhang ◽  
Shenchen Li ◽  
Yi Wu ◽  
Mingkang Zhu
Keyword(s):  
Fatigue Damage ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Step Function ◽  
Soft Robot ◽  
Function Type ◽  
Optimal Position ◽  
Challenging Tasks ◽  
Soft Manipulator ◽  
Resultant Stress

Mitigating fatigue damage and improving grasping performance are the two main challenging tasks of applying the soft manipulator into industrial production. In this paper, the grasping position optimization-based control strategy is proposed for the soft manipulator and the corresponding characteristics are studied theoretically and experimentally. Specifically, based on the simulation, the resultant stress of step-function-type channels at the same pressure condition that was smallest compared with those of sine-function- and ramp-function-type channels, hence, a pneumatic network with step-function-type channels was selected for the proposed soft manipulator. Furthermore, in order to improve the grasping performance, the kinematics, mechanical, and grasping modeling for the soft manipulator were established, and a control strategy considering the genetic algorithm is introduced to detect the optimal position of the soft manipulator. The corresponding fabrication process and experiments were conducted to cross verify the results of the modeling and the control strategy. It is demonstrated that the internal pressure of the soft manipulator was reduced by 13.05% at the optimal position, which effectively helped mitigate the fatigue damage of the soft manipulator and prolonged the lifespan.

Shape Estimation of Soft Manipulator Using Stretchable Sensor

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jinho So ◽  
Uikyum Kim ◽  
Yong Bum Kim ◽  
Dong-Yeop Seok ◽  
Sang Yul Yang ◽  
...  
Keyword(s):  
Robot Manipulator ◽  
Soft Robot ◽  
Shape Estimation ◽  
Multiwalled Carbon ◽  
Human Organ ◽  
Teflon Sheet ◽  
Tip Position ◽  
Shape Sensing ◽  
Soft Manipulator ◽  
The Relationship

The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness in its weight, and safety toward the human organ. However, it cannot be used widely because of its difficulty of control. To control a soft robot manipulator accurately, shape sensing is essential. This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube (MWCNT) and silicone (p7670). The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator. In its fabrication, MWCNT is sprayed on a teflon sheet, and liquid-state silicone is poured on it. After curing, we turn it over and cover it with another silicone layer. The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor. After calibration and determining the relationship between the resistance of the sensor and the strain, three sensors are attached at 120° intervals. Using the obtained data, the curvature of the manipulator is calculated, and the entire shape is reconstructed. To validate its accuracy, the estimated shape is compared with the camera data. We experiment with three, six, and nine sensors attached, and the result of the error of shape estimation is compared. As a result, the minimum tip position error is approximately 8.9 mm, which corresponded to 4.45% of the total length of the manipulator when using nine sensors.

Differential pial and penetrating arterial responses examined by optogenetic activation of astrocytes and neurons

2021 ◽  
pp. 0271678X2110103
Author(s):  
Nao Hatakeyama ◽  
Miyuki Unekawa ◽  
Juri Murata ◽  
Yutaka Tomita ◽  
Norihiro Suzuki ◽  
...  
Keyword(s):  
Cortical Neurons ◽  
Acetylcholine Receptors ◽  
Step Function ◽  
Muscarinic Acetylcholine Receptors ◽  
Cell Type ◽  
Function Type ◽  
Neuron Activation ◽  
Cell Type Specific ◽  
Arterial Responses

A variety of brain cells participates in neurovascular coupling by transmitting and modulating vasoactive signals. The present study aimed to probe cell type-dependent cerebrovascular (i.e., pial and penetrating arterial) responses with optogenetics in the cortex of anesthetized mice. Two lines of the transgenic mice expressing a step function type of light-gated cation channel (channelrhodopsine-2; ChR2) in either cortical neurons (muscarinic acetylcholine receptors) or astrocytes (Mlc1-positive) were used in the experiments. Photo-activation of ChR2-expressing astrocytes resulted in a widespread increase in cerebral blood flow (CBF), extending to the nonstimulated periphery. In contrast, photo-activation of ChR2-expressing neurons led to a relatively localized increase in CBF. The differences in the spatial extent of the CBF responses are potentially explained by differences in the involvement of the vascular compartments. In vivo imaging of the cerebrovascular responses revealed that ChR2-expressing astrocyte activation led to the dilation of both pial and penetrating arteries, whereas ChR2-expressing neuron activation predominantly caused dilation of the penetrating arterioles. Pharmacological studies showed that cell type-specific signaling mechanisms participate in the optogenetically induced cerebrovascular responses. In conclusion, pial and penetrating arterial vasodilation were differentially evoked by ChR2-expressing astrocytes and neurons.

