Статті в журналах: "POSITION CONTROL OF ROBOT"

1

Zhang, Liang, Yaguang Zhu, Feifei Zhang, and Shuangjie Zhou. "Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction." Journal of Robotics 2020 (September 25, 2020): 1–9. http://dx.doi.org/10.1155/2020/8896396.

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Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain. These robots need to constantly adjust the position-posture of its body to move stalely and flexibly. However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground. Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper. Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment. First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis. Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out. Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification. Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end. A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.

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2

Pană, Cristina, Cristian Vladu, Daniela Pătraşcu-Pană, Florina Besnea (Petcu), Çtefan Cismaru, Andrei Trăşculescu, Ionuţ Reşceanu, and Nicu Bîzdoacă. "Position control for hybrid infinite-continuous hyper-redundant robot." MATEC Web of Conferences 343 (2021): 08009. http://dx.doi.org/10.1051/matecconf/202134308009.

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This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.

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3

Park, Hwi-Geun, and Hyun-Sik Kim. "Mechanism Development and Position Control of Smart Buoy Robot." Journal of Ocean Engineering and Technology 35, no. 4 (August 31, 2021): 305–12. http://dx.doi.org/10.26748/ksoe.2021.043.

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There is a gradual increase in the need for energy charging in marine environments because of energy limitations experienced by electric ships and marine robots. Buoys are considered potential energy charging systems, but there are several challenges, which include the need to maintain a fixed position and avoid hazards, dock with ships and robots in order to charge them, be robust to actions by birds, ships, and robots. To solve these problems, this study proposes a smart buoy robot that has multiple thrusters, multiple docking and charging parts, a bird spike, a radar reflector, a light, a camera, and an anchor, and its mechanism is developed. To verify the performance of the smart buoy robot, the position control under disturbance due to wave currents and functional tests such as docking, charging, lighting, and anchoring are performed. Experimental results show that the smart buoy robot can operate under disturbances and is functionally effective. Therefore, the smart buoy robot is suitable as an energy charging system and has potential in realistic applications.

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4

Su, Liying, Lei Shi, and Yueqing Yu. "Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback." Journal of Robotics 2009 (2009): 1–8. http://dx.doi.org/10.1155/2009/214154.

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This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.

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5

Handayani, A. S., N. L. Husni, A. B. Insani, E. Prihatini, C. R. Sitompul, S. Nurmaini, and I. Yani. "Robot Position Control using Android." Journal of Physics: Conference Series 1198, no. 5 (April 2019): 052002. http://dx.doi.org/10.1088/1742-6596/1198/5/052002.

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6

Nugraha, Sapta. "Sistem Kendali Navigasi Robot Manual." JTEV (Jurnal Teknik Elektro dan Vokasional) 5, no. 1.1 (September 25, 2019): 91. http://dx.doi.org/10.24036/jtev.v5i1.1.106153.

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The purpose of this study is to control the robot's navigation manually and determine the coordinate position and movement patterns of the manual robot. This study uses GPS to determine the position of coordinates and patterns of manual robot movements. Manual robot navigation control systems use wireless joysticks and use of omni wheels on manual robot mechanics to maneuver movements in all directions. The control device uses the Serial Peripheral Interface (SPI) communication by utilizing the nRF24L01 communication device on the 2.4 GHz RF band. The results showed that the position and pattern of manual robot navigation movements can be known based on the coordinate points on the route taken. In addition, wireless joysticks can control manual robots to maneuver the movements of manual robots in all directions.

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7

Kazerooni, H. "Compliance Control and Stability Analysis of Cooperating Robot manipulators." Robotica 7, no. 3 (July 1989): 191–98. http://dx.doi.org/10.1017/s0263574700006044.

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SUMMARYThe work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.

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8

Li, Zhaolu, Ning Xu, Xiaoli Zhang, Xiafu Peng, and Yumin Song. "Motion Control Method of Bionic Robot Dog Based on Vision and Navigation Information." Applied Sciences 13, no. 6 (March 13, 2023): 3664. http://dx.doi.org/10.3390/app13063664.

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With the progress and development of AI technology and industrial automation technology, AI robot dogs are widely used in engineering practice to replace human beings in high-precision and tedious industrial operations. Bionic robots easily produce control errors due to the influence of spatial disturbance factors in the process of pose determination. It is necessary to calibrate robots accurately to improve the positioning control accuracy of bionic robots. Therefore, a robust control algorithm for bionic robots based on binocular vision navigation is proposed. An optical CCD binocular vision dynamic tracking system is used to measure the end position and pose parameters of a bionic robot, and the kinematics model of the controlled object is established. Taking the degree of freedom parameter of the robot’s rotating joint as the control constraint parameter, a hierarchical subdimensional space motion planning model of the robot is established. The binocular vision tracking method is used to realize the adaptive correction of the position and posture of the bionic robot and achieve robust control. The simulation results show that the fitting error of the robot’s end position and pose parameters is low, and the dynamic tracking performance is good when the method is used for the position positioning of control of the bionic robot.

