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1
Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (January 1, 2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.
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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
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Glushko, S. P. "Calculation of Angular Coordinates for the Control System of a Two-Link Industrial Robot Manipulator." Advanced Engineering Research 22, no. 4 (January 9, 2023): 346–52. http://dx.doi.org/10.23947/2687-1653-2022-22-4-346-352.
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Introduction. One of the tasks of two-link manipulators of industrial robots that move the end-effector along complex trajectories (e.g., robot welder) is associated with the need for careful programming of their movement. For these purposes, manual programming methods or training methods are used. These methods are quite labor-intensive, and they require highly qualified service personnel. A possible solution to the problem of programming the manipulator movements is the simulation of motion with the calculation of angular coordinates. This can help simplify the geometric adaptation of the manipulator in the process of debugging the control program. Therefore, this work aimed at calculating coordinates for programming the control system of a two-link manipulator operating in an angular coordinate system and moving the end-effector along a complex trajectory (e. g., when welding car bodies). Materials and Methods. A two-link robot manipulator designed for cyclically repeating actions in an angular coordinate system was considered. The manipulator consisted of two rotating links: “arm” and “elbow”, which were fixed on the base. The base could rotate, which provided a third degree of freedom. This configuration increased the working area of the manipulator and minimized the area for its placement in production. The movement of the manipulator end-effector could be performed if the kinematics provided its positioning along three Cartesian and three angular coordinates. For software control of robots, including welding robots operating in an angular coordinate system and performing the movement of the end-effector along a complex trajectory, it was required to calculate the angular coordinates of the movement of the end-effector of a two-link articulated manipulator. The robot control system should determine the position of the tool in the angular coordinate system, converting it for user friendliness into x, y and z coordinates of the Cartesian coordinate system. Results. The relations of angular and Cartesian coordinates have been obtained. They can be used for calculating when programming the control system of a two-link manipulator of an industrial robot and organizing the exchange of information between the user and the control system, as well as for checking the accuracy and debugging the movement of the end-effector of an industrial robot through feedback. Discussion and Conclusion. The presented results can be used for software control of a welding robot operating in an angular coordinate system and performing a complex trajectory of the end-effector of a two-link articulated manipulator (gripper). A manipulator operating in an angular coordinate system can be used for contact spot welding when moving the end-effector along a complex trajectory using a positioning or contouring control system. These systems control the movement of the end-effector along a given trajectory with the help of technological commands.
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Dolgii, Yu F., and I. A. Chupin. "Impulse control of a two-link manipulation robot." Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta 57 (May 2021): 77–90. http://dx.doi.org/10.35634/2226-3594-2021-57-02.
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A nonlinear problem of controlling the movements of a two-link manipulation robot is considered. The free mechanical system has two first integrals in involution. Methods of classical mechanics are used for analytical integration of the system of nonlinear differential equations. A trajectory connecting the initial and final positions of the two-link manipulation robot in the configuration space is found. Impulse controls at the initial moment of time impart the necessary energy to the robot to enter this trajectory. Impulse controls are also used to damp the speeds of the robot at the end position. In a computer simulation of the proposed procedure for moving the robot, generalized impulse controls are approximated by rectangular impulses.
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Nguyen, Trong-Thang. "Sliding mode control-based system for the two-link robot arm." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 4 (August 1, 2019): 2771. http://dx.doi.org/10.11591/ijece.v9i4.pp2771-2778.
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In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.
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Li, Bin. "Application of two-arm welding robot control system based on PLC." Advances in Engineering Technology Research 5, no. 1 (April 13, 2023): 76. http://dx.doi.org/10.56028/aetr.5.1.76.2023.
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Understanding the current industrial production process, forklift manufacturing line of symmetrical groove workpiece welding link emerged a lot of problems, such as waste productivity is getting higher and higher, practical work efficiency is getting lower and lower, the work intensity of the department staff is getting greater and greater, the requirements of welder skills become higher. In order to solve these problems scientifically, Chinese scholars proposed a two-arm industrial robot which can realize automatic workpiece welding. Based on the understanding of the status quo of the application research of welding robots, combined with the design thinking of the dual-arm welding robot control system based on PLC as the core, the application effect of this control system is discussed from the perspective of practical application, in order to improve the automation and intellectualization level of our industrial field, and ensure the quality and efficiency of production and manufacturing workpiece.
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Yamaguchi, Hiroaki. "Control of a Two-Joint, Two-Steering Snake-Like Robot." Journal of Robotics and Mechatronics 21, no. 1 (February 20, 2009): 66–73. http://dx.doi.org/10.20965/jrm.2009.p0066.
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This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations. This paper is the full translation from the transactions of JSME Vol.71, No.706.
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Nguyen, Trong-Thang. "Fractional-order sliding mode controller for the two-link robot arm." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 6 (December 1, 2020): 5579. http://dx.doi.org/10.11591/ijece.v10i6.pp5579-5585.
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In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.
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Bien, Duong Xuan, Chu Anh My, and Phan Bui Khoi. "Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload." Vietnam Journal of Mechanics 39, no. 4 (December 26, 2017): 303–13. http://dx.doi.org/10.15625/0866-7136/9234.
