scholarly journals Novel Design and Position Control Strategy of a Soft Robot Arm

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 72 ◽  
Author(s):  
Alaa Al-Ibadi ◽  
Samia Nefti-Meziani ◽  
Steve Davis ◽  
Theo Theodoridis
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Tensile Force ◽  
Compressive Force ◽  
Soft Robot ◽  
Robot Arm ◽  
Bending Actuator ◽  
Muscle Actuators ◽  
Novel Design ◽  
Bending Behaviour

This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

Multiobjective Optimization for Stiffness and Position Control in a Soft Robot Arm Module

2018 ◽  
Vol 3 (1) ◽  
pp. 108-115 ◽  
Author(s):  
Y. Ansari ◽  
M. Manti ◽  
E. Falotico ◽  
M. Cianchetti ◽  
C. Laschi
Keyword(s):  
Multiobjective Optimization ◽  
Position Control ◽  
Soft Robot ◽  
Robot Arm

scholarly journals Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning

Information ◽  
2020 ◽  
Vol 11 (6) ◽  
pp. 310
Author(s):  
Qiuxuan Wu ◽  
Yueqin Gu ◽  
Yancheng Li ◽  
Botao Zhang ◽  
Sergey A. Chepinskiy ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Strategy Training ◽  
Soft Robot ◽  
Robot Arm ◽  
Control Task ◽  
Modeling And Control ◽  
And Migration

The cable-driven soft arm is mostly made of soft material; it is difficult to control because of the material characteristics, so the traditional robot arm modeling and control methods cannot be directly applied to the soft robot arm. In this paper, we combine the data-driven modeling method with the reinforcement learning control method to realize the position control task of robotic soft arm, the method of control strategy based on deep Q learning. In order to solve slow convergence and unstable effect in the process of simulation and migration when deep reinforcement learning is applied to the actual robot control task, a control strategy learning method is designed, which is based on the experimental data, to establish a simulation environment for control strategy training, and then applied to the real environment. Finally, it is proved by experiment that the method can effectively complete the control of the soft robot arm, which has better robustness than the traditional method.

scholarly journals Neoteric Fuzzy control stratagem and design of Chopper fed Multilevel Inverter for enhanced Voltage Output involving Plug-In Electric Vehicle (PEV) applications

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1092 ◽  
Author(s):  
Sunddararaj ◽  
Rangarajan ◽  
Gopalan
Keyword(s):  
Electric Vehicle ◽  
New Technologies ◽  
Control Strategies ◽  
Economic Benefits ◽  
Multilevel Inverter ◽  
Control Logic ◽  
Bidirectional Converters ◽  
Hybrid Controller ◽  
And Control ◽  
Novel Design

The utilization of plug-in electric vehicles (PEV) has started to garner more attention worldwide considering the environmental and economic benefits. This has led to the invention of new technologies and motifs associated with batteries, bidirectional converters and inverters for Electric Vehicle applications. In this paper, a novel design and control of chopper circuit is proposed and configured with the series and parallel connection of the power electronic based switches for two-way operation of the converter. The bidirectional action of the proposed converter makes it suitable for plug-in electric vehicle applications as the grid is becoming smarter. The DC–DC converter is further interfaced with the designed multilevel inverter (MLI). The reduced switches associated with the novel design of MLI have overcome the cons associated with the conventional inverters in terms of enhanced performance in the proposed design. Further, novel control strategies have been proposed for the DC–DC converter based on Proportional Integral (PI) and Fuzzy based control logic. For the first time, the performance of the entire system is evaluated based on the comparison of proposed PI, fuzzy, and hybrid controllers. New rules have been formulated for the Fuzzy based controllers that are associated with the Converter design. This has further facilitated the interface of bidirectional DC–DC converter with the proposed MLI for an enhanced output voltage. The results indicate that the proposed hybrid controller provides better performance in terms of voltage gain, ripple, efficiency and overall aspects of power quality that forms the crux for PEV applications. The novelty of the design and control of the overall topology has been manifested based on simulation using MATLAB/SIMULINK.

Energy consumption optimization for AC drives position control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Branislav Ftorek ◽  
Milan Saga ◽  
Pavol Orsansky ◽  
Jan Vittek ◽  
Peter Butko
Keyword(s):  
Control System ◽  
Energy Saving ◽  
Energy Savings ◽  
Position Control ◽  
Control Strategies ◽  
Content Type ◽  
Ac Drives ◽  
Energy Demands ◽  
Wide Range ◽  
Energy Consumption Optimization

Purpose The main purpose of this paper is to evaluate the two energy saving position control strategies for AC drives valid for a wide range of boundary conditions including an analysis of their energy expenses. Design/methodology/approach For energy demands analysis, the optimal energy control based on mechanical and electrical losses minimization is compared with the near-optimal one based on symmetrical trapezoidal speed profile. Both control strategies respect prescribed maneuver time and define acceleration profile for preplanned rest-to-rest maneuver. Findings Presented simulations confirm lower total energy expenditures of energy optimal control if compared with near-optimal one, but the differences are only small due to the fact that two energy saving strategies are compared. Research limitations/implications Developed overall control system consisting of energy saving profile generator, pre-compensator and position control system respecting principles of field-oriented control is capable to track precomputed state variables precisely. Practical implications Energy demands of both control strategies are verified and compared to simulations and preliminary experiments. The possibilities of energy savings were confirmed for both control strategies. Originality/value Experimental verification of designed control structure is sufficiently promising and confirmed assumed energy savings.

Vision based 3-D position control for a robot arm

2011 ◽  
Author(s):  
Cheng-Hao Huang ◽  
Chi-Sheng Hsu ◽  
Po-Chien Tsai ◽  
Rong-Jyue Wang ◽  
Wen-June Wang
Keyword(s):  
Position Control ◽  
Robot Arm

scholarly journals Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning

Soft Robotics ◽  
2018 ◽  
Vol 5 (1) ◽  
pp. 54-70 ◽  
Author(s):  
Maria Elena Giannaccini ◽  
Chaoqun Xiang ◽  
Adham Atyabi ◽  
Theo Theodoridis ◽  
Samia Nefti-Meziani ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Robot Arm ◽  
Continuum Robot ◽  
Novel Design

Analysis of Jib Strength and Broken Jib Accident of High Pedestal Jib Crane from the Perspective of Mechanics

2012 ◽  
Vol 164 ◽  
pp. 322-325 ◽  
Author(s):  
Qing Dun Zeng ◽  
Fang Liu
Keyword(s):  
Finite Element ◽  
Working Conditions ◽  
Tensile Force ◽  
Compressive Force ◽  
Guangdong Province ◽  
Solid Model ◽  
Finite Element Software ◽  
Actual Working

According to an example of the broken jib accident of a high pedestal jib crane (HM2564) in a Shipyard Co., Ltd. in Guangdong province, this paper used a finite element software ANSYS to establish a solid model for the jib frame of the crane, calculated the stresses of jib system under various actual working conditions and checked the strengths. Simultaneously, the reasons of broken jib were quantitatively analyzed from the perspective of mechanics. The results show that the strengths of the jib system meet the requirements of safe use under all kinds of working conditions, but the related hoistman incorrectly operated the facility, cables can’t be winded normally in pulleys, thus resulting in that the tensile force of a cable was directly applied on the main jib by pulley spindle and the failure of the jib frame occurred under heavy compressive force of lifting cables.

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