Bi-Articular Muscle Actuation Design for Robot Arms
|
|
- Louise Hensley
- 6 years ago
- Views:
Transcription
1 Bi-Articular Muscle Actuation Design for Robot Arms V. Salvucci Y. Kimura S. Oh Y. Hori Hori-Fujimoto Lab, The University of Tokyo ICRA 2011 Workshop on Biologically-inspired Actuation, Shanghai
2 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 2/24
3 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 3/24
4 What are Bi-articular Actuators? Multi-articular actuators produce torque in 2 (or more) consecutive joints Biceps brachii Simplified model of human musculo-skeletal structure Coracobrachialis Brachialis f 1 e 1: antagonistic pair of mono-articular muscles f 2 e 2: antagonistic pair of mono-articular muscles f 3 e 3: antagonistic pair of bi-articular muscles. Salvucci, Y. Kimura, S. Oh, Y. Hori Hori-Fujimoto Lab, The University of Tokyo i-articular Muscle Actuation Design for Robot Arms 4/24
5 Why Bi-Articular Actuators? 1 Homogeneous Maximum Force at End Effector [Fujikawa 1999] 2 Impedance control without FB [Hogan 1985] 3 Power transfer from proximal to distal joints [Schenau 1989] Bi-Articular Muscle Actuation Design for Robot Arms 5/24
6 Why Bi-Articular Actuators? 2 actuators of 10 Nm each 3 actuators of 6.6 Nm each Safety: smaller peak force (in case of controller failure) Vertical balance: greater ground horizontal force [Salvucci 2011b] 1 Homogeneous Maximum Force at End Effector [Fujikawa 1999] 2 Impedance control without FB [Hogan 1985] 3 Power transfer from proximal to distal joints [Schenau 1989] Bi-Articular Muscle Actuation Design for Robot Arms 6/24
7 Why Bi-Articular Actuators? 2 actuators of 10 Nm each 3 actuators of 6.6 Nm each Safety: smaller peak force (in case of controller failure) Vertical balance: greater ground horizontal force [Salvucci 2011b] 1 Homogeneous Maximum Force at End Effector [Fujikawa 1999] 2 Impedance control without FB [Hogan 1985] 3 Power transfer from proximal to distal joints [Schenau 1989] Bi-Articular Muscle Actuation Design for Robot Arms 7/24
8 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 8/24
9 Actuator Redundancy Problem Model Statics { T 1 = (f 1 e 1)r + (f 3 e 3)r T 2 = (f 2 e 2)r + (f 3 e 3)r { T 1 = τ 1 + τ 3 T 2 = τ 2 + τ 3 Given desired T 1 and T 2 τ 1=?, τ 2=?, τ 3=? Bi-Articular Muscle Actuation Design for Robot Arms 9/24
10 Pseudo-inverse Matrix (2 norm) Moore Penrose is the simplest pseudo inverse matrix = 2 norm [Klein 1983] 2 norm optimization criteria minimize subject to τ1 2 + τ τ 3 2 (1) { T 1 = τ 1 + τ 3 (2) T 2 = τ 2 + τ 3 Closed form solution τ 1 = 2 3 T1 1 3 T2 τ 2 = 1 3 T T2 (3) τ 3 = 1 3 T T2 T = [2.0, 1.5] τ = [1.66, 0.33, 0.83] Given F T = ( J T ) F T τ using (3). Salvucci, Y. Kimura, S. Oh, Y. Hori Hori-Fujimoto Lab, The University of Tokyo i-articular Muscle Actuation Design for Robot Arms 10/24
11 Our Solution: The norm Approach [Salvucci 2010] norm optimization criteria minimize max{ τ 1, τ 2, τ 3 } { (4) subject to T 1 = τ 1 + τ 3 T 2 = τ 2 + τ 3 (5) Closed form solution [Salvucci 2010] if T 1T 2 0 if T 1T 2 > 0 and T 1 T 2 if T 1T 2 > 0 and T 1 > T 2 τ 1 = T 1 T 2 2 τ 2 = T 2 T 1 (6) 2 τ 3 = T 1 +T 2 2 τ 1 = T 1 T 2 2 τ 2 = T 2 2 (7) τ 3 = T 2 2 τ 1 = T 1 2 τ 2 = T 2 T 1 2 (8) τ 3 = T 1 2 T = [2.0, 1.5] τ = [1.0, 0.5, 1.0] Given F T = ( J T ) F T τ using (6), (7), or (8) Bi-Articular Muscle Actuation Design for Robot Arms 11/24
12 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 12/24
13 Bi-articularly Actuated Robot Arms Actuator Redundancy Problem Experimental Setup Experimental Results Conclusions References BiWi: Bi-Articularly Actuated & Wire Driven Robot Arm [Salvucci 2011a] + Human-like actuation structure + Wire Transmission low link inertia (safety, energy efficiency) + Mono-/bi- articular torque decoupling (statics) - Not intrinsically compliant, but solvable with springs - Transmission loss in the wires V. Salvucci, Y. Kimura, S. Oh, Y. Hori Bi-Articular Muscle Actuation Design for Robot Arms Hori-Fujimoto Lab, The University of Tokyo 13/24
14 Feedforward Control Strategy F = [F x, F y ] T and T = [T 1, T 2 ] T : desired output forces and input torque. [τ 1,τ 2, τ 3 ]: desired actuator joint torques [e1, f1, e2, f2, e3, f3 ]: motor reference torques calculated as: { { ei Ktli τi if τi < 0 = f Ki τi if τi > 0 i = 0 otherwise 0 otherwise (9) where Ktl 2=1.33 (thrust wire transmission lost), Ktl 1 = K 3 = 0. F x and F y : measured forces at the end effector. Bi-Articular Muscle Actuation Design for Robot Arms 14/24
15 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 15/24