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Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.
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Si, Wenhui, Lingyan Zhao, Jianping Wei, and Zhiguang Guan. "Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks." Measurement and Control 54, no. 1-2 (January 2021): 102–15. http://dx.doi.org/10.1177/0020294020983383.
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Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.
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Morris, A. S., and A. Madani. "Static and dynamic modelling of a two-flexible-link robot manipulator." Robotica 14, no. 3 (May 1996): 289–300. http://dx.doi.org/10.1017/s0263574700019603.
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SUMMARYThis paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexiblelink system.
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Han, Ping, Hiroyuki Kojima, Lingfang Huang, and Saputra Meruadi. "Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs." International Journal of Automation Technology 2, no. 5 (September 5, 2008): 360–67. http://dx.doi.org/10.20965/ijat.2008.p0360.
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In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.
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Lee, Kangsik, Sheri Coates, and Victoria Coverstone-Carroll. "Variable structure control applied to underactuated robots." Robotica 15, no. 3 (May 1997): 313–18. http://dx.doi.org/10.1017/s0263574797000350.
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Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.
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Oaki, Junji, and Shuichi Adachi. "Decoupling Identification Method of Serial Two-link Two-inertia System for Robot Motion Control." IFAC Proceedings Volumes 44, no. 1 (January 2011): 14359–66. http://dx.doi.org/10.3182/20110828-6-it-1002.00982.
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Jatsun, S. F., L. Yu Vorochaeva, A. V. Malchikov, and А. S. Yatsun. "INVESTIGATION OF THE THREE-LINK CRAWLING ROBOTS MOVEMENT ON THE NONDETERMINATED SURFACE." Proceedings of the Southwest State University 22, no. 4 (August 28, 2018): 6–14. http://dx.doi.org/10.21869/2223-1560-2018-22-4-6-14.
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Bionic principles of locomotion are the most promising for displacement and transporting equipment under the most difficult conditions. Robots gait based on the changing shape of the robots body and interaction with the surface by body parts, can find application when moving over rough terrain, in a closed space of technological and natural cavities, where the use of wheel-track or walking principle is not possible. In this paper, we propose the design of a three-link crawling robot equipped with two-coordinate active joints. The robot is equipped by supporting elements. Some supporting elements has adjustable friction coefficients, which allows realize various types of movement algorithms of the device. The article presents a mathematical model of a three-link crawling robot, which allows to study the process of robot movement, including case when the coefficients of friction of the surface under the supports are not equal to each other. In practice, the surface will most often have an inhomogeneous nondeterministic structure, which will lead to a deviation in straight-line motion. The paper proposes an algorithm and a diagram of an automatic control system that allows robot to move along a given path despite the indeterminate surface. This is achieved by using additional sensors: a digital electronic compass, an accelerometer, a GPS module. The paper presents the results of computational experiments and the results obtained during the full-scale tests of the prototype of a three-link robot motion. At the end of the article, a comparative analysis of the experimental and theoretical results confirming the adequacy of the developed mathematical model and computational algorithms is presented.
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Singh, Sucheta, and Sudhir Kumar Katiyar. "Modelling and Analysis of Manipulator System Having Two Links." Journal of Futuristic Sciences and Applications 1, no. 1 (2018): 17–22. http://dx.doi.org/10.51976/jfsa.111804.
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When it comes to massive machinery in industries and factories, an autonomous system is a must in order to keep up with market expectations. Robotization is an answer to all of the above-mentioned challenges. The construction of a full humanoid robot is a difficult work, but we may utilize robotic manipulators (the arms of the robot) as a replacement, which will give semi-automation and assist balance the scarcity of manpower. In this study, the design of a dynamical model for a manipulator is described in depth, and an optimization approach is also discussed in order to make it acceptable for application in industry. This manipulator might be used in welding, underwater robots, industries, painting, pot welding, and many other fields if an improved controller could manage the un-certainties and alter the parameter based on the external and internal disturbances.
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Morris, A. S., and A. Madani. "Quadratic optimal control of a two-flexible-link robot manipulator." Robotica 16, no. 1 (January 1998): 97–108. http://dx.doi.org/10.1017/s0263574798000186.
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Manipulators with some flexible links are attractive because they avoid the severe control problems associated with the large inertia forces generated when the large-mass, rigid links in conventional robot manipulators move at high speed. In fact only two of the links within a typical six degrees of freedom revolute-geometry industrial robot cause significant inertia forces, and so only these two links need to be flexible. The development of a two-flexible-link system controller is therefore very relevant to larger manipulators, because it can be readily expanded by adding simple controllers for the other rigid links. Two alternative controllers are developed in this paper, a computed-torque controller and a quadratic optimal controller. Simulations confirm the superior performance of the latter.
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Park, Jaehong, Wonsang Hwang, Hyunil Kwon, Kwangsoo Kim, and Dong-il “Dan” Cho. "A novel line of sight control system for a robot vision tracking system, using vision feedback and motion-disturbance feedforward compensation." Robotica 31, no. 1 (April 12, 2012): 99–112. http://dx.doi.org/10.1017/s0263574712000124.