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9

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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10

Song, Zhifeng. "Sliding control method of marine ecological protection robot." Thermal Science 25, no. 6 Part A (2021): 4043–50. http://dx.doi.org/10.2298/tsci2106043s.

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In order to solve the problem of low control accuracy of the marine ecological protection robot in the route planning process during positioning, a new sliding control method is proposed. First, obtain the position information of the marine ecological protection robot, use the dynamic information measurement method to process the dynamic information, and extract the position tracking information. According to the needs of dynamic positioning and target path tracking, combined with the robot sliding control method, the global positioning of the marine ecological protection robot is designed. Experiments show that this method has high positioning accuracy for marine ecological protection robots, small positioning errors, good obstacle avoidance performance and strong dynamic positioning control capabilities.

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11

Dean, Emmanuel, Karinne Ramirez-Amaro, Florian Bergner, and Gordon Cheng. "Robot Skin: Fully-Compliant Control Framework Using Multi-modal Tactile Events." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 7, Especial (September 4, 2019): 4–13. http://dx.doi.org/10.29057/icbi.v7iespecial.4614.

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In this paper, we present a multi-modal control framework to provide compliant behaviors on industrial robots, even when the robots are position commanded. This is obtained by fusing multi-modal sensor signals from robot skin with different control approaches. These compliant behaviors allow to teach robots safely. The presented framework is able to bridge kinesthetically demonstrated activities with low-level robot commands using a state-of-the-art teaching by demonstration method based on a semantic engine. We validate our framework in a real wheeled robot for an industrial scenario, where our presented framework enables a stiff robotic system to be compliant, flexible, and adaptable to different working conditions, e.g. different end-effectors with multiple command interfaces (position/velocity and torque interfaces).

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12

Lin, Yueh-Jaw, and Aiping Yu. "Linear robust trajectory control of flexible joint manipulators." Robotica 14, no. 4 (July 1996): 375–80. http://dx.doi.org/10.1017/s0263574700019767.

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SUMMARYThis paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen in light of the on-line position and velocity feedback of the links and joint sensors. Through a simulated experimental verification, it is demonstrated that the designed simple position and velocity feedback controller, similar to that used for rigid-jointed robots, can globally stabilize the elastic-jointed robot for a bounded reference position. In addition, the tracking performance of the controller reveals that this simple control algorithm is robust in terms of joint flexibility. And the simplicity of the presented control algorithm, as compared to other model-based techniques for flexiblejoint robots, is particularly advantageous. Even though the simulated experiments are conducted on a single-link flexible joint robot, control law derived in this paper has general meaning for multi-link flexible joint robots.

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13

HUANG, L., W. L. XU, J. TORRANCE, and J. E. BRONLUND. "DESIGN OF A POSITION AND FORCE CONTROL SCHEME FOR 6RSS PARALLEL ROBOTS AND ITS APPLICATION IN CHEWING ROBOTS." International Journal of Humanoid Robotics 07, no. 03 (September 2010): 477–89. http://dx.doi.org/10.1142/s0219843610002210.

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Parallel robots have been found in many applications where the work requirements are beyond the capabilities of serial robots. For example, mouth movements of chewing foods can be generated by a parallel robot. In this paper, the issue of dynamic position and force control of a chewing robot with a 6RSS mechanism is addressed. The kinematic and dynamic models of a generic 6RSS robot are developed and are then simplified considering the special features of a practical chewing robot and the requirements of controller design. An impedance control scheme is proposed to achieve the position and force control of the robot. A detailed description on the steps to implement the controller is also presented.

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14

ICHIKAWA, Kunihiko. "Angular position control of robot arm." Transactions of the Japan Society of Mechanical Engineers Series C 57, no. 534 (1991): 635–39. http://dx.doi.org/10.1299/kikaic.57.635.

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15

Ferreira, N. M. Fonseca, J. A. Tenreiro Machado, and J. Boaventura Cunha. "Fractional-Order Position/Force Robot Control." Journal of Advanced Computational Intelligence and Intelligent Informatics 9, no. 4 (July 20, 2005): 379–86. http://dx.doi.org/10.20965/jaciii.2005.p0379.

