The Design of Two-Way Control System of Master-Slave Medical Robot and its Digital Operation Experiment Research

2011 ◽  
Vol 197-198 ◽  
pp. 203-207
Author(s):  
Shi Jie Li ◽  
Ya Rui Zhang ◽  
Hai Xia Bi ◽  
Tie Cheng Wang
Keyword(s):  
Experimental Study ◽  
Control System ◽  
Robot Control ◽  
Control Method ◽  
Organization Design ◽  
Simulation System ◽  
Simulation Software ◽  
Experimental Result ◽  
Experiment Research ◽  
Medical Robot

In recent years, the research on the medical robot's already became a new domain about the robot application, particularly the special medical robot already became a direction of the medical robot develops. This article started with the medical robot organization design, construct the three-dimensionalmodel,designed master-Slave Medical robot control system overall project, determined a new two-way control method of force telepresence, developed Master-Slave medical robot control system's simulation software, and conducted the experimental study, the experimental result showed that this simulation system had the very good timeliness and the accuracy.

scholarly journals Structural Design and Material Cutting Using a Laser End Effector on a Robot Arm

TEM Journal ◽  
2020 ◽  
pp. 1455-1459
Author(s):  
Martin Pollák ◽  
Jozef Dobránsky
Keyword(s):  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Control Program ◽  
Soft Materials ◽  
Electrical Circuit ◽  
Simulation Software ◽  
Robot Arm ◽  
Software Environment ◽  
End Effector

The paper deals with the structural design of a laser end effector for the arm of the ABB IRB 140 robot which makes products by the laser cutting technology involving soft materials, such as e.g. paper, wood and others. A laser with a power of 1 W was chosen to carry out the cutting. An electrical circuit with a power supply was created for the selected laser; a control method and a structural design of the jig to be attached to the flange of the robot arm were proposed. Subsequently, the robot control program was connected to the control via a computer and the RoboDK simulation software. The paper describes in more detail the creation of the robot control program and the simulation designed in the simulation software environment, as well as the programming of laser control scripts in Python and in the programming environment of Arduino microcontroller.

Design of Heating Control System for UEGO Sensor

2013 ◽  
Vol 732-733 ◽  
pp. 1231-1235
Author(s):  
Ji Fei Lu ◽  
Chang Ji Zhu ◽  
Da Wei Qu ◽  
Xiao Lu
Keyword(s):  
Control System ◽  
Control Method ◽  
Simulation System ◽  
Exhaust Gas ◽  
Nonlinear Characteristic ◽  
Automobile Engine ◽  
Control Module ◽  
Pid Algorithm ◽  
Working Temperature ◽  
Time Simulation

Universal Exhaust Gas Oxygen (UEGO) Sensor is one of the most important sensors for the close-loop air-fuel-ratio control system of automobile engine. Due to its special structure, controller is used to control sensors temperature so that UEGO sensor can work normally. Aiming at nonlinear characteristic of the temperature control module, a subsection heating control method and a PID algorithm is studied. UEGO heating controller is implemented by means of Motohawk real time simulation system. Experimental results show that under the condition of different temperature, the UEGO is also able to maintain the best working temperature.

scholarly journals COMPUTED TORQUE CONTROL FOR A SPATIAL DISORIENTATION TRAINER

2020 ◽  
Vol 18 (2) ◽  
pp. 269
Author(s):  
Jelena Vidaković ◽  
Vladimir Kvrgić ◽  
Mihailo Lazarević ◽  
Pavle Stepanić
Keyword(s):  
Control System ◽  
Robot Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Training System ◽  
Torque Control ◽  
Spatial Disorientation ◽  
Computed Torque Control ◽  
Computed Torque

A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward control method used for tracking of robot’s time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.