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SUMMARYThis paper presents a novel line of sight control system for a robot vision tracking system, which uses a position feedforward controller to preposition a camera, and a vision feedback controller to compensate for the positioning error. Continuous target tracking is an important function for service robots, surveillance robots, and cooperating robot systems. However, it is difficult to track a specific target using only vision information, while a robot is in motion. This is especially true when a robot is moving fast or rotating fast. The proposed system controls the camera line of sight, using a feedforward controller based on estimated robot position and motion information. Specifically, the camera is rotated in the direction opposite to the motion of the robot. To implement the system, a disturbance compensator is developed to determine the current position of the robot, even when the robot wheels slip. The disturbance compensator is comprised of two extended Kalman filters (EKFs) and a slip detector. The inputs of the disturbance compensator are data from an accelerometer, a gyroscope, and two wheel-encoders. The vision feedback information, which is the targeting error, is used as the measurement update for the two EKFs. Using output of the disturbance compensator, an actuation module pans the camera to locate a target at the center of an image plane. This line of sight control methodology improves the recognition performance of the vision tracking system, by keeping a target image at the center of an image frame. The proposed system is implemented on a two-wheeled robot. Experiments are performed for various robot motion scenarios in dynamic situations to evaluate the tracking and recognition performance. Experimental results showed the proposed system achieves high tracking and recognition performances with a small targeting error.
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Massoud, A. T., and H. A. ElMaraghy. "AN IMPEDANCE CONTROL APPROACH FOR FLEXIBLE JOINTS ROBOT MANIPULATORS." Transactions of the Canadian Society for Mechanical Engineering 19, no. 3 (September 1995): 212–26. http://dx.doi.org/10.1139/tcsme-1995-0010.
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A nonlinear feedback impedance control approach is presented to control the position and/or force of flexible joints robot manipulators interacting with a compliant environment. A feedback linearizable fourth order model of the flexible joint robots interacting with that environment is constructed. In this model, the control input is related directly to the link position vector and its derivatives. A desired target Cartesian impedance is then specified for the end point of the flexible joints robot. A nonlinear feedback control law is derived to linearize the system and to impose the target impedance for the end point of the robot in the Cartesian space. The same controller is used when the robot is free (unconstrained) and when it interacts with an environment. Also, the input to the system, in both unconstrained and constrained motions, is the end point position and its derivatives. When in free motion, the robot will track the desired end-point position, but while in constrained motion, the desired end point position is used to obtain a desired force according to the specified impedance. An experimental two-link flexible joint robot manipulator, constrained by a straight wall, is used to evaluate the impedance control algorithm.
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Pennock, G. R., and K. G. Mattson. "Analytical and Graphical Solutions to the Forward Position Problem of Two Robots Manipulating a Spatial Linkage Payload." Journal of Mechanical Design 119, no. 3 (September 1, 1997): 349–58. http://dx.doi.org/10.1115/1.2826355.
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This paper presents a solution to the forward position problem of two PUMA-type robots manipulating a spatial four-bar linkage payload. To simplify the kinematic analysis, the Bennett linkage, which is a special geometry spatial four-bar, will be regarded as the payload. The orientation of a specified payload link is described by a sixth-order polynomial and a specified joint displacement in the wrist subassembly of one of the robots is described by a second-order polynomial. A solution technique, based on orthogonal transformation matrices with dual number elements, is used to obtain closed-form solutions for the remaining unknown joint displacements in the wrist subassembly of each robot. An important result is that, for a given set of robot input angles, twenty-four assembly configurations of the robot-payload system are possible. Repeated roots of the polynomials are shown to correspond to the stationary configurations of the system. The paper emphasizes that an understanding of the kinematic geometry of the system is essential to verify the number of possible solutions to the forward position problem. Graphical methods are also presented to provide insight into the assembly and stationary configurations. A numerical example of the two robots manipulating the Bennett linkage is included to demonstrate the importance of the polynomial and closed-form solutions.
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Kilicaslan, S., S. K. Ider, and M. K. Özgören. "Motion control of flexible-link manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 12 (December 1, 2008): 2441–53. http://dx.doi.org/10.1243/09544062jmes1015.
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A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it. The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position measurements. The feedback gain matrix is determined online by continuously updated pole placement. The pseudostatic equilibrium is defined here as a hypothetical state, in which the velocity and acceleration of the end-effector have their desired values whereas the elastic deformations are instantaneously constant. In order to demonstrate the method, a planar two-link robot with a flexible forearm is taken into consideration. The elasticity of the forearm is approximately described by the first two modes, and a controller is designed by using this two-mode model. Furthermore, in order to investigate the effects of modelling discrepancies, a ‘submodel controller’ is designed by using a model with only the first mode and it is applied to the same system with the two-mode model. The performances of these two controllers are compared by means of simulations. The behaviour of the flexible robot is also simulated by using the computed torque method as if the robot is rigid in order to illustrate the importance of including the flexibility effects in the formation of an appropriate control law. The spillover effect that causes the dominant poles to approach towards the imaginary axis is inspected by monitoring the real parts of the dominant poles of the closed-loop system under the effect of the ‘submodel’ and ‘computed torque’ controllers.