16 Bi-articularly Actuated Robot Arms Actuator Redundancy Problem Experimental Setup Experimental Results Conclusions References Infinity Norm VS Pseudo-inverse matrix (2 norm) [Salvucci 2011c] Measured maximum output force Relative difference in output force θ1 = 60 θ2 = 120 θ1 = 25 θ2 = 50 F diff = V. Salvucci, Y. Kimura, S. Oh, Y. Hori Bi-Articular Muscle Actuation Design for Robot Arms F n F 2 n F 2 n (10) Hori-Fujimoto Lab, The University of Tokyo 16/24
17 Outline 1 Bi-articularly Actuated Robot Arms 2 Actuator Redundancy Problem Traditional: Pseudo-inverse Matrix (2 norm) Our Solution: The norm Approach 3 Experimental Setup BiWi:Bi-Articularly Actuated & Wire Driven Robot Arm Feedforward Control Strategy 4 Experimental Results 5 Conclusions Bi-Articular Muscle Actuation Design for Robot Arms 17/24
18 Conclusions Bi-articular muscles key points 1 Homogeneous distribution of output force 2 Power transfer proximal to distal joints 3 FF impedance control BiWi, Bi-articularly actuated and Wire driven Robot Arm Human-like actuation structure Low link-inertia Safety, efficiency Perfect decoupling between mono- and bi- articular actuator (statics) The norm approach for actuator redundancy resolution Closed form solution based on a piecewise linear function continuous in all the domain D = {T 1, T 2} Maximization of force at the end effector: +30% than 2 norm Applicable to systems with 3 inputs and 2 outputs Bi-Articular Muscle Actuation Design for Robot Arms 18/24
19 Conclusions Bi-articular muscles key points 1 Homogeneous distribution of output force 2 Power transfer proximal to distal joints 3 FF impedance control BiWi, Bi-articularly actuated and Wire driven Robot Arm Human-like actuation structure Low link-inertia Safety, efficiency Perfect decoupling between mono- and bi- articular actuator (statics) The norm approach for actuator redundancy resolution Closed form solution based on a piecewise linear function continuous in all the domain D = {T 1, T 2} Maximization of force at the end effector: +30% than 2 norm Applicable to systems with 3 inputs and 2 outputs Bi-Articular Muscle Actuation Design for Robot Arms 19/24
20 Conclusions Bi-articular muscles key points 1 Homogeneous distribution of output force 2 Power transfer proximal to distal joints 3 FF impedance control BiWi, Bi-articularly actuated and Wire driven Robot Arm Human-like actuation structure Low link-inertia Safety, efficiency Perfect decoupling between mono- and bi- articular actuator (statics) The norm approach for actuator redundancy resolution Closed form solution based on a piecewise linear function continuous in all the domain D = {T 1, T 2} Maximization of force at the end effector: +30% than 2 norm Applicable to systems with 3 inputs and 2 outputs Bi-Articular Muscle Actuation Design for Robot Arms 20/24
21 Thank you for your kind attention V. Salvucci Y. Kimura S. Oh Y. Hori Salvucci, Y. Kimura, S. Oh, Y. Hori Hori-Fujimoto Lab, The University of Tokyo i-articular Muscle Actuation Design for Robot Arms 21/24
22 2 norm Vs norm in 2D k, α and β are constant Equation with infinite solutions k = αx + βy x and y represent the motor torques bounded 2 norm norm minimize x 2 + y 2 minimize max { x, y } Comparison Solutions comparison Smaller solution space for 2 norm max{y, x } max{y 2, x 2} no solution for 2 norm!! Bi-Articular Muscle Actuation Design for Robot Arms 22/24
23 The Best Norm Output Force for θ 2 {30, 60, 90, 120, 150 } τ 1 + τ 2 + τ 3 for θ 2 = 90 norm 1 norm 2 norm min ( τ 1 + τ 2 + τ 3 ) min ( τ1 2 + τ τ 3 2 ) min max{ τ1, τ2, τ3 } τ 1 + τ 2 + τ 3 of norm > τ 1 + τ 2 + τ 3 of 2 norm τ 1 + τ 2 + τ 3 of 2 norm > τ 1 + τ 2 + τ 3 of 1 norm The best norm: switching between 1 norm, 2 norm and norm... but the system could not be stable due to discontinuity in torque patterns. Salvucci, Y. Kimura, S. Oh, Y. Hori Hori-Fujimoto Lab, The University of Tokyo i-articular Muscle Actuation Design for Robot Arms 23/24
24 References T. Fujikawa, T. Oshima, M. Kumamoto, and N. Yokoi. Output force at the endpoint in human upper extremities and coordinating activities of each antagonistic pairs of muscles. Transactions of the Japan Society of Mechanical Engineers. C, 65(632): , N. Hogan. The mechanics of multi-joint posture and movement control. Biological Cybernetics, 52(5): , V. Salvucci, S. Oh, and Y. Hori. Infinity norm approach for precise force control of manipulators driven by bi-articular actuators. In IECON th Annual Conference on IEEE Industrial Electronics Society, pages , V. Salvucci, Y. Kimura, S. Oh, and Y. Hori. BiWi: Bi-Articularly actuated and wire driven robot arm. In IEEE International Conference on Mechatronics (ICM), 2011a. V. Salvucci, Y. Kimura, S. Oh, and Y. Hori. Disturbance rejection improvement in Non-Redundant robot arms by bi-articular actuators. In Industrial Electronics (ISIE), IEEE International Symposium on, 2011b. V. Salvucci, Y. Kimura, S. Oh, and Y. Hori. Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. In American Control Conference (ACC), 2011c. G. J. V. I. Schenau. From rotation to translation: Constraints on multi-joint movements and the unique action of bi-articular muscles. Human Movement Science, 8(4): , Aug Salvucci, Y. Kimura, S. Oh, Y. Hori Hori-Fujimoto Lab, The University of Tokyo i-articular Muscle Actuation Design for Robot Arms 24/24
