scholarly journals Implementation of Multirate Feedforward Control on Robot Manipulators with Elastic Joints

2008 ◽  
Vol 26 (7) ◽  
pp. 778-784 ◽  
Author(s):  
Akira Shimada ◽  
Tsuyoshi Takeda
Keyword(s):  
Feedforward Control ◽  
Robot Manipulators ◽  
Elastic Joints

Position control of robot manipulators with elastic joints using force feedback

1990 ◽  
Vol 7 (4) ◽  
pp. 535-554 ◽  
Author(s):  
Nenad Kircanski ◽  
Aleksandar Timcenko ◽  
Miomir Vukobratovic
Keyword(s):  
Force Feedback ◽  
Position Control ◽  
Robot Manipulators ◽  
Elastic Joints

Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments

2004 ◽  
Vol 127 (3) ◽  
pp. 321-328 ◽  
Author(s):  
Loredana Zollo ◽  
Bruno Siciliano ◽  
Alessandro De Luca ◽  
Eugenio Guglielmelli ◽  
Paolo Dario
Keyword(s):  
Closed Loop ◽  
Robot Manipulators ◽  
Assistive Robotics ◽  
Direct Lyapunov Method ◽  
Compliance Control ◽  
Control Laws ◽  
Closed Loop Systems ◽  
Biomedical Robotics ◽  
Elastic Joints ◽  
Robot Performance

Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and environment, instead, the main objective of a control strategy should be the reduction of the vibrational and chattering phenomena that elasticity in the robot joints can cause. This work takes into account working environments where unexpected interactions are experienced and proposes a compliance control scheme in the Cartesian space to reduce the counter effects of elasticity. Two theoretical formulations of the control law are presented, which differ for the term of gravity compensation. For both of them the closed-loop equilibrium conditions are evaluated and asymptotic stability is proven through the direct Lyapunov method. The two control laws are applied to a particular class of elastic robot manipulators, i.e., cable-actuated robots, since their intrinsic mechanical compliance can be successfully utilized in applications of biomedical robotics and assistive robotics. A compared experimental analysis of the two formulations of compliance control is finally carried out in order to verify stability of the two closed-loop systems as well as the capability to control the robot force in the interaction.

scholarly journals SPEEDING UP ROBOT MANIPULATORS WITH ELASTIC JOINTS

2000 ◽  
Vol 23 (2) ◽  
pp. 179-185
Author(s):  
Salem Samak ◽  
Bilal Maher
Keyword(s):  
Robot Manipulators ◽  
Elastic Joints

scholarly journals Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Hongjun Hu ◽  
Shungen Xiao ◽  
Haikuo Shen
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Feedforward Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Angular Acceleration ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection

To solve the problems of model uncertainties, dynamic coupling, and external disturbances, a modified linear active disturbance rejection controller (MLADRC) is proposed for the trajectory tracking control of robot manipulators. In the computer simulation, MLADRC is compared to the proportional-derivative (PD) controller and the regular linear active disturbance rejection controller (LADRC) for performance tests. Multiple uncertain factors such as friction, parameter perturbation, and external disturbance are sequentially added to the system to simulate an actual robot manipulator system. Besides, a two-degree-of-freedom (2-DOF) manipulator is constructed to verify the control performance of the MLADRC. Compared with the regular LADRC, MLADRC is significantly characterized by the addition of feedforward control of reference angular acceleration, which helps robot manipulators keep up with target trajectories more accurately. The simulation and experimental results demonstrate the superiority of the MLADRC over the regular LADRC for the trajectory tracking control.

Pid Regulation Of Robot Manipulators With Elastic Joints

2008 ◽  
Vol 5 (1) ◽  
pp. 32-38 ◽  
Author(s):  
Jose Alvarez-Ramirez ◽  
Ilse Cervantes
Keyword(s):  
Robot Manipulators ◽  
Elastic Joints

Fuzzy descriptor tracking control with guaranteed L∞ error-bound for robot manipulators

2020 ◽  
pp. 014233122097926
Author(s):  
Anh-Tu Nguyen ◽  
Antoine Dequidt ◽  
Van-Anh Nguyen ◽  
Laurent Vermeiren ◽  
Michel Dambrine
Keyword(s):  
Tracking Control ◽  
Feedforward Control ◽  
Robot Manipulators ◽  
Fuzzy Model ◽  
Control Design ◽  
Effective Control ◽  
Linear Matrix ◽  
Control Scheme ◽  
Nonlinear Tracking ◽  
The Rich

This paper is concerned with the nonlinear tracking control design for robot manipulators. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective control design. Using a descriptor fuzzy model-based framework, we propose a new approach to design a feedback-feedforward control scheme for robot manipulators in a general form. The goal is to guarantee a small level of an [Formula: see text] gain specification to improve the tracking performance while significantly reducing the numerical complexity for real-time implementation. Based on Lyapunov stability arguments, the control design is formulated as a convex optimization problem involving linear matrix inequalities. Numerical experiments performed with a high-fidelity manipulator benchmark model, embedded in the Simscape MultibodyTM environment, demonstrate the effectiveness of the proposed control solution over existing standard approaches.

Dysarthria Profiles in Adults With Hereditary Ataxia

2019 ◽  
Vol 28 (2S) ◽  
pp. 915-924 ◽  
Author(s):  
Kristie A. Spencer ◽  
Mallory Dawson
Keyword(s):  
Rating Scales ◽  
Feedforward Control ◽  
Hereditary Ataxia ◽  
Severity Rating ◽  
Visual Analog Scales ◽  
Speech Characteristics ◽  
Ataxic Dysarthria ◽  
Preliminary Study

Purpose This preliminary study examined whether speech profiles exist for adults with hereditary ataxia based on 2 competing frameworks: a pattern of instability/inflexibility or a pattern of differential subsystem involvement. Method Four dysarthria experts rated the speech samples of 8 adults with dysarthria from hereditary ataxia using visual analog scales and presence/severity rating scales of speech characteristics. Speaking tasks included diadochokinetics, sustained phonation, and a monologue. Results Speech profiles aligned with the instability/inflexibility framework, with the pattern of instability being the most common. Speech profiles did not emerge for the majority of speakers using the differential subsystem framework. Conclusions The findings extend previous research on pure ataxic dysarthria and suggest a possible framework for understanding the speech heterogeneity associated with the ataxias. The predominance of the instability profile is consistent with the notion of impaired feedforward control in speakers with cerebellar disruption.

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