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Zhu, G., S. S. Ge, and T. H. Lee. "Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model." Robotica 17, no. 1 (January 1999): 71–78. http://dx.doi.org/10.1017/s0263574799000971.
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In this paper, tip tracking control of a single-link flexible robot is studied through computer simulations. The controller investigated is of a two-loop PD type, which is deduced from a control approach originally developed for elastic joint robots. A very simple model, with the flexible link of the robot being lumped to a spring-mass unit, is employed for the controller design. Bounded Input and Bounded Output (BIBO) stable tip tracking performance is guaranteed. The controller is robustly stable under system parameter uncertainties, and is comparatively easy to implement. In the simulations, different payloads are considered, and the system performance is compared with the traditional Singular Perturbation (SP) method. The simulation results show that the PD type controller designed based on the simple lumped model is able to provide quite satisfactory performance.
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Naoual, Rachid, El Mehdi Mellouli, Selma Sefriti, and Ismail Boumhidi. "Fuzzy sliding mode control for the two-link robot." International Journal of Systems, Control and Communications 6, no. 1 (2014): 84. http://dx.doi.org/10.1504/ijscc.2014.062808.
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Hillsley, Kenneth L., and Stephen Yurkovich. "Vibration control of a two-link flexible robot arm." Dynamics and Control 3, no. 3 (July 1993): 261–80. http://dx.doi.org/10.1007/bf01972699.
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Zhu, Ye, Jinhao Qiu, and Junji Tani. "Simultaneous optimization of a two-link flexible robot arm." Journal of Robotic Systems 18, no. 1 (2000): 29–38. http://dx.doi.org/10.1002/1097-4563(200101)18:1<29::aid-rob3>3.0.co;2-c.
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Aoyama, Hajime, Kazuyoshi Ishikawa, Junya Seki, Mitsuo Okamura, Saori Ishimura, and Yuichi Satsumi. "Development of Mine Detection Robot System." International Journal of Advanced Robotic Systems 4, no. 2 (June 1, 2007): 25. http://dx.doi.org/10.5772/5693.
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The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.
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Tosunoglu, Sabri, Shyng-Her Lin, and Delbert Tesar. "Accessibility and Controllability of Flexible Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 114, no. 1 (March 1, 1992): 50–58. http://dx.doi.org/10.1115/1.2896507.
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Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, in certain robot configurations, called inaccessible robot positions, one or more of the flexibilities may not be accessed directly by the actuators. This condition may significantly deteriorate system performance as reported earlier by the authors (Tosunoglu et al., 1988, 1989). The present study addresses the relationship between the accessibility and controllability concepts and establishes accessibility as a distinct concept from controllability. Although the theoretical framework is developed for general n-link, spatial manipulators modeled with m oscillation components, example case studies demonstrate the concepts on one- and two-link arms for brevity. Specifically, it is shown that although inaccessibility and uncontrollability may coincide in certain instances (as shown on a one-link arm), counter examples may be found where an arm in an inaccessible position can simultaneously demonstrate full system controllability (as shown on a two-link arm).
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Green, Anthony, and Jurek Z. Sasiadek. "Dynamics and Trajectory Tracking Control of a Two-Link Robot Manipulator." Journal of Vibration and Control 10, no. 10 (October 2004): 1415–40. http://dx.doi.org/10.1177/1077546304042058.
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Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12.6 × 12.6m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadratic regulator and fuzzy logic schemes actuated by a Jacobian transpose control law computed using dominant cantilever and pinned-pinned assumed mode frequencies. The inverse dynamics model is pursued further to study a manipulator with flexible links where nonlinear rigid-link dynamics are coupled with dominant assumed modes for cantilever and pinned-pinned beams. A time delay in the feedback control loop represents elastic wave travel time along the links to generate non-minimum phase response. A time delay acting on control commands ameliorates non-minimum phase response. Finally, a fuzzy logic system outputs a variable to adapt the control law in response to elastic deformation inputs. Results show greater endpoint position control accuracy using a flexible inverse dynamics robot model combined with a fuzzy logic adapted control law and time delays than could be obtained for the rigid dynamics models.
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Xiong, Genliang, Jingxin Shi, and Haichu Chen. "Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach." Journal of Robotics 2020 (October 26, 2020): 1–12. http://dx.doi.org/10.1155/2020/8861847.
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The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult. The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking, and high robustness, whereby the high bandwidth for flexible-joint robot is the most challenging issue. This paper is dedicated to design such a link position controller with high bandwidth based on sliding-mode technique. Then, two control approaches ((1) extended-regular-form approach and (2) the cascaded control structure based on the sliding-mode estimator approach) are presented for the link position tracking control of flexible-joint robot, considering the dynamics of AC-motors in robot joints, and compared with the singular perturbation approach. These two-link position controllers are tested and verified by the simulation studies with different reference trajectories and under different joint stiffness.