Analysis of Actuator Redundancy Resolution Methods for Bi-articularly Actuated Robot Arms
The 1th IEEE International Workshop on Advanced Motion Control March 5-7, 01, Sarajevo, Bosnia and Herzegovina Analsis of Actuator Redundanc Resolution Methods for Bi-articularl Actuated Robot Arms Valerio
More informationNovel Reaction Force Control Design Based on Biarticular Driving System Using Intrinsic Viscoelasticity of Muscle
Novel Reaction Force Control Design Based on Biarticular Driving System Using Intrinsic Viscoelasticity of Muscle Yasuto Kimura #, Sehoon Oh 2 and Yoichi Hori #3 # Department of Advanced Energy, The University
More informationImproving EV Lateral Dynamics Control Using Infinity Norm Approach with Closed-form Solution
Improving EV Lateral Dynamics Control Using Infinity Norm Approach with Closed-form Solution Alexander Viehweider Dept. of Advanced Energy The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba, Japan
More informationExtended Manipulability Measure and Application for Robot Arm Equipped with Bi-articular Driving Mechanism
Extended Manipulability Measure and Application for Robot Arm Equipped with Bi-articular Driving Mechanism Kengo Yoshida, Naoki Hata, Sehoon Oh, Yoichi Hori Department of Electrical Engineering Oki Electric
More informationOpen-loop Control for 2DOF Robot Manipulators with Antagonistic Bi-articular Muscles
Open-loop Control for DOF Robot Manipulators with Antagonistic Bi-articular Muscles Keisuke Sano, Hiroyuki Kawai, Toshiyuki Murao and Masayuki Fujita Abstract This paper investigates open-loop control,
More informationPassivity-based Control for 2DOF Robot Manipulators with Antagonistic Bi-articular Muscles
Passivity-based Control for 2DOF Robot Manipulators with Antagonistic Bi-articular Muscles Hiroyuki Kawai, Toshiyuki Murao, Ryuichi Sato and Masayuki Fujita Abstract This paper investigates a passivity-based
More informationDesign and Control of Compliant Humanoids. Alin Albu-Schäffer. DLR German Aerospace Center Institute of Robotics and Mechatronics
Design and Control of Compliant Humanoids Alin Albu-Schäffer DLR German Aerospace Center Institute of Robotics and Mechatronics Torque Controlled Light-weight Robots Torque sensing in each joint Mature
More informationDesign and Control of Variable Stiffness Actuation Systems
Design and Control of Variable Stiffness Actuation Systems Gianluca Palli, Claudio Melchiorri, Giovanni Berselli and Gabriele Vassura DEIS - DIEM - Università di Bologna LAR - Laboratory of Automation
More informationJoint Torque Control for Backlash Compensation in Two-Inertia System
Joint Torque Control for Backlash Compensation in Two-Inertia System Shota Yamada*, Hiroshi Fujimoto** The University of Tokyo 5--5, Kashiwanoha, Kashiwa, Chiba, 227-856 Japan Phone: +8-4-736-3873*, +8-4-736-43**
More informationIROS 16 Workshop: The Mechatronics behind Force/Torque Controlled Robot Actuation Secrets & Challenges
Arne Wahrburg (*), 2016-10-14 Cartesian Contact Force and Torque Estimation for Redundant Manipulators IROS 16 Workshop: The Mechatronics behind Force/Torque Controlled Robot Actuation Secrets & Challenges
More informationTrajectory Planning from Multibody System Dynamics
Trajectory Planning from Multibody System Dynamics Pierangelo Masarati Politecnico di Milano Dipartimento di Ingegneria Aerospaziale Manipulators 2 Manipulator: chain of
More informationDEVELOPMENT OF JUMP ASSIST SYSTEM USING PNEUMATIC RUBBER MUSCLE
DEVELOPMENT OF JUMP ASSIST SYSTEM USING PNEUMATIC RUBBER MUSCLE Kotaro TADANO*, Hiroshi ARAYA**, Kenji KAWASHIMA*, Chongo YOUN *, Toshiharu KAGAWA* * Precision and Intelligence Laboratory, Tokyo Institute
More informationIterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space Variables to Improve the Robustness
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal Iterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space
More informationLecture «Robot Dynamics»: Dynamics 2
Lecture «Robot Dynamics»: Dynamics 2 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) office hour: LEE
More informationOn-line Learning of Robot Arm Impedance Using Neural Networks
