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The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure,...
In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the main...
Switched-mode converters are kind of circuits which transfer power from a DC source to a load. In general, these converters feature three different modes of operation with high switching frequency, in such a way that each mode is associated with a different linear continuous-time dynamic equation. The identification of these Piecewise Affine (PWA) systems includes the estimation of the parameters...
In this paper, the application of state-dependent Riccati equation (SDRE) controller in the field of cooperative manipulators is introduced. The ultimate goal is to increase dynamic load carrying capacity (DLCC) by means of cooperation between robots. Carrying the load with two arms creates constraint in predefined trajectory and complexity for the control problem. The rate of distribution of load...
This work investigates state-dependent differential Riccati equation (SDDRE) controller for tracking problem. The system in question is a class of time-varying nonlinear systems with control nonlinearities. Regulation case needs only the solution to the SDDRE to provide suboptimal gain of control law, though derivation of tracking problem generates a feedforward differential equation in addition to...
This work proposes a state-dependent Riccati equation (SDRE) design for precision control of a double-gimbal magnetically suspended rotor (MSR) control moment gyroscope (CMG) in presence of high nonlinearities, strong coupled dynamics, and disturbance arising from double-gimbal movement. The control moment gyroscope is the primary attitude control actuator for spacecraft. Due to merging of magnetic...
Uncertainty in manipulators is rooted in two factors: error of measurement and parameters uncertainty of dynamics; Hence it is necessary to include it in control design. Sliding mode control (SMC) is a proper approach for controlling uncertain systems. SMC regulates system's states to a desired dynamics, defined by sliding surface. Gains of control law determine the rate of movement towards sliding...
In this paper, parametric and numerical model of the motors of a robot are extracted. A method is proposed here to control the torque and velocity of the motor simultaneously using the extracted dynamics of the motor and consequently control the robot motion more accurately. Parametric model of the motors are derived by conducting standard tests like locked rotor test and step and sine wave input...
This paper addresses the problem of fuzzy controller design for position control of two-wheeled mobile robots subject to unknown kinematic disturbances. Because the conventional T-S fuzzy models are not applicable, the robot is modeled with several subsystems each of which represented by a set of T-S fuzzy rules. With the use of a common quadratic Lyapunov function, LMI based Η∞ switching control...
Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. There is an increasing need to provide telerobots with the ability to interact with unknown and hybrid environments to detect the abnormalities and also performing the diagnostic procedures. In such environments it is challenging to guarantee the whole system stability...
One of the challenging issues in the robotic technology is to use robotics arm for surgeries, especially in eye operations. Among the recently developed mechanisms for this purpose, there exists a robot, called Eye-RHAS, that presents sustainable precision in vitreo-retinal eye surgeries. In this work the closed-form dynamical model of this robot has been derived by Gibbs-Appell method. Furthermore,...
Quadruped robots have many advantages over other robots. Their excellent potentials to traverse different terrains are one of main advantages which distinguish these robots from wheeled mobile robot. In this article, the gait planning problem and also the design of an appropriate controller for a quadruped robot will be investigated. To this end, an explicit dynamics model of an 18-DOF quadruped robot...
Movement in narrow channels or uneven terrains is one of the challenges concerning the robotic engineering. Inspired by nature, we can provide solutions for these problems. For example, caterpillar worms propose a simple plan of crawling locomotion that is able to cope to the limitations imposed by path. Hence, we were interested in imitating the caterpillar worms' locomotion by a crawling robot prototype...
In this paper, a cable actuated elbow rehabilitation robot with integrated active and passive gravity compensation method is proposed. Passive method compensates for the weight of the robot and patient forearm, but full gravity compensation for different patient needs spring stiffness to be adjusted. It seems unreasonable to equip the rehabilitation robot with a different spring for each patient....
In this paper a new architecture for robotic rehabilitation is introduced. The mutual interaction between the therapist and patient is accomplished with robots. The architecture divides the system into three subsystems: therapist, patient, and virtual environment, which is controlled locally ensuring that it is input to state stable (ISS). Finally, the interconnection of these subsystems are shown...
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