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Kojima, Hiroyuki, Hiroshi Takahashi, and Hideharu Kuwana. "Numerical Simulation of Horizontal Articulated Robots in Consideration of Flexibility of Mechanical Systems." Journal of Robotics and Mechatronics 1, no. 4 (December 20, 1989): 298–304. http://dx.doi.org/10.20965/jrm.1989.p0298.
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In this report, the numerical simulation of a horizontal articulated robot consisting of two horizontal rotating links and a vertical linear link is presented. In the numerical simulation, the pendulum vibrations of the vertical linear link, in the plane perpendicular to the second horizontal rotating link, are considered. Then, in the derivation of the state equation of the robot, the equation of motion of the mechanical system is derived in consideration of the flexibility and viscosity of the coupling mechanism between the second horizontal rotating link and the vertical linear link as well as the nonlinear flexibility of the harmonic drives, and the nonlinear state equation of the robot is obtained by coupling the equation of motion with the electric current equation of the servo position control system based on the proportional plus integral plus derivative control. Furthermore, the numerical simulation results are demonstrated, and the effects of the pendulum vibration of the vertical linear link on the dynamic characteristics of the robot and the control accuracy are investigated.
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Liu, Yali, Chong Li, Linhong Ji, Sheng Bi, Xuemin Zhang, Jianfei Huo, and Run Ji. "Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training." Journal of Healthcare Engineering 2017 (2017): 1–11. http://dx.doi.org/10.1155/2017/4931217.
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Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and they have not been widely used in clinical rehabilitation. This article proposes a new end-effector upper limb rehabilitation robot, which is a two-link robotic arm with two active degrees of freedom. This work investigated the kinematics and dynamics of the robot system, the control system, and the realization of different rehabilitation therapies. We also explored the influence of constraint in rehabilitation therapies on interaction force and muscle activation. The deviation of the trajectory of the end effector and the required trajectory was less than 1 mm during the tasks, which demonstrated the movement accuracy of the robot. Besides, results also demonstrated the constraint exerted by the robot provided benefits for hemiplegic patients by changing muscle activation in the way similar to the movement pattern of the healthy subjects, which indicated that the robot can improve the patient’s functional ability by training the normal movement pattern.
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Burg, T., D. Dawson, and P. Vedagarbha. "A redesigned DCAL controller without velocity measurements: theory and demonstration." Robotica 15, no. 3 (May 1997): 337–46. http://dx.doi.org/10.1017/s0263574797000386.
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A link position tracking controller is formulated for an n-link, rigid, revolute, serially-connected robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of only link positions. A filtering technique, based on the link position signal, is used to alleviate the need for velocity measurements. A complete development of the controller is presented along with a proof of semiglobal asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented. Several extensions to the basic controller are described that consider the use of fixed parameter estimates.
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Wang, Chao. "Adaptive RBF Neural Network Backstepping Control for Two-Link Robot Manipulators." Journal of Physics: Conference Series 2283, no. 1 (June 1, 2022): 012006. http://dx.doi.org/10.1088/1742-6596/2283/1/012006.
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Abstract In this paper, an adaptive radial basis function neural network(RBFNN) backstepping controller is presented for a two-link robot manipulator in the presence of uncertainty and external interferences. RBFNNs are applied to approximate uncertain nonlinear functions, and considering the backstepping technique, an adaptive RBFNN backstepping control strategy is proposed. It is proved by the Lyapunov function that tracking errors converge to a small neighborhood of the equilibrium point and the closed-loop system variables are bounded. The simulation results demonstrate the effectiveness of the presented design method.
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Yang, Tianwu, Changjiu Zhou, and Mohan Rajesh. "A Fast Vision System for Soccer Robot." Applied Bionics and Biomechanics 9, no. 4 (2012): 399–407. http://dx.doi.org/10.1155/2012/480718.
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This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.
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Guechi, El-Hadi, Samir Bouzoualegh, Youcef Zennir, and Sašo Blažič. "MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study." Machines 6, no. 3 (August 17, 2018): 37. http://dx.doi.org/10.3390/machines6030037.
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This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed to obtain a linear system for which a model predictive control (MPC) was developed. The MPC control parameters were obtained analytically by minimizing a cost function. In addition, a simulation study was done comparing the proposed MPC control approach, the linear quadratic (LQ) control based on the same feedback linearization, and a control approach proposed in the literature for the same problem. The results showed the efficiency of the proposed method.
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Yeoh, Chin Ean, and Hak Yi. "Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure." Applied Sciences 11, no. 4 (February 3, 2021): 1379. http://dx.doi.org/10.3390/app11041379.
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This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, in which both the body frame and the legged structure are designed to be a rectangular prism and a 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants’ claws, the hook-link structure of the robot as the coupling mechanism is proposed. This study includes the platform’s development, and the experimental work on the locomotion in both single and combined modes is carried out. The result of this study proves that mimicking ants’ structure in the proposed robots successfully enhances the capability of the conventional legged robot. It is feasible to use in a multi-robot system to realize ants’ super-organized behavior.