On-line Learning of Robot Arm Impedance Using Neural Networks Yoshiyuki Tanaka Graduate School of Engineering, Hiroshima University, Higashi-hiroshima, 739-857, JAPAN Email: ytanaka@bsys.hiroshima-u.ac.jp
More informationInverse differential kinematics Statics and force transformations
Robotics 1 Inverse differential kinematics Statics and force transformations Prof Alessandro De Luca Robotics 1 1 Inversion of differential kinematics! find the joint velocity vector that realizes a desired
More informationStable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer
IEEJ Journal of Industry Applications Vol.5 No. pp.3 4 DOI:.54/ieejjia.5.3 Paper Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer Takashi Yoshioka Student
More information(W: 12:05-1:50, 50-N202)
2016 School of Information Technology and Electrical Engineering at the University of Queensland Schedule of Events Week Date Lecture (W: 12:05-1:50, 50-N202) 1 27-Jul Introduction 2 Representing Position
More informationLecture «Robot Dynamics»: Dynamics and Control
Lecture «Robot Dynamics»: Dynamics and Control 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) Marco
More informationCOMPLIANT CONTROL FOR PHYSICAL HUMAN-ROBOT INTERACTION
COMPLIANT CONTROL FOR PHYSICAL HUMAN-ROBOT INTERACTION Andrea Calanca Paolo Fiorini Invited Speakers Nevio Luigi Tagliamonte Fabrizio Sergi 18/07/2014 Andrea Calanca - Altair Lab 2 In this tutorial Review
More informationARTISAN ( ) ARTISAN ( ) Human-Friendly Robot Design
Human-Friendly Robot Design Torque Control: a basic capability dynamic performance compliance, force control safety, interactivity manipulation cooperation ARTISAN (1990-95) ARTISAN (1990-95) 1 intelligence
More informationAnti-Fatigue Control for Over-Actuated Bionic Arm with Muscle Force Constraints
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan Anti-Fatigue Control for Over-Actuated Bionic Arm with Muscle Force Constraints Haiwei Dong
More informationNatural Frequency Analysis of Spring-Manipulator System for Force Generation Utilizing Mechanical Resonance
ICCAS5 June -5, KINTEX, yeonggi-do, Korea Natural Frequency Analysis of Spring-Manipulator System for Force eneration Utilizing Mechanical Resonance Jun Kobayashi* and Fujio Ohkawa* * Department of Systems
More informationLecture Schedule Week Date Lecture (M: 2:05p-3:50, 50-N202)
J = x θ τ = J T F 2018 School of Information Technology and Electrical Engineering at the University of Queensland Lecture Schedule Week Date Lecture (M: 2:05p-3:50, 50-N202) 1 23-Jul Introduction + Representing
More informationWataru Ohnishi a) Student Member, Hiroshi Fujimoto Senior Member Koichi Sakata Member, Kazuhiro Suzuki Non-member Kazuaki Saiki Member.
IEEJ International Workshop on Sensing, Actuation, and Motion Control Proposal of Decoupling Control Method for High-Precision Stages using Multiple Actuators considering the Misalignment among the Actuation
More informationRobot Dynamics II: Trajectories & Motion
Robot Dynamics II: Trajectories & Motion Are We There Yet? METR 4202: Advanced Control & Robotics Dr Surya Singh Lecture # 5 August 23, 2013 metr4202@itee.uq.edu.au http://itee.uq.edu.au/~metr4202/ 2013
More informationDemonstrating the Benefits of Variable Impedance to Telerobotic Task Execution
Demonstrating the Benefits of Variable Impedance to Telerobotic Task Execution Daniel S. Walker, J. Kenneth Salisbury and Günter Niemeyer Abstract Inspired by human physiology, variable impedance actuation
More informationA passively safe cable driven upper limb rehabilitation exoskeleton
Technology and Health Care 23 (2015) S197 S202 DOI 10.3233/THC-150954 IOS Press S197 A passively safe cable driven upper limb rehabilitation exoskeleton Yanyan Chen, Jizhuang Fan, Yanhe Zhu, Jie Zhao and
More informationHiroshi Kaminaga 1, Satoshi Otsuki 1, and Yoshihiko Nakamura 1
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids). October 15-17, 2013. Atlanta, GA Design of an Ankle-Knee Joint System of a Humanoid Robot with a Linear Electro-Hydrostatic Actuator
More informationRobust Control of Cooperative Underactuated Manipulators
Robust Control of Cooperative Underactuated Manipulators Marcel Bergerman * Yangsheng Xu +,** Yun-Hui Liu ** * Automation Institute Informatics Technology Center Campinas SP Brazil + The Robotics Institute
More informationA Physically-Based Fault Detection and Isolation Method and Its Uses in Robot Manipulators
des FA 4.13 Steuerung und Regelung von Robotern A Physically-Based Fault Detection and Isolation Method and Its Uses in Robot Manipulators Alessandro De Luca Dipartimento di Informatica e Sistemistica
More informationSurface Electromyographic [EMG] Control of a Humanoid Robot Arm. by Edward E. Brown, Jr.