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This paper studies fractional-order (FO) position/force algorithms in the hybrid control (HC) and the cascade control (CC) of manipulators. The system performance is analyzed, in the time and frequency domains, and the effects of joint backlash and flexibility are investigated. The results show that the FO algorithms and the CC architecture have superior robustness and stability.

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16

Cui, Xiaohong, Binrui Wang, Han Lu, and Jiayu Chen. "Design and Passive Training Control of Elbow Rehabilitation Robot." Electronics 10, no. 10 (May 12, 2021): 1147. http://dx.doi.org/10.3390/electronics10101147.

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In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the rehabilitation robot motion model and a system elbow joint model. The passive training mode of rehabilitation robots were researched, and active disturbance rejection control (ADRC) leveraged to improve the tracking angle of robot joints. In the no-load motion simulation of rehabilitation robots, disturbances are added to the control variables to complete the ADRC and Proportional Integral Differential (PID) position control simulation. The simulation results indicate that the auto disturbance rejection control can quickly keep up the expected signal without overshoot, solve the contradiction between the system rapidity and overshoot. Moreover, it can better suppress the interference even if the external load changes. The upper limbs of the human body are used as the load on the robot body to complete the simulation of ADRC and PID position control objects of different weights. Finally, a passive rehabilitation training experiment was conducted to verify the safety of the rehabilitation robot, the rationality, comfort, and robustness of the mechanism design, and the effectiveness and feasibility of the ADRC.

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17

Menq, Chia-Hsiang, and Jin-Hwan Borm. "Statistical Characteriztion of Position Errors of an Ensemble of Robots and Its Applications." Journal of Mechanisms, Transmissions, and Automation in Design 111, no. 2 (June 1, 1989): 215–22. http://dx.doi.org/10.1115/1.3258986.

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For the accurate control and implementation of a robot in an integrated manufacturing environment using off-line programming, a knowledge of the absolute positioning accuracy of the robot becomes important. This paper presents a framework which can be used to statistically represent the absolute positioning accuracy for a family of robots. Statistical error measure indices are proposed to represent the position error field over the working space for a family of robots. This error field provides statistical information for the position errors of the end-effector and can be a guide for the determination of the optimal design tolerances of the parts composing of a robot. The second objective of the paper is to introduce a simple interpolation scheme to improve the local position accuracy by teaching one or more task reference frames with which goal positions are mathematically expressed. It will be shown how the method shifts or alters the position error field in order to maintain the desired position accuracy within a desired working area.

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18

Yu, Miao, Hui Ping Liu, and Jing Ji. "The Collaboration Control for the Multi-Robot Polishing System." Advanced Materials Research 430-432 (January 2012): 1826–29. http://dx.doi.org/10.4028/www.scientific.net/amr.430-432.1826.

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This paper puts forward a multi-Agent alliance control model that is made up of the series robot Agent, the parallel moving platform Agent and the polishing tool system Agent and so on by the MAS theory. Based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the MOTOMAN-HP3 serial robot communication, the NPT800 parallel robot of motion control and communication between two robots are introduced respectively. In the end, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the win socket. The satisfied polishing effect on the curved surfaces can be obtained and the demand of the polishing can be achieved by the MAS.

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19

Vladareanu, Luige, Victor Vladareanu, and Paul Schiopu. "Hybrid Force-Position Dynamic Control of the Robots Using Fuzzy Applications." Applied Mechanics and Materials 245 (December 2012): 15–23. http://dx.doi.org/10.4028/www.scientific.net/amm.245.15.

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The paper presents methods of improving the hybrid force-position dynamic robot control using fuzzy logic for the error control. The implementation of the open architecture control system for robots using fuzzy application allows for the control of the hybrid position and force in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for control in closed loop. The effectiveness of various fuzzy control structures in controlling the force-position of the robot or mechatronics actuators is presented.

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20

Vladareanu, Victor, Florentin Smarandache, and Luige Vladareanu. "Extension Hybrid Force-Position Robot Control in Higher Dimensions." Applied Mechanics and Materials 332 (July 2013): 260–69. http://dx.doi.org/10.4028/www.scientific.net/amm.332.260.

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The paper presents an advanced method for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying a 2D Extension Set. Using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in order to solve the robot real time control. The generalization of the extension distance and dependent function uses Extenics in Higher Dimensions theory eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Thus was developed an optimization method for hybrid position-force control which ensures positioning precision and robot movement stability on rough terrain. The final conclusions lead to development of a methodology that allows obtaining high level results for hybrid position-force control using extended transformations onto the real numbers set and an optimization function generated by the extended dependence function in 2 D space.