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Vorochaeva, L. Yu, S. I. Savin, and A. S. Yatsun. "Study of the Work of the Length Correction System for a Crawling Robot Changing its Configuration." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 4 (April 11, 2020): 232–41. http://dx.doi.org/10.17587/mau.21.232-241.
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The article discusses the movement of a three-link crawling robot on a horizontal rough surface, while changing its configuration. The robot contacts the surface in four points where active bearings are in place. The active bearings are designed in such a way that their dry friction coefficient is a controlled quantity, which allows periodically fixing these bearings to the surface. The robot consists of modules, each of which is a translational pair, and the modules are interconnected by two-axis hinges. It is proposed to consider these modules as links of variable length. In the paper, the basic kinematic relationships for this robot were found, a vector of generalized coordinates was specified, and the constraints imposed during the movement were described. The studied here motion corresponds to a scenario where two outer bearings are fixed on the surface, while links execute planar movements from a given initial to the desired final position. The implementation of such a movement requires a change in the lengths of the links (in the simplest case, a change in the length of one link is enough, in the most difficult case, all three are required to change length), for the implementation of which a correction system is proposed. The method considered in the work consists in varying the length of one link, which is the robot body, the movements of the other two links are determined by the operation of the corresponding drives. As a result of numerical simulation, the range of allowable values for the elongation / shortening of the robot body is determined by varying the relative angle between the body and one of the side links in a given range. In addition, four intervals of changes in the relative angles were revealed, at each of which the nature of the variation in the length of the central link differs in the number of maxima and minima achieved. Also, the dependences of the change in the angle of rotation of the side link, at which the length of the body reaches its maximum and minimum lengths, from the previously specified relative angle and time of movement, are constructed. The temporal laws of changes in the rotation angles of the links are given and analyzed.
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Khairullah, Yousif, Ali Marhoon, Mofeed Rashid, and Abdulmuttalib Rashid. "Multi Robot System Dynamics and Path Tracking." Iraqi Journal for Electrical and Electronic Engineering 16, no. 2 (October 29, 2020): 1–7. http://dx.doi.org/10.37917/ijeee.16.2.8.
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The Leader detecting and following are one of the main challenges in designing a leader-follower multi-robot system, in addition to the challenge of achieving the formation between the robots, while tracking the leader. The biological system is one of the main sources of inspiration for understanding and designing such multi-robot systems, especially, the aggregations that follow an external stimulus such as light. In this paper, a multi-robot system in which the robots are following a spotlight is designed based on the behavior of the Artemia aggregations. Three models are designed: kinematic and two dynamic models. The kinematic model reveals the light attraction behavior of the Artemia aggregations. The dynamic model will be derived based on the newton equation of forces and its parameters are evaluated by two methods: first, a direct method based on the physical structure of the robot and, second, the Least Square Parameter Estimation method. Several experiments are implemented in order to check the success of the three proposed systems and compare their performance. The experiments are divided into three scenarios of simulation according to three paths: the straight line, circle, zigzag path. The V-Rep software has been used for the simulation and the results appeared the success of the proposed system and the high performance of tracking the spotlight and achieving the flock formation, especially the dynamic models.
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Sharkawy, Abdel-Nasser, Panagiotis N. Koustoumpardis, and Nikos Aspragathos. "Neural Network Design for Manipulator Collision Detection Based Only on the Joint Position Sensors." Robotica 38, no. 10 (June 27, 2019): 1737–55. http://dx.doi.org/10.1017/s0263574719000985.
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SUMMARYIn this paper, a multilayer feedforward neural network (NN) is designed and trained, for human–robot collisions detection, using only the intrinsic joint position sensors of a manipulator. The topology of one NN is designed considering the coupled dynamics of the robot and trained, with and without external contacts, by Levenberg–Marquardt algorithm to detect unwanted collisions of the human operator with the manipulator and the link that is collided. The proposed approach could be applied to any industrial robot, where only the joint position signals are available. The designed NN is compared quantitatively and qualitatively with an NN, where both the intrinsic joint position and the torque sensors of the manipulator are used. The proposed method is evaluated experimentally with the KUKA LWR manipulator, which is considered as an example of the collaborative robots, using two of its joints in a planar horizontal motion. The results illustrate that the developed system is efficient and fast to detect the collisions and identify the collided link.
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Shojaeipour, Shahed, Sallehuddin Mohamed Haris, Ehsan Eftekhari, Ali Shojaeipour, and Ronak Daghigh. "Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing." Advanced Materials Research 108-111 (May 2010): 1439–45. http://dx.doi.org/10.4028/www.scientific.net/amr.108-111.1439.
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In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.
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Sepehri, N., G. A. M. Dumont, P. D. Lawrence, and F. Sassani. "Cascade control of hydraulically actuated manipulators." Robotica 8, no. 3 (July 1990): 207–16. http://dx.doi.org/10.1017/s0263574700000060.