Surface Electromyographic [EMG] Control of a Humanoid Robot Arm by Edward E. Brown, Jr. Goal is to extract position and velocity information from semg signals obtained from the biceps and triceps antagonistic
More informationIterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems
Submitted to the st International Conference on Informatics in Control, Automation and Robotics Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems Weiwei Li Department
More informationManipulability Analysis of Human Arm Movements during the Operation of a Variable-Impedance Controlled Robot
Manipulability Analysis of Human Arm Movements during the Operation of a Variable-Impedance Controlled Robot Yoshiyuki TANAKA ) Naoki YAMADA ) Kazuo NISHIKAWA ) Ichirou MASAMORI ) Toshio TSUJI ) ) Graduate
More informationRobotics I Kinematics, Dynamics and Control of Robotic Manipulators. Velocity Kinematics
Robotics I Kinematics, Dynamics and Control of Robotic Manipulators Velocity Kinematics Dr. Christopher Kitts Director Robotic Systems Laboratory Santa Clara University Velocity Kinematics So far, we ve
More informationfor Articulated Robot Arms and Its Applications
141 Proceedings of the International Conference on Information and Automation, December 15-18, 25, Colombo, Sri Lanka. 1 Forcefree Control with Independent Compensation for Articulated Robot Arms and Its
More informationA Simplified Variable Admittance Controller Based on a Virtual Agonist-Antagonist Mechanism for Robot Joint Control
1 A Simplified Variable Admittance Controller Based on a Virtual Agonist-Antagonist Mechanism for Robot Joint Control Xiaofeng Xiong, Florentin Wörgötter and Poramate Manoonpong the Bernstein Center for
More informationHigh Precision Control of Ball Screw Driven Stage Using Repetitive Control with Sharp Roll-off Learning Filter
High Precision Control of Ball Screw Driven Stage Using Repetitive Control with Sharp Roll-off Learning Filter Tadashi Takemura and Hiroshi Fujimoto The University of Tokyo --, Kashiwanoha, Kashiwa, Chiba,
More informationAdaptive fuzzy observer and robust controller for a 2-DOF robot arm
Adaptive fuzzy observer and robust controller for a -DOF robot arm S. Bindiganavile Nagesh, Zs. Lendek, A.A. Khalate, R. Babuška Delft University of Technology, Mekelweg, 8 CD Delft, The Netherlands (email:
More informationDecoupling Identification for Serial Two-link Robot Arm with Elastic Joints
Preprints of the 1th IFAC Symposium on System Identification Saint-Malo, France, July 6-8, 9 Decoupling Identification for Serial Two-link Robot Arm with Elastic Joints Junji Oaki, Shuichi Adachi Corporate
More informationGain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control
Gain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control Khaled M. Helal, 2 Mostafa R.A. Atia, 3 Mohamed I. Abu El-Sebah, 2 Mechanical Engineering Department ARAB ACADEMY FOR
More informationDynamics. describe the relationship between the joint actuator torques and the motion of the structure important role for
Dynamics describe the relationship between the joint actuator torques and the motion of the structure important role for simulation of motion (test control strategies) analysis of manipulator structures
More informationDESIGN OF AN ARTICULATED ROBOTIC LEG WITH NONLINEAR SERIES ELASTIC ACTUATION
DESIGN OF AN ARTICULATED ROBOTIC LEG WITH NONLINEAR SERIES ELASTIC ACTUATION MARCO HUTTER, C. DAVID REMY, ROLAND SIEGWART Autonomous Systems Lab, ETH Zurich, CLA E11., Tannenstrasse 3, 809 Zurich, Switzerland,
More informationRhythmic Robot Arm Control Using Oscillators
Rhythmic Robot Arm Control Using Oscillators Matthew M. Williamson MIT AI Lab, 545 Technology Square, Cambridge, MA 2139 http://www.ai.mit.edu/people/matt Abstract This paper presents an approach to robot
More information(Manuscript received June 3, 2015, revised Nov. 17, 2015)
IEEJ Journal of Industry Applications Vol.5 No.2 pp.141 147 DOI: 10.1541/ieejjia.5.141 Decoupling Control Method for High-Precision Stages using Multiple Actuators considering the Misalignment among the
More informationGAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL
GAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL 1 KHALED M. HELAL, 2 MOSTAFA R.A. ATIA, 3 MOHAMED I. ABU EL-SEBAH 1, 2 Mechanical Engineering Department ARAB ACADEMY
More informationNonlinear PD Controllers with Gravity Compensation for Robot Manipulators
BULGARIAN ACADEMY OF SCIENCES CYBERNETICS AND INFORMATION TECHNOLOGIES Volume 4, No Sofia 04 Print ISSN: 3-970; Online ISSN: 34-408 DOI: 0.478/cait-04-00 Nonlinear PD Controllers with Gravity Compensation
More informationBio-mimetic impedance control of robotic manipulator for dynamic contact tasks
