Design and Simulation of Five Fingers Gripper for Dexterous Pick-Up Various of Components

2015 ◽  
Vol 776 ◽  
pp. 325-330
Author(s):  
I. Wayan Widhiada ◽  
Endra Pitowarno ◽  
C.G. Indra Partha ◽  
Yuda A.P. Wayan Reza
Keyword(s):  
Pid Control ◽  
Force Feedback ◽  
Software Tool ◽  
System Response ◽  
Human Hand ◽  
Mechanical Assembly ◽  
Motion Responses ◽  
Response Dynamic ◽  
Signal Error ◽  
Simulation Results

In this paper, the authors describe and demonstrate how a Five fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are achieved. The fine motion including force feedback and the gross motions, which orientate the fingers into their approximate configuration is provided by an advance PID control strategy. The fingers are to be controlled in a manner which mimics the kinematics and dynamics of the five fingers of a human hand. This mimicry is required to design the correct motions necessary to handle engineering components. In order to evaluate the design philosophy and capability of the five fingered gripper, a challenging assembly process has been identified. The five fingered gripper assembly was built using Solidworks software tool, and it’s mechanical assembly representation was established in SimMechanics. The advance PID control is very effectively used to control the trajectory of the fingers. The simulation results have been demonstrated that the radius of finger movement is achieved in stable response. The signal error towards closed less than 1% which it indicates the response dynamic system response is stable.

The Research about the Wind Turbines Pitch Control

2013 ◽  
Vol 773 ◽  
pp. 87-90
Author(s):  
Chen Wang ◽  
De Zhou Meng ◽  
Xu Fang Bo
Keyword(s):  
Wind Power ◽  
Pid Control ◽  
Control Algorithm ◽  
Uneven Distribution ◽  
Pitch Control ◽  
Experimental Platform ◽  
Simulation Results ◽  
Pitch System ◽  
Fan Blade ◽  
Variable Pitch Control

Based on the background of wind power, considering the wind blade sweep area on the uneven distribution, this paper is using the PID control algorithm to control the pitch system. At the same time, this paper is using Siemens SCL to programming, simulating on the experimental platform. Simulation results show the validity of the theory and the feasibility of the system, realizing variable pitch control of fan blade.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

Development of Control System by Nonlinear Compensation Using Digital Acceleration Control

2010 ◽  
Author(s):  
Takanori Emaru ◽  
Kazuo Imagawa ◽  
Yohei Hoshino ◽  
Yukinori Kobayashi
Keyword(s):  
Control System ◽  
System Identification ◽  
Mechanical System ◽  
Pid Control ◽  
Estimation Method ◽  
Proportional Integral Derivative ◽  
Inertia Term ◽  
Modeling Errors ◽  
Nonlinear Compensation ◽  
Simulation Results

Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator.

scholarly journals Bandwidth calculation for VoIP networks based on PSTN statistical model

2010 ◽  
Vol 23 (1) ◽  
pp. 73-88 ◽  
Author(s):  
Zvezdan Stojanovic ◽  
Djordje Babic
Keyword(s):  
Statistical Model ◽  
Software Tool ◽  
Traffic Analysis ◽  
Proper Number ◽  
Simulation Results

This paper shows an analysis how to calculate proper bandwidth for VoIP calls after proper dimensioning of PSTN network. For this purpose, we use Erlang B and extended Erlang B formulae. Further, we have developed a software tool, named Bandwidth Calculator to calculate proper number of the circuits on the PSTN side and after that IP bandwidth. Traffic analysis is conducted for VoIP networks considering impact of many factors on the bandwidth such as: voice codecs, samples, VAD, RTP compression. The results obtained by bandwidth calculator are compared to simulation results and data obtained by measurements. .

Fuzzy Logic Controller for Force Feedback Control of Quadcopter via Tether

2020 ◽  
Author(s):  
Bennett Breese ◽  
Drew Scott ◽  
Shraddha Barawkar ◽  
Manish Kumar
Keyword(s):  
Fuzzy Logic ◽  
Control Strategy ◽  
Fuzzy Logic Controller ◽  
Force Feedback ◽  
Power Transmission ◽  
Extensive Simulation ◽  
Control Scheme ◽  
Area Surveillance ◽  
Simulation Results ◽  
Long Endurance

Abstract Tethered drone systems can be used to perform long-endurance tasks such as area surveillance and relay stations for wireless communication. However, all the existing systems use tethers only for data and power transmission from a stationary point on the ground. This work presents a control strategy that enables a quadcopter to follow a moving tether anchor. A force feedback controller is implemented using Fuzzy Logic. Using force-based strategy provides effective compliance between the tether’s anchor and the drone. The drone can thus be controlled by mere physical movement/manipulation of tether. This enhances the safety of current tethered drone systems and simplifies the flying of drones. Fuzzy Logic provides an intuitive edge to the control of such systems and allows handling noise in force sensors. Extensive simulation results are presented in this paper showing the effectiveness of the proposed control scheme.