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21

Engelbrecht, Duanne, Nico Steyn, and Karim Djouani. "Adaptive Virtual Impedance Control of a Mobile Multi-Robot System." Robotics 10, no. 1 (January 21, 2021): 19. http://dx.doi.org/10.3390/robotics10010019.

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The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environments without being restricted by the safety cages or barriers that often accompany them. Collaborative robots can be used for various applications such as machine tending, packaging, process tasks and pick and place. This paper proposes an improvement of the current virtual impedance algorithm by developing an adaptive virtual impedance controlled mobile multi-robot system focused on dynamic obstacle avoidance with a controlled planar movement. The study includes the development of a mobile multi-robot platform whereby each robot plans a path individually without a supervisor. The proposed system would implement a two-layered hierarchy for robot path planning. The higher layer generates a trajectory from the current position to the desired position, and the lower layer develops a real-time strategy to follow the generated trajectory while avoiding static and dynamic obstacles. The key contribution of this paper is the adaptive virtual impedance controller for a multi-robot system that will maintain movement stability and improve the motion behaviour in a dynamic environment.

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22

Tang, Lixin, and Shin'ichi Yuta. "Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images." Journal of Robotics and Mechatronics 14, no. 4 (August 20, 2002): 366–74. http://dx.doi.org/10.20965/jrm.2002.p0366.

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We propose a method of autonomous navigation for mobile robots in indoor environments by a teaching and playback scheme. During teaching, an operator guides a robot to move by manual control. While moving, the robot memorizes its motion measured by odometry and an environmental image taken by an omnidirectional camera at each time interval, and regards places where images were taken as target positions. When navigating autonomously, the robot plays back memorized motion to track each target position and corrects its position by calculating its relative pose using current and memorized images, to follow the taught route. In this method, vertical edges existing in the environment are used as landmarks to calculate robot position, and an evaluation function defined by us is used to find corresponding vertical edges between two images. The robot thus can navigate robustly in real building environments. The system can avoid the problem of the operator covering a part of the environment in images during the teaching stage.

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23

Schröder, Karla, Gonzalo Garcia, Roberto Chacón, Guelis Montenegro, Alberto Marroquín, Gonzalo Farias, Sebastián Dormido-Canto, and Ernesto Fabregas. "Development and Control of a Real Spherical Robot." Sensors 23, no. 8 (April 11, 2023): 3895. http://dx.doi.org/10.3390/s23083895.

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This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.

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24

Lim, Joonhong, and Dong H. Chyung. "Resolved position control for two cooperating robot arms." Robotica 5, no. 1 (January 1987): 9–15. http://dx.doi.org/10.1017/s0263574700009589.

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SUMMARYThe problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.

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25

Jiang, Chun Di, Hai Lun Wang, and Lu Zhang. "Adaptive Force/Position Control Law of Nonlinear Robotic System." Applied Mechanics and Materials 52-54 (March 2011): 1670–74. http://dx.doi.org/10.4028/www.scientific.net/amm.52-54.1670.

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Based on the reference [1], this paper presents an adaptive control law of nonlinear robotic systems. The performance of robot system is testified by a simulation example of 2-dof robots system and doing experiment in SRV-02 equipment which is made in Canada, the results obtained are satisfactory and the tracking error is negligible.

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26

Cely, Juan S., Miguel Ángel Pérez Bayas, Marco Carpio, Cecilia Elisabet García Cena, Avishai Sintov, and Roque Saltaren. "Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks." Sensors 22, no. 22 (November 15, 2022): 8828. http://dx.doi.org/10.3390/s22228828.

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In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot.

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27

Morley, E. C., and J. R. Wilson. "The Matrix of Confusion—a Classification of Robot Movement." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 210, no. 3 (June 1996): 251–60. http://dx.doi.org/10.1243/pime_proc_1996_210_114_02.

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The human-machine interface for robots has received only limited attention as robots have developed. Most research has focused on the design of teach pendants, hand-held devices for programming and manual motion control. Results from these studies have been generally inconclusive as to the best control design for teach pendants. In a fresh approach to the area, the human-robot interface has been analysed. This has resulted in the development of a method of classifying robot movements called the ‘matrix of confusion’. The classification shows the robot motions an operator would see when using a given control for a unique combination of operator position, robot position, programming mode and robot configuration. The use of the matrix has helped to highlight the most important factors in the task of manual motion control of the robot. This has helped in the development of a new motion system for a PUMA robot which is currently being tested in comparative trials.

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28

Arenas-Rosales, Filemon, Fernando Martell-Chavez, Irma Y. Sanchez-Chavez, and Carlos A. Paredes-Orta. "Virtual UR5 Robot for Online Learning of Inverse Kinematics and Independent Joint Control Validated with FSM Position Control." Robotics 12, no. 1 (February 3, 2023): 23. http://dx.doi.org/10.3390/robotics12010023.