Robotics and Autonomous Systems 56 (2008) 306 316 www.elsevier.com/locate/robot Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks Toshio Tsuji, Yoshiyuki Tanaka 1-4-1, Kagamiyama,
More informationDetumbling and Capturing Strategies with Eddy Current Brake System on Orbital Space Robot
Detumbling and Capturing Strategies with Eddy Current Brake System on Orbital Space Robot The Next Generation of Space Robotic Servicing Technologies IEEE International Conference on Robotics and Automation
More informationMotion Control of Passive Haptic Device Using Wires with Servo Brakes
The IEEE/RSJ International Conference on Intelligent Robots and Systems October 8-,, Taipei, Taiwan Motion Control of Passive Haptic Device Using Wires with Servo Brakes Yasuhisa Hirata, Keitaro Suzuki
More informationVariable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems
211 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-3, 211. San Francisco, CA, USA Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic
More informationA MOTORIZED GRAVITY COMPENSATION MECHANISM USED FOR THE NECK OF A SOCIAL ROBOT
A MOTORIZED GRAVITY COMPENSATION MECHANISM USED FOR THE NECK OF A SOCIAL ROBOT Florentina Adascalitei 1, Ioan Doroftei 1, Ovidiu Crivoi 1, Bram Vanderborght, Dirk Lefeber 1 "Gh. Asachi" Technical University
More informationMulti-Priority Cartesian Impedance Control
Multi-Priority Cartesian Impedance Control Robert Platt Jr. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology rplatt@csail.mit.edu Muhammad Abdallah, Charles
More informationUnderstanding of Positioning Skill based on Feedforward / Feedback Switched Dynamical Model
Understanding of Positioning Skill based on Feedforward / Feedback Switched Dynamical Model Hiroyuki Okuda, Hidenori Takeuchi, Shinkichi Inagaki, Tatsuya Suzuki and Soichiro Hayakawa Abstract To realize
More informationVariable Stiffness Actuators for Fast and Safe Motion Control
Variable Stiffness Actuators for Fast and Safe Motion Control Antonio Bicchi 1, Giovanni Tonietti 1, Michele Bavaro 1, and Marco Piccigallo 1 Centro Interdipartimentale di Ricerca E. Piaggio Università
More informationManipulator Dynamics 2. Instructor: Jacob Rosen Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Manipulator Dynamics 2 Forward Dynamics Problem Given: Joint torques and links geometry, mass, inertia, friction Compute: Angular acceleration of the links (solve differential equations) Solution Dynamic
More informationA Backstepping control strategy for constrained tendon driven robotic finger
A Backstepping control strategy for constrained tendon driven robotic finger Kunal Sanjay Narkhede 1, Aashay Anil Bhise 2, IA Sainul 3, Sankha Deb 4 1,2,4 Department of Mechanical Engineering, 3 Advanced
More informationSensorless Torque/Force Control
4 Sensorless Torque/Force Control Islam S. M. Khalil and Asif Sabanovic Sabanci University Turkey 1. Introduction Motion control systems represent a main subsystem for majority of processing systems that
More informationA Novel Variable Stiffness Mechanism Capable of an Infinite Stiffness Range and Unlimited Decoupled Output Motion
Actuators 204, 3, 07-23; doi:0.3390/act302007 OPEN ACCESS actuators ISSN 2076-0825 www.mdpi.com/journal/actuators Article A Novel Variable Stiffness Mechanism Capable of an Infinite Stiffness Range and
More informationCompensation of Backlash for Geared Drive Systems and Thrust Wires Used in Teleoperation
IEEJ Journal of Industry Applications Vol.4 No.5 pp.514 525 DOI: 10.1541/ieejjia.4.514 Paper Compensation of Backlash for Geared Drive Systems and Thrust Wires Used in Teleoperation D Kasun Prasanga a)
More informationDesign and Control of 6-DOF High-Precision Scan Stage with Gravity Canceller
Design and Control of 6-DOF High-Precision Scan Stage with Gravity Canceller Wataru Ohnishi 1, Hiroshi Fujimoto 1, Koichi Sakata 2, Kauhiro Suuki 2 and Kauaki Saiki 2 Abstract High-precision scan stages
More informationRobots Driven by Compliant Actuators: Optimal Control under Actuation Constraints
IEEE TRANSACTIONS ON ROBOTICS 1 Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints David J. Braun, Member, IEEE, Florian Petit, Felix Huber, Sami Haddadin, Member, IEEE,
More informationIMPROVING FORCE CONTROL THROUGH END- EFFECTOR VIBRATION REDUCTION AND VARIABLE STIFFNESS JOINT DESIGN LI RENJUN NATIONAL UNIVERSITY OF SINGAPORE
IMPROVING FORCE CONTROL THROUGH END- EFFECTOR VIBRATION REDUCTION AND VARIABLE STIFFNESS JOINT DESIGN LI RENJUN NATIONAL UNIVERSITY OF SINGAPORE 2014 IMPROVING FORCE CONTROL THROUGH END- EFFECTOR VIBRATION
More informationq 1 F m d p q 2 Figure 1: An automated crane with the relevant kinematic and dynamic definitions.