Research on Coordinated Simulation of Medical Robot Arm Based on Simulink and RecurDyn

2011 ◽  
Vol 58-60 ◽  
pp. 1300-1305 ◽  
Author(s):  
Xiao Hui Xie ◽  
Qiang Sun ◽  
Xiao Fang Yu ◽  
Ru Xu Du
Keyword(s):  
Dynamic Simulation ◽  
3D Model ◽  
Simulation System ◽  
Simulation Software ◽  
Virtual Simulation ◽  
Robot Arm ◽  
Medical Robot ◽  
Response Characteristics ◽  
Robot Arm Control ◽  
Tracking Ability

To improve the design efficiency of medical robot arm, a virtual simulation system was built by making full use of the virtual simulation technology. First , a 3D model of the robot arm with five-freedom was built in Solidworks; and then, the model was imported into the dynamic simulation software RecurDyn for kinematics and dynamic simulation; at last, through the interface modular part of Matlab/Simulink and RecurDyn, medical robot arm control system was established by using Simulink module and coordinated simulation of five-freedom was successfully implemented .The simulation results indicate that the coordinated simulation system of the robot arm has preferable dynamic response characteristics and nicer locus-tracking ability.

Design of Three-Wheel Mobile Robot Control System

2012 ◽  
Vol 184-185 ◽  
pp. 1550-1553
Author(s):  
Ying Xu ◽  
Liang Wang ◽  
Jin Tan Duan ◽  
Ying Long Peng
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Motion Control ◽  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Hierarchical Control ◽  
Experimental Tests ◽  
Mobile Robot Control ◽  
Working Principle

The structure and working principle of motion control system for a three-wheel mobile robot was designed in this paper, it make use of hierarchical control method. AT89S52 was selected as core - controller of bottom control system, completing the structural design of the robot, system's hardware and software design. Through experimental tests, the robot motion control meet the intended requirements.

Study on Simulation System of Incremental Photoelectric Encoder

2013 ◽  
Vol 321-324 ◽  
pp. 582-585
Author(s):  
Hai Hui Yang
Keyword(s):  
Signal Processing ◽  
Virtual Reality ◽  
Motion Control ◽  
Control Method ◽  
Pulse Signal ◽  
Simulation System ◽  
Simulation Software ◽  
Virtual Simulation ◽  
Virtual Reality Technology ◽  
Photoelectric Encoder

To change the phenomenon of“Being an armchair strategist” in the research on the photoelectric encoder,the simulation system of that had been researched using virtual-reality technology. Thebasic principle of the photoelectric encoder was expounded. The developmentstrategy of the simulation software was introduced. Some key problems and theirsolutions, including drawing of grid line and motion control method, voltagesignal and the pulse signal processing and display and parameter adjustmentmethod, were put forward in development. Finally, a virtual simulation examplewas provided.

Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 4-11
Author(s):  
MOHAMED CHBEL ◽  
LUC LAPERRIÈRE
Keyword(s):  
Control System ◽  
Nonlinear Behavior ◽  
Simulation Software ◽  
Pulp And Paper ◽  
Pid Controllers ◽  
Tuning Parameters ◽  
Pid Tuning ◽  
Fixed Set ◽  
And Control ◽  
Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

Control of coagulation process by dual wavelength article analyzer

1997 ◽  
Vol 36 (4) ◽  
pp. 135-142 ◽  
Author(s):  
Norihito Tambo ◽  
Yoshihiko Matsui ◽  
Ken-ichi Kurotani ◽  
Masakazu Kubota ◽  
Hirohide Akiyama ◽  
...  
Keyword(s):  
Water Quality ◽  
Control System ◽  
Predictive Control ◽  
Control Method ◽  
Feedforward Control ◽  
Raw Water ◽  
Floc Size ◽  
Coagulation Process ◽  
Series Of Experiments ◽  
Size Data

A coagulation process for water purification plants mainly uses feedforward control based on raw water quality and empirical data and requires operator's help. We developed a new floc sensor for measuring floc size in a flush mixer to be used for floc control. A control system using model predictive control was developed on the floc size data. A series of experiments was performed to confirm controllability of settled water quality by controlling flush mixer floc size. An automatic control with feedback from the coagulation process was evaluated as practical and reliable. Finally this new control method was applied for actual plant and evaluated as practical.

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