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Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development of a virtual articulated UR-type robot, designed as an educational tool that is suitable for programming and evaluating both the inverse kinematics control of the robot and the independent control of the robot joints. The 3D model of the virtual robot was developed in the Blender V2.79 software and uses the Modbus TCP industrial communication protocol for the communication to an external controller implemented in CoDeSys V3.5 software. The developed system allows the students to generate and test their own control algorithm for the robot joints with the visualization of the achieved performance in 3D and real time. Tailored control systems can be compared on the virtual robot. In this study, a novel technique for the joint position control based on an FSM is proposed and verified with the virtual UR5 robots to prove that the developed system is a suitable platform to teach and learn the inverse kinematics control and independent joint control of the UR5 robotic arm.

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29

Liu, Jing-Sin, Tzu-Chen Liang, and Yi-An Lin. "Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control." Robotica 22, no. 3 (May 2004): 329–38. http://dx.doi.org/10.1017/s0263574703005654.

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Ball passing is an elementary and frequently employed human soccer skill. This paper examines the realization and visualization of ball passing, a low level move-to-ball behavior of a soccer robot, in a robot soccer game. A case study of three mechanically identical mobile robots with a formation ready to pass a ball cyclically in a zigzag pattern is examined. We build a control command driven mobile robot motion simulator with a controller and dynamics of mobile robots, not only nonholonomic kinematic constraints to simulate the motion of a soccer robot driven by wheels torques to generate wheels accelerations, to update the robot position and orientation at successive time instants. Kick motion follows a physical law, and a simplified collision check and response model is utilized for the efficient detection of the hitting a robot with the ball or other robots. The realization of specific ball passing strategy to drive each soccer robot in a position to receive a pass includes three levels of organization, coordination, and execution: careful integrated design of a dynamic formation and role change scheme, ball position estimation, and coordinated trajectory (i.e. path and velocity) planning and tracking control. Simulations are performed to illustrate the feasibility of the realization of ball passing among three robots, implemented by a software program for coordinated trajectory planning and tracking control in the developed simulator.

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30

Eiammanussakul, Trinnachoke, and Viboon Sangveraphunsiri. "A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities." Journal of Healthcare Engineering 2018 (2018): 1–18. http://dx.doi.org/10.1155/2018/1927807.

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Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

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31

Vladareanu, Luige, and Daniel Octavian Melinte. "Dynamic Force-Position Control of the Walking Robots Motion on Slope." Applied Mechanics and Materials 186 (June 2012): 98–104. http://dx.doi.org/10.4028/www.scientific.net/amm.186.98.

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Abstract. The paper presents a strategy for the dynamic hybrid force-position control of the walking robot motion on slope using the ZMP method for dynamic control and a stable and robust method. Through dynamic and kinematic modeling of the walking robots motion an open architecture system was developed which contains five control interfaces. The stability problem of quadruped walking robots, through extendible segments which are designed to reduce the difficulty of walking on slope, and also by using them to avoid obstacles that may occur during a stepping cycle are presented. The results obtained have led to an improvement in the response time to disturbances, to tracking the motion trajectory with higher precision in conditions of high stability and to development of new technological capabilities, adapting the robot walking to movement over sloped terrain, with obstacles and bumps.

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32

Yu, Miao, Jing Ji, and Hui Ping Liu. "Communication of Double-Robot Polishing System." Advanced Materials Research 490-495 (March 2012): 1217–20. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.1217.

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This paper puts forward a C/S control model that is made up of the double--robot polishing system. Based on the double-robot system which is made up of two MT-Arm 6-DOF serial robots, the method of motion control and communication between two robots are introduced. In the end, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the win socket.

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33

Komada, Satoshi, Muneaki Ishida, Kouhei Ohnishi, and Takamasa Hori. "Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force." Journal of Robotics and Mechatronics 8, no. 3 (June 20, 1996): 243–51. http://dx.doi.org/10.20965/jrm.1996.p0243.

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This paper proposes a new robust hybrid position/force control of robot manipulators. The proposed method controls the second derivatives of control variables, such as position and force in a task coordinate system, in order to realize robust and high response control. To this end, the disturbances are estimated by a position-based disturbance observer and a force-based distrubance observer in the task coordinate system, and are compensated by feeding back the estimated distrubances. The proposed method requires less computational effort and is robust against the disturbance and parameter variations. The position-based distrubance observer has been proposed to linearize robot manipulators and has realized robust position control. However, when force control is performed, the force response is influenced by not only the nonlinearity of robot manipulators but also the charactersitics of the environment on which the force is imposed. Therefore, the force-based disturbance observer is developed to realize robust force control. A controller robust against the disturbance and parameter variations is realized by using the position-based disturbance observer and the force-based disturbance observer on performing the position control and the force control respectively. The effectiveness of the proposed method is shown by experiments by using a direct drive robot.