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SUMMARYA fundamental study on the control of hydraulically actuated robots is presented. Dynamic modelling is performed in both time-domain and frequency-domain. It is shown that the inclusion of hydraulic elements increases the order of the system. Hydraulic compliance is the most effective factor in this regard.Three distinct control strategies are applied. Their performances are evaluated and compared. All three methods are exemplified with a two link hydraulic robot in a computer simulation. The robot has the same hydraulic configuration as many existing industrial manipulators. The simulation program is written in ACSL (Advanced Continuous Simulation Language) running on a VAX 11/750.
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Shahinpoor, M., and A. Meghdari. "Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator." Robotica 4, no. 4 (October 1986): 237–42. http://dx.doi.org/10.1017/s0263574700009917.
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SUMMARYAn expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.
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Tu'ma, Dena Hameed, and Ahmed Khalaf Hamoudi. "Performance of 2- Link Robot by utilizing Adaptive Sliding Mode Controller." Journal of Engineering 26, no. 12 (December 1, 2020): 44–65. http://dx.doi.org/10.31026/j.eng.2020.12.03.
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The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robot system. Un-known uncertainty bounded and reducing switching gains can be considered major advantages of ASMC leading to outperform ASMC upon CSMC. Simulink MATLAB 2019a was used to obtain the simulation outcomes. The outcomes have shown that both methodologies had good tracking performance to the desired position and made the system asymptotically stable through the steady-state errors investigate approaching zero. ASMC is better than CSMC illustrated by minimizing gains values, control efforts, and chattering for each link.
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Duong Xuan, Bien. "Dynamics and control analysis of a single flexible link robot with translational joints." Science & Technology Development Journal - Engineering and Technology 3, no. 4 (December 27, 2020): first. http://dx.doi.org/10.32508/stdjet.v3i4.801.
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Modern design always aims at reducing mass, simplifying the structure, and reducing the energy consumption of the system especially in robotics. These targets could lead to lowing cost of the material and increasing the operating capacity. The priority direction in robot design is optimal structures with longer lengths of the links, smaller and thinner links, more economical still warranting ability to work. However, all of these structures such as flexible robots are reducing rigidity and motion accuracy because of the effect of elastic deformations. Therefore, taking the effects of elastic factor into consideration is absolutely necessary for kinematic, dynamic modeling, analyzing, and controlling flexible robots. Because of the complexity of modeling and controlling flexible robots, the single-link and two-link flexible robots with only rotational joints are mainly mentioned and studied by most researchers. It is easy to realize that combining the different types of joints of flexible robots can extend their applications, flexibility, and types of structure. However, the models consisting of rotational and translational joints will make the kinematic, dynamic modeling, and control becomes more complex than models that have only rotational joints. This study focuses on the dynamics model and optimal controller based on genetic algorithms (GA) for a single flexible link robot (FLR) with a rigid translational joint. The motion equations of the FLR are built based on the Finite Element Method (FEM) and Lagrange Equations (LE). The difference between flexible manipulators that have only rotational joints and others with the translational joint is presented through boundary conditions. A PID controller is designed with parameters that are optimized by the GA algorithm. The cost function is established based on errors signal of translational joint, elastic displacements of the End-Point (EP) of the FLR. Simulation results show that the errors of the joint variable, the elastic displacements (ED) are destructed in a short time when the system is controlled following the reference point. The results of this study can be basic to research other flexible robots with more joint or combine joint styles.
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Wu, Xi-Bao, Si-Chuan Lv, Xiao-Hao Wang, Shi-Zhuo Zhang, Qiong Liu, Yi-Qun Wang, and Wen-bai Chen. "Discontinuous Track Recognition System Based on PolyLaneNet for Darwin-op2 Robot." Computational Intelligence and Neuroscience 2022 (February 1, 2022): 1–10. http://dx.doi.org/10.1155/2022/5431886.
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This paper proposes and demonstrates a single-line discontinuous track recognition system by associating the track recognition problem of a humanoid robot with the lane detection problem. The proposal enables the robot to achieve stable running on the single-line discontinuous track. The system consists of two parts: the robot end and the graphics computing end. The robot end is responsible for collecting track information and the graphics computing end is responsible for high-performance computing. These two parts use the TCP for communication. The graphics computing side uses PolyLaneNet lane detection algorithm to train the track image captured from the first perspective of the darwin-op2 robot as the data set. In the inference, the robot end sends the collected tracking images to the graphics calculation end and uses the graphics processor to accelerate the calculation. After obtaining the motion vector, it is transmitted back to the robot end. The robot end parses the motion vector to obtain the motion information of the robot so that the robot can achieve stable running on the single-line discontinuous track. The proposed system realizes the direct recognition of the first perspective image of the robot and avoids the problems of poor stability, inability of identifying curves and discontinuous lines, and other problems in the traditional line detection method. At the same time, this system adopts the method of cooperative work between the PC side and the robot by deploying the algorithm with high computational requirements on the PC side. The data transmission is carried out by stable TCP communication, which makes it possible for the robot equipped with weak computational controllers to use deep-learning-related algorithms. It also provides ideas and solutions for deploying deep-learning-related algorithms on similar low computational robots.
