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Active and Passive control of an Exoskeleton with Cable Transmission for Hand Rehabilitation

Active and Passive Control of an Exoskeleton with Cable Tran...

引用

2nd international conference on Biomedical Engineering and Informatics (BMEI)

作者： Wang Shuang Li Jiting Zhang Yuru Wang Ju Beiliang Univ Inst Robot State Key Lab Virtual Real Technol & Syst Beijing Peoples R China

ISBN: (纸本)9781424441334

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is based on impedance control. The compensation controller is used for compensating the position error caused by deflection of the cable and sheath in the mechanical transmission. To realize the compensation, the spring model is used to represent the elasticity of the cable and sheath. With the proposed method, the maximum joint position error is about 1.5 degree, which satisfies the requirement in hand rehabilitation application. The experimental result demonstrates the validity of the propose method.

关键词： rehabilitative training active control mode passive control modes compensation controller

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Seam tracking based on fuzzy-gaussian neural network for mobile welding robot

Seam tracking based on fuzzy-gaussian neural network for mob...

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2nd international conference on Intelligent Networks and Intelligent Systems, ICINIS 2009

作者： Li, Kai Zhang, Ting Zhang, Libin Xiao, Shumei Department of Mechanical Engineering Hebei University of Technology TianJin 300130 China

ISBN: (纸本)9780769538525

To solve the seam tracking problem of the welding mobile robot, adaptive fuzzy controller and fuzzy-gaussian neural network (FGNN) controller are designed to complete coordinately controlling of cross-slider and wheels. The fuzzy-neural control algorithm was described by applying a Gaussia function as an activation function, taking lateral slider position and the error between the robot moving direction and the seam direction as the inputs signals, and the adjusted angle for welding torch as the output, a specialized learning architecture was used so that membership function would be tuned in real time by applying the FGNN controller. The simulation results on MATLAB show that the proposed controller has excellent tracing accuracy (within ± 0.5mm) and can satisfy the requirement of practical welding project. © 2009 IEEE.

关键词： Membership functions

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Seam tracking control of welding mobile robot based-on dynamics model

Seam tracking control of welding mobile robot based-on dynam...

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2009 Joint international conference on Modelling and Simulation

作者： Kai, Li Ting, Zhang Huang, He Shumei, Xiao Songmiao, Liu Research Institute of Robotics and Automation Hebei University of Technology TianJin China Bohai Petroleum Vocational College HeBei China

ISBN: (纸本)9781846260612

On the seam tracking problem of the welding mobile robot during the industry production, only taking into account the kinemics models and absence of the dynamics characteristics are the problems for the majority of the existing methods, which result the bad tracking and big break on speed, and the seam quality is also influenced. To overcome those problems, a new control algorithm based on the dynamics and kinemics models of the welding mobile robot was proposed that is stepped dynamics and kinemics. To make the tracking more quickly and smoothly, it combined the integral algorithm Backstepping with the control algorithm of the monolayer nerve cell network as its control algorithm and utilized the self-learning neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot model. Simulation results on MATLAB show the validity of the control algorithm.

关键词： Dynamics

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Automatic Teaching of Welding robot for 3-Dimensional Seam Based on Ant Colony Optimization Algorithm

Automatic Teaching of Welding Robot for 3-Dimensional Seam B...

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2nd international conference on Intelligent Computation technology and Automation

作者： Li He-xi Shi Yong-hua Wang Guo-rong Zheng Xiao-xi South China Univ Technol Coll Mech & Automot Engn Guangzhou Guangdong Peoples R China Wuyi Univ Coll Informat Engn Jiangmen Guangdong Peoples R China

ISBN: (纸本)9780769538044

The research work of this paper concentrates on 3-dimensional seam detection based on stereovision technique and the optimal control of weld torch attitude based on ant colony optimization algorithm during the automatic teaching of welding robot. A binocular stereovision system with a small linear laser emitter is designed to detect seam position and its orientation, and an ant colony optimization algorithm based on the discretization of the angle increment of robot joint is presented and a pheromone updating strategy is proposed. For the computation of weld torch attitude, the coordinate transformation matrices of a welding robot with 6 degrees-of-freedom are given. The experimental results for curvilinear seams and saddle-shaped seams show that the automatic teaching of welding robot can be successfully completed based on ant colony optimization algorithem using the 3-dimensional seam data acquired by stereovision detection, and the welding trajectory generated by the proposed method has higher accuracy compared with conventional proportional-integral-differential controller and fuzzy controller.

关键词： stereovision automatic teaching welding robot ant colony optimization

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A Mechatronic Model for the Dynamic Analysis of the Windshield Wiper Linkages used for the Motor Vehicles

A Mechatronic Model for the Dynamic Analysis of the Windshie...

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2nd WSEAS international conference on Engineering Mechanics, Structures and Engineering Geology

作者： Alexandru, Catalin Pozna, Claudiu Univ Transilvania Brasov Prod Design & Robot Dept Brasov 500036 Romania

ISBN: (纸本)9789604741014

In this paper we attempt to perform the dynamic analysis of the windshield wiper linkages by using a virtual prototyping platform that includes the following software solutions: CATIA - for realizing the solid model of the system, ADAMS/View - for developing the mechanical device, ADAMS/AutoFlex - for modeling the flexible components, ADAMS/controls & MATLAB/Simulink - for developing the control system of the mechanism. The study is approached in mechatronic concept by integrating the mechanical model and the control system at the virtual prototype level. In this way, the physical testing process is greatly simplified, and the risk of the control law being poorly matched to the real system is eliminated. The application is made for a tandem pattern double-lever wiper mechanism, which contains two four-bar spatial linkages. To drive the mechanism, a DC motor is used, the objective of the controlling process being to control the angular velocity of the motor crank.