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34

Karbasi, Hamidreza, Amir Khajepour, and Jan Paul Huissoon. "Unidrive Modular Robot: Dynamics, Control, and Experiments." Journal of Dynamic Systems, Measurement, and Control 128, no. 4 (November 15, 2005): 969–75. http://dx.doi.org/10.1115/1.2363199.

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In this paper, a control design methodology for the new class of modular robots so-called “unidrive modular robots” is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial advantage over regular modular robots in terms of the mass of each module. The drive is mounted at the robot base and all joints tap power from the single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, a general state space model of the robot is first developed and then based on the theory of variable structure systems and sliding mode control a design methodology for local controllers is introduced. The control design technique is validated by experimental results.

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35

Wang, Yongdong, and Tetsushi Kamegawa. "Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method." Sensors 22, no. 22 (November 21, 2022): 9016. http://dx.doi.org/10.3390/s22229016.

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The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster. The control method is composed of a hybrid force–position controller that allows the snake robot to move more stably. We conducted experiments to confirm the effectiveness of the proposed method. The experimental results show that the proposed method is stable and effective compared to the previous control method that we had implemented in the snake robot.

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36

Chen, Gang, Wenqian Xu, Zixing Li, Yuqiang Liu, and Xin Liu. "Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment." Machines 9, no. 9 (September 3, 2021): 187. http://dx.doi.org/10.3390/machines9090187.

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Making full use of the cooperation of multi-robots can improve the success rate of apursuit task. Therefore, this paper proposes a multi-robot cooperative pursuit strategy based on the zero-sum game and surrounding points adjustment. First, a mathematical description of the multi-robot pursuit problem is constructed, and the zero-sum game model is established considering the cooperation of the pursuit robots and the confrontation between the pursuit robots and the escape robot. By solving the game model, the optimal movement strategies of the pursuit robots and the escape robot are obtained. Then, the position adjustment method of the pursuit robots is studied based on the Hungarian algorithm, and the pursuit robots are controlled to surround the escape robot. Based on this, a multi-robot cooperative pursuit strategy is proposed that divides the pursuit process into two stages: pursuit robot position adjustment and game pursuit. Finally, the correctness and effectiveness of the multi-robot cooperative pursuit strategy are verified with simulation experiments. The multi-robot cooperative pursuit strategy allows the pursuit robots to capture the escape robot successfully without conflicts among the pursuit robots. It can be seen from the documented simulation experiments that the success rate of the pursuit task using the strategy proposed in this paper is 100%.

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37

Khawaja, Fahad Iqbal, Akira Kanazawa, Jun Kinugawa, and Kazuhiro Kosuge. "A Human-Following Motion Planning and Control Scheme for Collaborative Robots Based on Human Motion Prediction." Sensors 21, no. 24 (December 9, 2021): 8229. http://dx.doi.org/10.3390/s21248229.

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Human–Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist human workers in their tasks and improve their efficiency. However, the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC)-based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

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38

Weinmann, Katrina, and Steve Simske. "Design of Bluetooth 5.1 Angle of Arrival Homing Controller for Autonomous Mobile Robot." Robotics 12, no. 4 (August 11, 2023): 115. http://dx.doi.org/10.3390/robotics12040115.

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With the improvement of autonomous robot navigation technologies, mobile robots can now be deployed in uncertain, real-world environments. An aspect of autonomous robot navigation in such scenarios is the capability to navigate to a real-time determined (previously unknown) location anywhere in its vicinity. This is especially pertinent for indoor navigation where existing localization technologies such as GPS do not provide sufficient accuracy of target location. In this paper, a controller design is proposed which homes a mobile robot to an object of unknown location using Bluetooth 5.1 Angle of Arrival (AoA) technology. The proposed setup consists of a target object with a Bluetooth beacon and a single Bluetooth antenna array mounted on a mobile robot. The controller uses a hybrid approach to calculating and updating the estimated target position by implementing parallax and vector position calculations from AoA and RSSI Bluetooth data. Simulations with various levels of sensor noise showed convergence to accurate target positions (mean accuracy of 0.12 m or less) in both obstacle-free and obstacle-present environments. The controller can be implemented as a standalone controller by directly commanding robot motion toward the target, or it can integrate with other existing robot navigation techniques by outputting a target position.