Robotics II March 7, 018 Exercise 1 An automated crane can be seen as a mechanical system with two degrees of freedom that moves along a horizontal rail subject to the actuation force F, and that transports
More informationDevelopment of Distributed Optical Torque Sensors for Realization of Local Impedance Control of the Robot Arm
Development of Distributed Optical Torque Sensors for Realization of Local Impedance Control of the Robot Arm Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto and Susumu Tachi Graduate School
More informationMEAM 520. More Velocity Kinematics
MEAM 520 More Velocity Kinematics Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture 12: October
More informationMCE493/593 and EEC492/592 Prosthesis Design and Control
MCE493/593 and EEC492/592 Prosthesis Design and Control Control Systems Part 3 Hanz Richter Department of Mechanical Engineering 2014 1 / 25 Electrical Impedance Electrical impedance: generalization of
More informationInstantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems September -3,. San Francisco, CA, USA Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots Dongjun Shin, Zhan Fan
More informationJournal of Biomechanical Science and Engineering
Science and Engineering Bioinspired Propulsion Mechanism in Fluid Using Fin with Dynamic Variable-Effective-Length Spring * Shunichi KOBAYASHI ** Masataka NAKABAYASHI ** and Hirohisa MORIKAWA ** **Department
More informationAntagonistic Muscle based Robot Control for Physical Interactions
Antagonistic Muscle based Robot Control for Physical Interactions Tapomayukh Bhattacharjee and Günter Niemeyer 2 Abstract Robots are ever more present in human environments and effective physical human-robot
More informationPreviewed impedance adaptation to coordinate upper-limb trajectory tracking and postural balance in disturbed conditions
1 Previewed impedance adaptation to coordinate upper-limb trajectory tracking and postural balance in disturbed conditions A. IBANEZ, P. BIDAUD and V. PADOIS ISIR Institute for Intelligent Systems and
More informationForce Sensorless Power Assist Control for Wheelchair on Flat Road Using Recursive Least Square with Multiple Forgetting
IEEJ International Workshop on Sensing, Actuation, and Motion Control Force Sensorless Power Assist Control for Wheelchair on Flat Road Using Recursive Least Square with Multiple Forgetting Lele Xi a)
More informationCatastrophe and Stability Analysis of a Cable-Driven Actuator
Catastrophe and Stability Analysis of a Cable-Driven Actuator James S. Sulzer, Michael A. Peshkin and James L. Patton Abstract Recent work in human-robot interaction has revealed the need for compliant,
More informationMultiple-priority impedance control
Multiple-priority impedance control Robert Platt Jr, Muhammad Abdallah, and Charles Wampler Abstract Impedance control is well-suited to robot manipulation applications because it gives the designer a
More informationDetermination of a Predictive Stiffness Model for a 1 DOF Human Inspired Robotic Joint
Marquette University e-publications@marquette Master's Theses (2009 -) Dissertations, Theses, and Professional Projects Determination of a Predictive Stiffness Model for a 1 DOF Human Inspired Robotic
More informationmodel of joint torque and impedance in human arm movements
Biol. Cybern. 90, 368 375 (2004) DOI 10.1007/s00422-004-0484-4 Springer-Verlag 2004 A model of force and impedance in human arm movements K. P. Tee 1, E. Burdet 1,2,C.M.Chew 1, T. E. Milner 3 1 Department
More informationA Novel Method on Disturbance Analysis and Feed-forward Compensation in Permanent Magnet Linear Motor System
A Novel Method on Disturbance Analysis and Feed-forward Compensation in Permanent Magnet Linear Motor System Jonghwa Kim, Kwanghyun Cho, Hojin Jung, and Seibum Choi Department of Mechanical Engineering
More informationDecoupling Identification with Closed-loop-controlled Elements for Two-link Arm with Elastic Joints
Preprints of the 9th International Symposium on Robot Control (SYROCO'9) The International Federation of Automatic Control Nagaragawa Convention Center, Gifu, Japan, September 9-2, 29 Decoupling Identification
More informationDeflection-Based Force Sensing for Continuum Robots: A Probabilistic Approach
211 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-3, 211. San Francisco, CA, USA Deflection-Based Force Sensing for Continuum Robots: A Probabilistic Approach D. Caleb
More informationStabilization of Angular Velocity of Asymmetrical Rigid Body. Using Two Constant Torques
Stabilization of Angular Velocity of Asymmetrical Rigid Body Using Two Constant Torques Hirohisa Kojima Associate Professor Department of Aerospace Engineering Tokyo Metropolitan University 6-6, Asahigaoka,
More informationSafe Joint Mechanism using Inclined Link with Springs for Collision Safety and Positioning Accuracy of a Robot Arm
1 IEEE International Conference on Robotics and Automation Anchorage Convention District May 3-8, 1, Anchorage, Alaska, USA Safe Joint Mechanism using Inclined Link with Springs for Collision Safety and
More informationPID Motion Control Tuning Rules in a Damping Injection Framework
2013 American Control Conference ACC) Washington, DC, USA, June 17-19, 2013 PID Motion Control Tuning Rules in a Damping Injection Framework Tadele Shiferaw Tadele, Theo de Vries, Member, IEEE and Stefano
More informationStatistical Visual-Dynamic Model for Hand-Eye Coordination
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Statistical Visual-Dynamic Model for Hand-Eye Coordination Daniel Beale, Pejman Iravani
More informationDesign of an adaptive sliding mode controller for robust yaw stabilisation of in-wheel-motor-driven electric vehicles
98 Int. J. Vehicle Design, Vol. 67, No. 1, 2015 Design of an adaptive sliding mode controller for robust yaw stabilisation of in-wheel-motor-driven electric vehicles Kanghyun Nam* Samsung Electronics Co.,
More informationExample: RR Robot. Illustrate the column vector of the Jacobian in the space at the end-effector point.