关键词： Motor vehicle Windshield wiper Dynamic analysis Mechatronic model Virtual prototype

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Motion control and stabilization of a skid-steering mobile robot

Motion control and stabilization of a skid-steering mobile r...

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2nd international conference on Adaptive Science and technology, ICAST 2009

作者： Tu, Chunling Qi, Guoyuan Van Wyk, Barend Jacobus Du, Shengzhi F'SATIE Tshwane University of Technology Pretoria South Africa Department of Computer Engineering ICT Faculty Tshwane University of Technology Pretoria South Africa

ISBN: (纸本)9781424435234

In this paper, motion control and stabilization of a 4-Wheel Skid-Steering Mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model free High Order Differential Feedback controller (HODFC) cooperates with the ratio controller for motion control. In the proposed model-free scheme vehicle states used by the ratio controller and HODFC are estimated by high order differential (HOD) observer. Different road surface scenarios with varying frictional coefficients are designed to test performance and the ability to reject disturbances and noise. Trajectory tracking simulation results show that the proposed is robust to uncertainties and performs well even if some parameters are unknown. ©2009 IEEE.

关键词： Feedback control

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A territorial coordination strategy for multi-robot system

A territorial coordination strategy for multi-robot system

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2009 2nd Asia-Pacific conference on Computational Intelligence and Industrial Applications, PACIIA 2009

作者： Jiang, Limei Zhang, Rubo Wang, Chaolun College of Computer Science and Technology Harbin Engineering University Harbin China

ISBN: (纸本)9781424446070

This paper mainly focuses on adaptive and decentralized task assignment for multi-robot system. Inspired by swarm intelligence, this paper proposes a new method for multirobot coordination and cooperation. A virtual pheromone bases method is proposed as the message propagated among robots. Using this method, the robot can reallocate tasks properly according to the changes of environments and the state of other robots. Because of the decentralized control and local comm unication, the multi-robot system has the character of scalability and robustness. The simulations are used to verify the effectiveness of the proposed method. ©2009 IEEE.

关键词： Multipurpose robots

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Modeling and Impedance control of a Chewing robot with a 6RSS Parallel Mechanism

Modeling and Impedance Control of a Chewing Robot with a 6RS...

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2nd international conference Intelligent robotics and Applications

作者： Huang, L. Xu, W. L. Torrance, J. Bronlund, J. E. Massey Univ Sch Engn & Adv Technol Wellington New Zealand

ISBN: (纸本)9783642108167

Chewing robots are designed to mimic human mastication process. Dynamic force and position control is needed for the robot to produce the chewing force and the trajectory typical for the foods being chewed. The controller design is challenging due to the complexity of the dynamic model of the robot which is normally in a parallel structure. In this paper, a simplified joint space based impedance control scheme is proposed for a MISS chewing robot. The special features of the kinematic, force and dynamic models of the robot are explored for the controller design. The effectiveness of the proposed approach is proved.

关键词： Dynamic models

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Study on Mine Rescue robot System

Study on Mine Rescue Robot System

引用

2nd international conference Intelligent robotics and Applications

作者： Wei, Juan Ma, Hong-wei Xian Univ Sci & Technol Coll Mech Engn Xian Shaanxi Peoples R China

ISBN: (纸本)9783642108167

Mine rescue robot system consists of the carrier robot and the exploration robot. After the incident, the rescue robot system can instead of rescuers to enter the mine, collect environmental information of the scene of accident. This paper introduces the structure and components of the carrier robot and the exploration robot, and analyse separately their kinematics, find out the motion control parameters. Accordance rescue robot with the workplace, put forward the autonomous navigation method based on coal mine geographic information system, and finally to a simple example of the path searching process.

关键词： Rescue robot kinematics analysis autonomous navigation

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Guidance quality and remote control of 6′R robot by user interface, robot interface and its simulator

Guidance quality and remote control of 6′R robot by user in...

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2nd international conference on Computer and Electrical Engineering

作者： Masoudi, Mahdi Ahmadi, Somayeh Korayem, Moharam Habibnejad Islamic Azad Univ Sahneh Branch Kermanshah Iran Islamic Azad Univ Tehran Iran Univ Sci & Technol Tehran Iran

ISBN: (纸本)9780769539256

This paper argues about controlling a 6'R robot. It offers a functional program for user side that user are authorized to send necessary instructions to robot by this program. Simulation was set in this unit and user may test the instructions. Also user can be trusted to carry out the instructions correctly. Image unit shows robot position and user can observe it before or after executing the instructions. In another section user communicates with robot. Users who connect to robot at the same time can intercommunicate together. Also there is a functional program for robot side which receives the instructions from user and carries out them, one camera has been installed in robot side. And when user sends "Take Image" instruction, it takes image from robot and sends it to user. This system has been designed for Remote users so that they use a 6'R robot which is in the laboratory.

关键词： telerobot simulator kinematic client server network protocol socket

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