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39

Cheng, Hongtai, and Hongfei Jiang. "Sensorless force estimation and control of Delta robot with limited access interface." Industrial Robot: An International Journal 45, no. 5 (August 20, 2018): 611–22. http://dx.doi.org/10.1108/ir-03-2018-0048.

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Purpose Delta robot is a parallel robot specifically designed for high-speed pick and place tasks. However, sometimes they are asked to perform additional assembling and squeezing actions, which is beyond the capability of position-controlled Delta robots. Force sensors may be expensive and add mass to the system. Therefore, the purpose of this paper is to study sensorless force control of Delta robots using limited access interface. Design/methodology/approach Static force analysis is performed to establish a relation between joint torques and external forces. The joint torques are observed from signals provided by motor drivers. A distributed mass model is proposed to compensate the gravity of upper arms and forearms. To minimize the effect of backlash and nonlinear frictions brought by gearboxes, model parameters are calibrated in two separated modes: “LIFTING” and “LOWERING”. Finally, a hybrid force estimation model is built to deal with both cases simultaneously. Surrogate model-based force control law is proposed to increase the force control loop rate and handle the force control problem for discrete position-controlled Delta robots. Findings The results show that the force estimation model is effective and mode separation can significantly improve the accuracy. The force control laws indeed stabilize the robot in desired states. Originality/value The proposed solution is based on position-controlled commercial Delta robot and requires no additional force sensor. It is able to extend Delta robots’ capability and meet requirements of emerging complex tasks.

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40

Jin, Shaokun, and Yongsheng Ou. "A Wheeled Inverted Pendulum Learning Stable and Accurate Control from Demonstrations." Applied Sciences 9, no. 24 (December 4, 2019): 5279. http://dx.doi.org/10.3390/app9245279.

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In order to enable robots to be more intelligent and flexible, one way is to let robots learn human control strategy from demonstrations. It is a useful methodology, in contrast to traditional preprograming methods, in which robots are required to show generalizing capacity in similar scenarios. In this study, we apply learning from demonstrations on a wheeled, inverted pendulum, which realizes the balance controlling and trajectory following simultaneously. The learning model is able to map the robot position and pose to the wheel speeds, such that the robot regulated by the learned model can move in a desired trajectory and finally stop at a target position. Experiments were undertaken to validate the proposed method by testing its capacity of path following and balance guaranteeing.

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41

Liu, Tingrui, Yan Ding, Pan Wang, Kang Zhao, and Jiahao Jia. "Stability Control of Transport Robot Based on Iterative Learning Control." Journal of Physics: Conference Series 2173, no. 1 (January 1, 2022): 012061. http://dx.doi.org/10.1088/1742-6596/2173/1/012061.

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Abstract In this study, stability control for transport process of transport robot subjected to 2R manipulator movement, is investigated based on iterative learning control (ILC). The joint positions, speeds and accelerations are used as variables to establish the expression of driving torques of manipulator joints. According to the experience, the linear interference torque in the process of motion is determined. Three ILC algorithms are applied to achieve stability control, and good trajectory tracking results are obtained. Position tracking, speed tracking, and the maximum position error in the process of tracking are illustrated, and through the absolute value of the maximum error, the optimal iterative algorithm is finally determined.

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42

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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43

Li, Minhan, Rongjie Kang, Shineng Geng, and Emanuele Guglielmino. "Design and control of a tendon-driven continuum robot." Transactions of the Institute of Measurement and Control 40, no. 11 (March 1, 2017): 3263–72. http://dx.doi.org/10.1177/0142331216685607.

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Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

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44

Balabanov, Alexey, Anna Bezuglaya, and Evgeny Shushlyapin. "Underwater Robot Manipulator Control." Informatics and Automation 20, no. 6 (September 23, 2021): 1307–32. http://dx.doi.org/10.15622/ia.20.6.5.

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This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application of the author's terminal state method (TSM) so that it forms a system of differential equations for the rotation angles of manipulator links around the longitudinal and transverse axes, having only desired TSM-controls in the right parts. The converted model provides simplifications of controls calculation by eliminating the numerical solution of special differential equations, that is needed in the case of using in TSM nonlinear dynamic models in general form. The found TSM-controls are further used in expressions for control actions on joints electric drives obtained on the basis of electric drives dynamic models. Unknown drives parameters as functions of links rotation angles or other unknown factors, are proposed to be determined experimentally. Such two-step procedure allowed to get drive control in the form of algebraic and transcendental expressions. Finally, by applying the developed software, simulation results of the manipulator end effector moving to the specified positions on the edge of the working area are presented. The resulting error (without accounting measurement error) does not exceed 2 centimeters at the 1.2 meters distance by arm reaching maximum of length ability. The work was performed under the Federal program of developing a robotic device for underwater research in shallow depths (up to 10 meters).