Forward kinematics: X e = c 1 + c 12 Y e = s 1 + s 12 = s 1 s 12 c 1 + c 12, = s 12 c 12 Illustrate the column vector of the Jacobian in the space at the end-effector point. points in the direction perpendicular
More informationGordon G. Parker Mechanical Engineering Dept., Michigan Institute of Technology Houghton, MI
L +.. s@&qqq. ~y g C 4 4$(? @o&4) Experimental Results for Minimum-Time Trajecto QH?4 Tracking of a Direct-Drive Three-Link Planar Arm#@2 ~ ~ / Brian J. Driessen Structural Dynamics Department, Sandia
More informationEmulation of an Animal Limb with Two Degrees of Freedom using HIL
Emulation of an Animal Limb with Two Degrees of Freedom using HIL Iván Bautista Gutiérrez, Fabián González Téllez, Dario Amaya H. Abstract The Bio-inspired robotic systems have been a focus of great interest
More informationOperational Space Control of Constrained and Underactuated Systems
Robotics: Science and Systems 2 Los Angeles, CA, USA, June 27-3, 2 Operational Space Control of Constrained and Underactuated Systems Michael Mistry Disney Research Pittsburgh 472 Forbes Ave., Suite Pittsburgh,
More informationElectro-Hydrostatic Actuators with Series Dissipative Property and their Application to Power Assist Devices
Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, The University of Tokyo, Tokyo, Japan, September 26-29, 2010 Electro-Hydrostatic Actuators
More informationVideo 5.1 Vijay Kumar and Ani Hsieh
Video 5.1 Vijay Kumar and Ani Hsieh Robo3x-1.1 1 The Purpose of Control Input/Stimulus/ Disturbance System or Plant Output/ Response Understand the Black Box Evaluate the Performance Change the Behavior
More informationAdvanced Robotic Manipulation
Advanced Robotic Manipulation Handout CS37A (Spring 017 Solution Set # Problem 1 - Redundant robot control The goal of this problem is to familiarize you with the control of a robot that is redundant with
More informationInvestigation of Human-Robot Interaction Stability Using Lyapunov Theory
2008 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 9-23, 2008 Investigation of Human-Robot Interaction Stability Using Lyapunov Theory Vincent Duchaine and Clément M.
More informationStep Climbing Control of Wheeled Robot Based on Slip Ratio Taking Account of Work Load Shift by Anti-Dive Force of Suspensions and Accerelation
Step Climbing Control of Wheeled Robot Based on Slip Ratio Taking Account of Work Load Shift by Anti-Dive Force of Suspensions and Accerelation Masaki Higashino and Hiroshi Fujimoto The University of Tokyo
More informationA Weight Compensation Mechanism with a Non-Circular Pulley and a Spring: Application to a Parallel Four-Bar Linkage Arm
SICE Journal of Control, Measurement, and System Integration, Vol. 3, No. 2, pp. 130 136, March 2010 A Weight Compensation Mechanism with a Non-Circular Pulley and a Spring: Application to a Parallel Four-Bar
More informationGiven U, V, x and θ perform the following steps: a) Find the rotation angle, φ, by which u 1 is rotated in relation to x 1
1 The Jacobian can be expressed in an arbitrary frame, such as the base frame located at the first joint, the hand frame located at the end-effector, or the global frame located somewhere else. The SVD
More informationKINESIOLOGY PT617 Moment of Force and Rotation Homework Solution
KINESIOLOGY PT617 Moment of Force and Rotation Homework Solution 1. Muscle force F = 25 N has an insertion at I, θ= 30, and the distance between insertion and joint center C is d = 0.2 m. Sketch a diagram
More informationThe 9th Int. Conf. on Motion and Vibration Control (MOVIC), Munich, Germany, Sept An Industrial-Robots Suited Input Shaping Control Scheme
The 9th Int. Conf. on Motion and Vibration Control (MOVIC), Munich, Germany, Sept. 28 An Industrial-Robots Suited Input Shaping Control Scheme Amine Kamel, Friedrich Lange, Gerd Hirzinger Abstract Compliance
More informationCONTROL OF ROBOT CAMERA SYSTEM WITH ACTUATOR S DYNAMICS TO TRACK MOVING OBJECT
Journal of Computer Science and Cybernetics, V.31, N.3 (2015), 255 265 DOI: 10.15625/1813-9663/31/3/6127 CONTROL OF ROBOT CAMERA SYSTEM WITH ACTUATOR S DYNAMICS TO TRACK MOVING OBJECT NGUYEN TIEN KIEM
More informationForce Control with A Muscle-Activated Endoskeleton
Force Control with A Muscle-Activated Endoskeleton The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Citation As Published Publisher
More informationControlling the Apparent Inertia of Passive Human- Interactive Robots
Controlling the Apparent Inertia of Passive Human- Interactive Robots Tom Worsnopp Michael Peshkin J. Edward Colgate Kevin Lynch Laboratory for Intelligent Mechanical Systems: Mechanical Engineering Department
More information