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This paper presents a sliding mode-based impedance controller for delayed dual user teleoperation system with unknown delay. The latency which has considerable undesirable effects on system stability and performance is compensated through this control approach. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement...
As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint...
Under the condition that the base of a robot manipulator has motion disturbance, the control of the end-effector target is difficult. In this paper, we show a method for robot control under base motion disturbance and load change with passivity-based adaptive control and to compensate viscous and coulomb friction. We insert circular trajectory specified in Cartesian space, then follow by the compensation...
A Web-based remote control system of a mobile manipulator over Internet is studied. Due to the development of Internet technique and speed increase of transmission, the inexpensive convenient communication approach is provided for the remote control system. However, time delay on Internet is considered as a problem which affects the stability of teleoperation system. Therefore, based on the test and...
This paper proposes the use of the relative dorsal position of a 5-link bipedal robot for a moment compensation that assures a stable walking, even if the robot parameters are not perfectly known. Furthermore, avoidance of knee hyperextension at the supporting leg is implemented, using a computed torque with modified PD control law in which the derivative action is applied over the output of the decoupled...
Based on mechanical energies analysis, the aim of this paper is to propose the use of the relative dorsal position of a 5-link bipedal robot in order to compensate its moments during the walking cycle, leading the previously unstable system to stability. Also, a modification of the PD control law avoids hyperextension at the supporting legpsilas knee. Finally, the model parameters are subjected to...
This paper deals with an analytical approach based on the inverse dynamic model to maintain the stability of the ROBIAN robot in the presence of external disturbances. The stabilization is carried out with a trunk having 4 degrees of freedom: three translations and one rotation. For a vertical posture of the robot, the trunk bodies of ROBIAN are used to compensate the external three-dimensional efforts...
This paper proposes a control scheme for underactuated two-link robot called the pendubot. The controller achives to swing, and stabilize to its uppermost unstable equilibrium point, the second non-attracted link. The control law is designed and the convergence analysis is carried out based on Lyapunov stability theory. Swinging control is based on an kinetic energy approach and the passivity properties,...
This paper proposed a trajectory tracking controller for the tendon driven robot with reference to the structure of the biological control systems. The proposed controller can achieve the quick tracking to the desired trajectories by applying the delayed reflexive force feedback. Whereas the load compensation by the reflexive force feedback makes the quick tracking possible, on the other side, it...
This paper addresses the problem of adaptive compensation of torque disturbances in the tracking/positioning control of mechanical systems with the aim of (1) reducing the tracking error for tracking and the position error for positioning tasks, (2) increasing the robustness for uncertain parameters, and (3) using the estimated parameters for failure detection/determination and wear indication. The...
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