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This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque (IIWT) minimization scheme, in this paper, a novel scheme is proposed and investigated for redundant manipulators with joint-physical limits (i.e., limits of joint angle, joint velocity, joint acceleration and joint...
In this paper, a sensorless admittance control scheme is developed for robot manipulators in the presence of input saturation by employing neural networks. To deal with system uncertainties, the radial basis function neural network (RBFNN) is integrated into control design. In order to deal with input saturation, a compensator is applied to handle this problem. To interact with the environment, admittance...
The disadvantage that the iterative learning control (ILC) requires a learning process again for achieving another motion has been overcome by the basis-motion torque composition (BMTC). However, the increase of robot joints may cause difficulties in motion selections due to the algorithmic issue. We investigated the issue in motions of a three-joint robot arm in gravity and proposed a resolution...
This paper proposes the design of a flexible multisensor surgical manipulator to be used in Minimally Invasive Surgery (MIS). The proposed system constitutes intrinsically actuated flexible arm, drive mechanism, and control system. Flexibility is achieved by connecting and actuating varying length discrete rigid links with micromotor equipped with rotary encoder. Comprehensive design details are presented...
High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder...
This paper addresses the mechanical structure and control method of a redundant drive robot (RDR) to produce compliant motions, and show how the design parameters of the RDR can effect the produced motions and the mechanical and performance limitations of the actuators of the RDR. The structure and control method of the RDR can have been proper to produce compliant motions, but the effect of the design...
In this paper, we implement robotic tapping motion with an anthropomorphic dual arm robot. It is the first paper to discuss the robotic massage technique for this kind. Unlike common massage motion such as kneading, pressing, or stroking, tapping motion satisfies with the short-time impulse momentum contact on a human body. To implement the robotic tapping motion, we develop a modulated on-line trajectory...
Many users demand modular manipulator that are able to deal with variable tasks in low-cost condition. This paper details the design of a joint module for a manually reconfigurable manipulator, which has manually configurable gearing. This design method can provide multiple peak values of velocity and torque by user. This module can be changed its placement as vertical and horizontal by electro-mechanical...
An external disturbances rejection algorithm for flat multi-link manipulator is proposed. Tracking problem is considered as it is generalization of stabilization and regulation problems. Joint coordinates state space is used to simplify mathematical calculations. Electric drives are chosen as joint actuators and their equations are involved into model of the plant. External disturbances and their...
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
Muscle weakness has been identified as the major functional impairment that stroke patients encounter. We developed two games for strength training of the arm that can be played with an exoskeleton robot: 1) A sustained arm flexor muscles' action protocol, where the training is adapted online within the movement considering the individual torque profile and 2) an isometric explosive-type rate of torque...
Recently, the complexity of control systems for autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform more and more complex tasks. In the present work, we go a step forward adding an optimiser to the actual (nonlinear) control strategy, in order to comply with high-level control demands related...
The article considers the problems of mathematical development and computer modeling of the angle setting block for positional electric drives in robotic devices. The angle setting unit is composed of three closed loops. The first (inner) circuit provides the dynamic torque limit and the required acceleration. The integration of the output value of the inner loop determines a given motor speed. The...
In this paper, an adaptive controller is proposed for controlling flexible joint robots containing time-varying uncertainties. The controller is free from the computation of the regressor matrix which largely simplifies its implementation. The feedback of link accelerations and their higher derivations are avoided without the support of Slotine and Li's modification. The number of update laws in the...
In this paper, a method to improve the operating experience of master manipulator which is used to manipulate the slave manipulator is proposed. The general method to improve performance is compensating the gravity and friction of the manipulator. For the general method, not only the modeling of the gravity but also the identification of friction parameters imports errors. When the manipulator is...
In fast changing assembly scenarios, it is required to adapt the task execution to the current state of the setup without extensive calibration routines. Therefore, it is important to estimate the geometric uncertainties and contact states during the assembly execution. We use a sequential Monte Carlo (SMC) method to track the relative poses between workpieces during a robotic assembly based on joint...
Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterbalance mechanism (CBM) and a robot arm based on these CBMs were developed in our previous study. In...
This paper describes application of calculated torque method and majorizing functions method to the synthesis of adaptive control systems with rigid multi degree of freedom interconnected nonlinear mechanical plants.
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