Simulation Research on Fuzzy Adaptive PID Control of Variable Pump Control System

2012 ◽  
Vol 220-223 ◽  
pp. 880-883
Author(s):  
Hui Wang ◽  
Zhuo Xu
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Fuzzy Controller ◽  
Response Speed ◽  
System Response ◽  
Fuzzy Pid Control ◽  
Simulation Research ◽  
Output Pressure ◽  
System Output ◽  
Fuzzy Adaptive

According to the problem of large overshoot in the variable pump constant pressure output, the fuzzy controller and PID controller were combined. The dynamic response of system output pressure was obtained by combining simulation with a fuzzy adaptive PID controller designed in Matlab/Simulink and mechanical hydraulic model established in AMESim. The simulation results show that fuzzy PID control can achieve the goal of system response without overshoot, and response speed is improved further. The anti-interference ability is also stronger.

Active Force Control Applied to Spray Boom Structure

2013 ◽  
Vol 315 ◽  
pp. 616-620 ◽  
Author(s):  
Mona Tahmasebi ◽  
Roslan Abdul Rahman ◽  
Musa Mailah ◽  
Mohammad Gohari
Keyword(s):  
Pid Control ◽  
Force Control ◽  
High Frequency ◽  
Pid Controller ◽  
Active Force ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Active Force Control ◽  
Simulation Results ◽  
Vertical Vibrations

Distribution pattern of spray boom in fields is affected by several parameters which one of the important reasons is horizontal and vertical vibrations because of unevenness surfaces. Spray boom movements lead to decrease of spread efficiency and crop yield. Generally, active suspension is employed to control and attenuate the vibration of sprayer booms because these suspensions reduce the high frequency vibration of spray booms thanks to irregularities soil. In this research, a proportional-integral-derivative controller with active force control is used to remove undesired rolling of spray boom. Simulation results depict that the proposed scheme is more effective and accurate than PID control only scheme. The AFC based scheme shows the robustness and accuracy compared to the PID controller.

Study of Tobacco-Redrying System Based on Fuzzy PID Control

2012 ◽  
Vol 220-223 ◽  
pp. 1240-1243
Author(s):  
Yu Yu Zhu ◽  
Ya Jun Zhou
Keyword(s):  
Fuzzy Control ◽  
Pid Control ◽  
Fuzzy Inference ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Scheme ◽  
Simulation Results ◽  
Performance Target

The process of tobacco-redrying has the characteristics of lagging, uncertainty and being nonlinear, so it is unable to satisfy every performance target only by using the traditional PID controlling method. In response to this reality, this paper, by using the fuzzy inference ability of fuzzy control, proposes a fuzzy PID based control scheme to achieve the online adjustment of the PID parameters in tobacco-redrying process and to make them in the required range. Simulation results show that the controller can effectively control the process of tobacco-redrying.

Two Wheel Differential Robot Kinematic Analysis and Control

2012 ◽  
Vol 548 ◽  
pp. 848-852
Author(s):  
Wei Xin Wang ◽  
Wei Zhang
Keyword(s):  
Motion Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Model ◽  
System Response ◽  
Robot Motion ◽  
Input And Output ◽  
Fuzzy Control Strategy ◽  
And Control ◽  
The Membership Function

The paper analyse the two wheel differential robot motion control, and the membership function of affiliation between the amount of input and output was established.Then combine the incremental PID control algorithm with fuzzy control strategy, and it was used to the two wheel differential robot motion control model. By the MATLAB for simulation, get the control system response curve and achieve a satisfactory result.

PID Control of Deposit Dimension during Spray Forming

2005 ◽  
Vol 475-479 ◽  
pp. 2811-2814 ◽  
Author(s):  
Ying Dong Qu ◽  
Cheng Song Cui ◽  
San Ben Chen ◽  
Qing Chun Li
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Network Modeling ◽  
Spray Forming ◽  
Neural Network Modeling ◽  
Melt Flow Rate ◽  
Forming Simulation ◽  
Dimensional Precision ◽  
Simulation Results ◽  
Actual Size

A PID controller has been developed to improve the dimensional precision of a deposit during spray forming. Simulation has been carried out based on a dynamic neural network modeling of deposit dimension. The simulation results show that the PID controller is effective for the control of deposit dimension with short regulating time and low override. Experimental results show that the error between the actual size and the target value is very small even though a disturbance from unstable melt flow rate was introduced.

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