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Chiou, B. C., and M. Shahinpoor. "Dynamic Stability Analysis of a Two-Link Force-Controlled Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 661–66. http://dx.doi.org/10.1115/1.2896192.
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This study investigates the effect of link flexibility on the dynamic stability of a two-link force-controlled robot manipulator. The nonlinear open-loop equations for the compliant motion are derived first. By employing the hybrid force/position control law, the closed-loop dynamic equations are then explicitly derived. The nonlinear closed-loop equations are linearized about some equilibrium configurations. Stability analyses are carried out by computing the eigenvalues of the linearized system equations. Results are verified by the numerical simulations using the complete nonlinear dynamic equations. The effect of the wrist force sensor stiffness on the dynamic stability is also investigated. Results show that the link flexibility is indeed an important source of dynamic instability in the motion of force-controlled manipulators. Moreover, the system stability is dominated by the effect of the distributed flexibility of the first link.
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Uchiyama, Masaru, Zhao Hui Jiang, and Kyojiro Hakomori. "Compensating Control of a Flexible Robot Arm." Journal of Robotics and Mechatronics 2, no. 2 (April 20, 1990): 97–106. http://dx.doi.org/10.20965/jrm.1990.p0097.
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Since the characteristics of flexible robot arm motion is far more complex than that of rigid arm motion due to its link elastic deflections, the flexible arm end-effector positioning problem also becomes more complex. The problem is finally resolved into the following three subproblems: (1) how to suppress the link elastic vibration, (2) how to achieve accurate joint positioning, and (3) how to compensate the end-effector positioning errors due to the link deflections. The problem (1) is being solved by many pieces of work. The problem (2) arises also in the case of rigid arms but, since the joint positioning and link vibration suppressing are coupled, it becomes more complex for the case of flexible arms. The problem (3) is important in order for the arms to perform tasks but no effective method has been presented so far to solve it. This paper presents a hierarchical control system which incorporates organically three control functions: joint positioning, link vibration suppression, and end-effector positioning error compensation. The convergence condition for the compensating control is derived theoretically for the condition of static gravitational loads. The effectiveness of the proposed control system is proved by experiments using a two-link flexible arm. The link deflections are measured by a newly devised and developed sensor consisting of a semiconductor laser and a position sensitive detector (PSD).
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Huang, S. N., K. K. Tan, and T. H. Lee. "Neural network control design for a rigid-link electrically driven robot." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 217, no. 2 (March 1, 2003): 99–107. http://dx.doi.org/10.1177/095965180321700204.
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In this paper, a back-stepping scheme for rigid-link electrically driven (RLED) robot systems is proposed. A two-step controller is presented: the first step is a virtual controller, while the second step is an actual one. A neural network is used to approximate the unknown non-linear dynamics in the system. The stability can be guaranteed by using a rigid proof. A simulation is used to illustrate the effectiveness of the proposed algorithm.
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Mahdi, Hussain. "POSITION CONTROL FOR FLIXEBLE JOINT MANIPULATOR USING ARTIFICIAL NEURAL Network." Diyala Journal of Engineering Sciences 1, no. 1 (September 1, 2008): 122–38. http://dx.doi.org/10.24237/djes.2008.01109.
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The control of a rotating single flexible link manipulator and/or a two-coupled flexible link manipulator arm is a highly nonlinear problem. Due to the distributed flexibility. The Mechanical system of a flexible joint two-degree manipulator robot arm has been designed and implemented by using stepper motor, movement axis and External Model Circuit (EMC) for controller. The (EMC) includes Buffer, stepper motor driver and programmable Input/Output. This system is controlled by using two method .The first is Artificial Neural Networks (ANN). The neural network has a feed-forward topology and learning algorithm used Back-Propagation. The second is direct method to supply the program with co-ordinates as positioning data for initializing the robot arm.
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Zhang, Zhijun, Yaru Niu, Ziyi Yan, and Shuyang Lin. "Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation." Applied Sciences 8, no. 10 (October 22, 2018): 2005. http://dx.doi.org/10.3390/app8102005.
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Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.
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Qian, Zhen Jie, and Ding Guo Zhang. "Impact Dynamics of Multi-Link Robots with Link and Joint Flexibility." Applied Mechanics and Materials 226-228 (November 2012): 685–92. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.685.
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The dynamic analysis of a flexible-link-joint robot colliding with its environments is presented in this paper. Kinematics of both rotary-joint motion and link deformation is described by 4×4 homogenous transformation matrices. Both the stretching deformation, bending deformation and the torsional deformation of the flexible links are considered. Furthermore, the flexibility and the mass of the joint are considered too. The concept of impact force potential energy is introduced, so that the generalized forces due to the impact force can be computed easily. The Lagrange dynamic equations are used to establish the complete mathematic model of the system with impact. Dynamics simulation of a spatial flexible-link-joint manipulator arm is given as an example to validate the algorithm presented in this paper. And the numerical results indicate that the flexibility of the link and joint have distinguished influence on the impact dynamics of the flexible robots.