scholarly journals Improvement of Measurement and Control Scheme on Human Body Motion Interface

2012 ◽  
Vol 2 (4) ◽  
pp. 53-59 ◽  
Author(s):  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
Yasuhiro Ohyama ◽  
Daisuke Chugo ◽  
Jinhua She ◽  
...  
Keyword(s):  
Human Body ◽  
Body Motion ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control

scholarly journals A Simplified Model Predictive Control for T-Type Inverter with Output LC Filter

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 31 ◽  
Author(s):  
Van-Quang-Binh Ngo ◽  
Minh-Khai Nguyen ◽  
Tan-Tai Tran ◽  
Young-Cheol Lim ◽  
Joon-Ho Choi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Performance Simulation ◽  
Control Scheme ◽  
Finite Control ◽  
Lc Filter ◽  
The Cost ◽  
And Control ◽  
Measurement And Control ◽  
Selection Of

In this paper, a model predictive control scheme for the T-type inverter with an output LC filter is presented. A simplified dynamics model is proposed to reduce the number of the measurement and control variables, resulting in a decrease in the cost and complexity of the system. Furthermore, the main contribution of the paper is the approach to evaluate the cost function. By employing the selection of sector information distribution in the reference inverter voltage and capacitor voltage balancing, the execution time of the proposed algorithm is significantly reduced by 36% compared with conventional model predictive control without too much impact on control performance. Simulation and experimental results are studied and compared with conventional finite control set model predictive control to validate the effectiveness of the proposed method.

scholarly journals Robotic Measurement and Control for Chiropractic Research

2006 ◽  
Vol 3 (1) ◽  
pp. 43-48 ◽  
Author(s):  
P. Goldsmith ◽  
S. Wynd ◽  
G. Kawchuk
Keyword(s):  
Robot Manipulator ◽  
Vision System ◽  
Parallel Robot ◽  
Calibration Procedure ◽  
Positional Accuracy ◽  
Experimental Procedure ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control ◽  
Chiropractic Research

The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.

Stability and control of human body motion during performing balance motion in Wushu

2012 ◽  
Author(s):  
Afsaneh Yavari ◽  
Ali Tanbakoosaz ◽  
Mostafa Rostami ◽  
Mahdi Yousefi Azar Khanian ◽  
Ali Esteki
Keyword(s):  
Human Body ◽  
Body Motion ◽  
Stability And Control ◽  
And Control

Design and Control of a 13-DOF Biped Robot Using Human Gait

2010 ◽  
Author(s):  
Reza Naghibi ◽  
Alireza Akbarzadeh Tootoonchi
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Golden Ratio ◽  
Biped Robot ◽  
Human Gait ◽  
Proper Number ◽  
Control Scheme ◽  
The One ◽  
And Control

This paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. The ultimate design goal was to design the structure to be as close to a lower part of human body as possible. Therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. The biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. The Biped is designed in SolidWorks and simulated in SimMechanic and COSMOSMotion. The movement of the joints are achieved by motors and harmonic drives. The contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.

Modelling and Control of a Closed Chain Flexible Linkage

2000 ◽  
Author(s):  
R. Caracciolo ◽  
M. Giovagnoni ◽  
A. Rossi ◽  
A. Trevisani
Keyword(s):  
Rigid Body ◽  
Element Model ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Closed Chain ◽  
Control Scheme ◽  
Inertial Nonlinearities ◽  
And Control ◽  
Four Bar Linkage ◽  
Sampling Times

Abstract The objective of this paper is to describe and numerically test a control scheme for a flexible four-bar linkage. The dynamic response of the mechanism is reproduced by means of an accurate finite element model accounting for geometric and inertial nonlinearities. A reduced number of measured variables is selected to control both rigid-body motion and vibration separately without implementing an estimator of the state of the system. Rigid-body motion control is performed by means of a PID-like regulator while proportional controllers are employed to damp link oscillations. Appropriate devices are proposed to avoid coupling effects among variables. Numerical results demonstrate the effectiveness of the control when it operates at different sampling times.

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