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45

Bârsan, Alexandru. "Position Control of a Mobile Robot through PID Controller." Acta Universitatis Cibiniensis. Technical Series 71, no. 1 (December 1, 2019): 14–20. http://dx.doi.org/10.2478/aucts-2019-0004.

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Abstract In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying the research and considering all the ideas that were introduced.

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46

Xu, Junjie, Long Xiao, Muquan Lin, and Xiaojing Tan. "Application of Fuzzy PID Position Control Algorithm in Motion Control System Design of Palletizing Robot." Security and Communication Networks 2022 (March 16, 2022): 1–11. http://dx.doi.org/10.1155/2022/8720960.

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In view of the low efficiency in traditional palletizing robot problem of poor control precision, this paper introduces fuzzy PID position control algorithm, based on the actual operation situation of palletizing robot; determined as palletizing robot FPGA hardware platform, hardware platform based on this fuzzy PID position control algorithm is applied to implement palletizing robot motion control system design. The simulation model of fuzzy PID motion control was established by MATLAB software for testing to determine that the fuzzy PID position control algorithm reflects the time quickly in the motion control of palletizing robot, and the actual overshooting is small, which is more suitable for the motion control algorithm of palletizing robot. Under this condition, the modular method is adopted to complete the system application design on the FPGA hardware platform.

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47

San, Hongjun, Lin Ding, Haobin Zhang, and Xingmei Wu. "Error Analysis of a New Five-Degree-of-Freedom Hybrid Robot." Actuators 12, no. 8 (August 13, 2023): 324. http://dx.doi.org/10.3390/act12080324.

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The error analysis of the robot has a very practical significance for improving its accuracy. Therefore, this paper conducts an error analysis for a new five-degree-of-freedom hybrid robot designed to conduct responsible surface machining. Initially, the error sources of the hybrid robot were sorted out to determine the number of error sources. Then, the error mapping model of the hybrid robot is established by the closed-loop vector method and the first-order perturbation method. Based on the mapping property of the 6th-order velocity Jacobi matrix, the compensable and non-compensable error sources affecting the posture error at the end of the hybrid robot are separated. Finally, the error analysis of the separated error sources is carried out to study the effect of single error sources and multiple error sources coupled with the posture error at the end of the robot. The results show that among the individual error sources, the dynamic and fixed platform hinge position error has the most significant effect on the end of the robot; among the integrated posture errors after coupling multiple error sources, the position of the dynamic and fixed platform hinge position error and the translational joint initial position dominate; the analysis of the different trajectories also yields that the error introduced by each error source increases gradually with the increase of the end trajectory. When designing this hybrid robot, attention should be paid to the manufacturing and installation accuracy of the dynamic and fixed platform hinge point positions and the translational joint initial position.

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48

Cortes, Fernando Reyes, Oswaldo Tepatl Nieto, and Tania Ortiz. "Logarithm-type position control of robot manipulators." International Robotics & Automation Journal 5, no. 1 (January 17, 2019): 16–17. http://dx.doi.org/10.15406/iratj.2019.05.00165.

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49

Wang, Yaliang, Qiuguo Zhu, Rong Xiong, and Jian Chu. "Standing Balance Control for Position Control-Based Humanoid Robot." IFAC Proceedings Volumes 46, no. 20 (2013): 429–36. http://dx.doi.org/10.3182/20130902-3-cn-3020.00064.

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50

Niramitvasu, Nakhon, and Chowarit Mitsantisuk. "Bilateral Control Based on Disturbance Observer of Delta Robot with Gravity Compensation." Applied Mechanics and Materials 781 (August 2015): 445–49. http://dx.doi.org/10.4028/www.scientific.net/amm.781.445.

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Recently, delta robots is widely used in many industrial application because the structure of delta robot is close loop chain and have properties of high rigid body and fast movement. However, the moving part of delta robot is arranged in pattern that influenced by gravity and has an impact on control system. In this paper, we proposed force and position control in master-slave configuration while compensate gravity. The control system using disturbance observer (DOB) to estimate sum of action/reaction force and gravity force of master-slave delta robot instead of the force sensors. The external force on travelling plate of delta robot is estimated by disturbance force on upper and computational gravity force from dynamic model. Moreover, the delta robot may various in size due to the conditioning of workspace, therefore the method to control the task space is proposed. The simulation is conduct to verify the control system, compare the position and force of travelling plate with and without gravity compensation.

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