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Simulation and experimental study of real-time robust control of hybrid stepper motor with QFT method in micro-step operation

Simulation and experimental study of real-time robust contro...

引用

International Conference on Mechatronics (ICM)

作者： A.S. Ghafari G.R. Vossoughi Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robust controller is derived for a hybrid stepper motor that achieves robustness to parametric and dynamic uncertainties such as viscous friction, load torque, flux linkage and other uncertainties. Simulation and experimental studies are presented to show the efficiency of the control design approach.

关键词： Robust control Micromotors Reluctance motors Permanent magnet motors Open loop systems Feedback Uncertainty Force control Virtual reality Stators

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Inverse dynamics of humanoid robot by balanced mass distribution method

Inverse dynamics of humanoid robot by balanced mass distribu...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S. de Torre L.M. Cabas M. Arbulu C. Balaguer Robotics Lab Department of Systems Engineering and Automation Universidad Carlos III de Madrid Madrid Spain

This paper presents new methodology to solve the inverse dynamics of the humanoid robots. The objective is to calculate the joints' torque in order to select in optimal way the robot's gait and actuators. The main advantage of the method is its simplicity that everyone can implement it easily using common software packages which are not prepared for the humanoid robot modeling, like Matlab robotics toolbox. The inverse dynamics solving is divided in two parts, the upper and lower extremities (including the body). At the same time it is necessary to analyze separately the phases on simple, and double support. The first one doesn't present so much difficulty by using conventional manipulator dynamic modeling. But during the double support phase the modeling is performing for each leg separately by using balanced mass distribution between them. This distribution is based on the reaction forces calculation for each supported leg. The developed method had been applied to the 21 DOF and 1.4 m height Rh-0 humanoid robot under development at the robotics Lab. of the University Carlos III of Madrid.

关键词： Humanoid robots Mathematical model Actuators Leg Biological system modeling Kinematics robotics and automation Manipulator dynamics Extremities Legged locomotion

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Design and real-time experimental implementation of gain scheduling PID fuzzy controller for hybrid stepper motor in micro-step operation

Design and real-time experimental implementation of gain sch...

引用

International Conference on Mechatronics (ICM)

作者： A.S. Ghafari A. Alasty Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper, design and real time experimental implementation of fuzzy gain scheduling of PID controller for hybrid stepper motor in micro-stepping operation is described that was developed to track the desired positioning problem. The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. The good performance of proposed fuzzy PID controller is shown.

关键词： Three-term control Fuzzy control Micromotors Open loop systems Fuzzy logic Control nonlinearities Nonlinear control systems Automatic control Control systems Magnetic circuits

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A rotary parallel manipulator: modeling and workspace analysis

A rotary parallel manipulator: modeling and workspace analys...

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IEEE International Conference on robotics and automation (ICRA)

作者： F. Janabi-Sharifi B. Shchokin Robotics and Manufacturing Automation Laboratory (RMAL).Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

In this paper, a class of parallel manipulators known as Rotary Positioners (RP) will be analyzed. A Rotary Positioner is actuated by six circular motors on the circular base and does not involve any prismatic joint. Therefore, it has constant length limbs. A model of an RP is presented. The constraints related to passive joints and links interference are formulated and the workspace of a normalized RP is computed accordingly. The optimal combination of the main parameters for maximizing the workspace volume of the RP is also given.

关键词： Actuators Servomotors Manipulators robotics and automation Arm Service robots Industrial engineering Interference constraints Commercialization Kinematics

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Neural oscillator network-based controller for meandering locomotion of snake-like robots

Neural oscillator network-based controller for meandering lo...

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IEEE International Conference on robotics and automation (ICRA)

作者： K. Inoue Shugen Ma Chenghua Jin Department of System Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation Shenyang China

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

关键词： Oscillators Robot kinematics Mobile robots Legged locomotion robotics and automation Distributed control Automatic control Programmable control Adaptive control Animals

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Dynamic modeling of a new varying stress SMA actuator for precise applications

Dynamic modeling of a new varying stress SMA actuator for pr...

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International Conference on Mechatronics (ICM)

作者： A. Alasty E. Shameli Center of Excellence in Design Robotics & Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Shape memory alloys (SMA's) are inherently non-linear devices exhibiting significant hysteresis in their stress strain-temperature characteristic. We have used the variable sub-layer SMA model of Ikuta (1991) to extract the advanced dynamic model of our proposed varying stress SMA actuator. A nonlinear finite element analysis was used to model the proposed bending spring in the actuator and the extended variable sub-laver model of Ikuta was considered to extract stress-displacement relations. Finally, these two models are combined with thermo dynamic model of SMA and a schematic flowchart is proposed to calculate SMA resultant strain under an arbitrary current input. At the end, we applied this model to extract open loop harmonic and step responses of our proposed SMA actuator.

关键词： Stress Actuators Wire Hysteresis Springs Shape memory alloys Temperature robotics and automation Power system modeling Design automation

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Super media enhanced internet-based robotics

Super media enhanced internet-based robotics

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IEEE International Conference on Mechatronics and automation

作者： Ning Xi The Laboratory of Robotics and Automation Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory Shenyang Institute of Automation (SIA) Graduate School Chinese Academy and Sciences Beijing China Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Shape control Manipulator dynamics Kinematics robotics and automation Service robots Neural networks Jacobian matrices Systems engineering and theory Electrical equipment industry Modeling

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Realization of a Service Climbing Robot for Glass-wall Cleaning

Realization of a Service Climbing Robot for Glass-wall Clean...

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IEEE International Conference on robotics and Biomimetics

作者： Houxiang Zhang Jianwei Zhang Guanghua Zong TAMS Department of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University China

Wall cleaning and maintenance of high-rise buildings is becoming one of the most appropriate fields for robotization due to its current low level of automation and lack of uniform building structure. The last decade has seen an increasing interest in developing and employing service robots for cleaning glass walls which is always very dangerous and strenuous in mid-air. In this paper, we propose a new kind of cleaning robot named sky cleaner which is totally actuated by pneumatic cylinders and sucked to the glass wall with vacuum suckers. The constraints for designing are discussed. After that, the drive method, principle of attachment, mechanical construction and unique aspects are presented in detail. A testing simulation shows that the robot can cross an obstacle safely and reliably when it moves from one column glass to another in the right-left direction. In the end, a summary of the main special features of the cleaning robot are given

关键词： Climbing robots Cleaning robotics and automation Legged locomotion Buildings Service robots Glass Mobile robots Kinematics Testing

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

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World Congress on Intelligent Control and automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control Laboratories Genetic engineering Manifolds

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