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

Process Mean Shift Detection Using Prediction Error Analysis

1998 ◽  
Vol 120 (3) ◽  
pp. 489-495 ◽  
Author(s):  
S. J. Hu ◽  
Y. G. Liu
Keyword(s):  
Error Analysis ◽  
Prediction Error ◽  
Control Charts ◽  
Mean Shift ◽  
Measurement Data ◽  
Step Function ◽  
False Alarms ◽  
Prediction Errors ◽  
Function Type ◽  
Shift Detection

Autocorrelation in 100 percent measurement data results in false alarms when the traditional control charts, such as X and R charts, are applied in process monitoring. A popular approach proposed in the literature is based on prediction error analysis (PEA), i.e., using time series models to remove the autocorrelation, and then applying the control charts to the residuals, or prediction errors. This paper uses a step function type mean shift as an example to investigate the effect of prediction error analysis on the speed of mean shift detection. The use of PEA results in two changes in the 100 percent measurement data: (1) change in the variance, and (2) change in the magnitude of the mean shift. Both changes affect the speed of mean shift detection. These effects are model parameter dependent and are obtained quantitatively for AR(1) and ARMA(2,1) models. Simulations and examples from automobile body assembly processes are used to demonstrate these effects. It is shown that depending on the parameters of the AMRA models, the speed of detection could be increased or decreased significantly.

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

scholarly journals FRACTIONAL-ORDER PASSIVITY-BASED ADAPTIVE CONTROLLER FOR A ROBOT MANIPULATOR TYPE SCARA

Fractals ◽  
2020 ◽  
Vol 28 (08) ◽  
pp. 2040008
Author(s):  
J. E. LAVÍN-DELGADO ◽  
S. CHÁVEZ-VÁZQUEZ ◽  
J. F. GÓMEZ-AGUILAR ◽  
G. DELGADO-REYES ◽  
M. A. RUÍZ-JAIMES
Keyword(s):  
Fractional Order ◽  
Control Strategy ◽  
Control Method ◽  
Robot Manipulator ◽  
Adaptive Controller ◽  
Performance Comparison ◽  
External Disturbances ◽  
Scara Robot ◽  
Comparison Results ◽  
Lagrange Formalism

In this paper, a novel fractional-order control strategy for the SCARA robot is developed. The proposed control is composed of [Formula: see text] and a fractional-order passivity-based adaptive controller, based on the Caputo–Fabrizio and Atangana–Baleanu derivatives, respectively; both controls are robust to external disturbances and change in the desired trajectory and effectively enhance the performance of robot manipulator. The fractional-order dynamic model of the robot manipulator is obtained by using the Euler–Lagrange formalism, as well as the model of the induction motors which are the actuators that drive their joints. Through simulations results, the effectiveness and robustness of the proposed control strategy have been demonstrated. The performance of the fractional-order proposed control method is compared with its integer-order counterpart, composed of the PI controller and the conventional passivity-based adaptive controller, reported in the literature. The performance comparison results demonstrate the superiority and effectiveness of the fractional-order proposed control strategy for a SCARA robot manipulator.

Analysis of Residual, Thermal, and Loading Stresses in a B33 Wheel and Their Relationship to Fatigue Damage

1967 ◽  
Vol 89 (2) ◽  
pp. 249-258 ◽  
Author(s):  
J. P. Bruner ◽  
G. N. Benjamin ◽  
D. M. Bench
Keyword(s):  
Fatigue Damage ◽  
Fatigue Tests ◽  
Loading Conditions ◽  
Test Results ◽  
Iron And Steel ◽  
Service Loading ◽  
Stress Patterns ◽  
Resultant Stress ◽  
Superposition Principles ◽  
Made In

The current General Electric computer study sponsored by The American Iron and Steel Institute, discussed at the ASME Railroad Division 1965 Winter Meeting, has the objective of determining the most favorable geometric configuration to minimize service stresses. This present investigation involves the corollary problem of service loading conditions that produce the highest stresses and the possibility of fatigue damage. Static loading, rim heating, residual stress measurements, and fatigue tests were made in the laboratory on representative B33 wheels. A series of simulated loading conditions was studied and the resulting stresses combined by simple superposition principles. The resultant stress patterns were compared with fatigue test results using the modified Goodman relationship. In this way the service loading conditions that produce fatigue damage may be predicted.

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