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A robotic framework for the mobile manipulator : theory and application
\"This book helps readers visualize an end-to-end workflow for making a robot system work in a targeted environment. It is considered as a bridge from theories to real products, in which robotic software modules and the robotic system integration are mainly concerned\"-- Provided by publisher.
Book
A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators
There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.
Journal Article
Design and analysis of an origami-based three-finger manipulator
This paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.
Journal Article
Review of Control and Sensor System of Flexible Manipulator
Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533–545,
2004
) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749–777,
2006
) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533–545,
2004
; Dwivedy & Eberhard Mech. Mach. Theory 41:749–777,
2006
) are then reviewed. It concludes by providing some possible issues for future research works.
Journal Article
A Review on Fractional-Order Modelling and Control of Robotic Manipulators
Robot manipulators are widely used in many fields and play a vital role in the assembly, maintenance, and servicing of future complex in-orbit infrastructures. They are also helpful in areas where it is undesirable for humans to go, for instance, during undersea exploration, in radioactive surroundings, and other hazardous places. Robotic manipulators are highly coupled and non-linear multivariable mechanical systems designed to perform one of these specific tasks. Further, the time-varying constraints and uncertainties of robotic manipulators will adversely affect the characteristics and response of these systems. Therefore, these systems require effective modelling and robust controllers to handle such complexities, which is challenging for control engineers. To solve this problem, many researchers have used the fractional-order concept in the modelling and control of robotic manipulators; yet it remains a challenge. This review paper presents comprehensive and significant research on state-of-the-art fractional-order modelling and control strategies for robotic manipulators. It also aims to provide a control engineering community for better understanding and up-to-date knowledge of fractional-order modelling, control trends, and future directions. The main table summarises around 95 works closely related to the mentioned issue. Key areas focused on include modelling, fractional-order modelling type, model order, fractional-order control, controller parameters, comparison controllers, tuning techniques, objective function, fractional-order definitions and approximation techniques, simulation tools and validation type. Trends for existing research have been broadly studied and depicted graphically. Further, future perspective and research gaps have also been discussed comprehensively.
Journal Article
The method for predicting self-collisions of multi-link manipulators
The article proposes a method for solving the problem of predicting the self-collision of multi-link manipulators with their agreed work. The method is based on the analysis of projections of manipulator links on coordinate planes. The proposed approach will make it possible to solve the problem simple and suitable for the online prediction mode of critical positions of manipulators, possible self-collision, with their coordinated work. The developed algorithm was tested when constructing the control of an anthropomorphic robot SAR-400.
Journal Article
A meta-heuristic proposal for inverse kinematics solution of 7-DOF serial robotic manipulator: quantum behaved particle swarm algorithm
In this study, a quantum behaved particle swarm algorithm has used for inverse kinematic solution of a 7-degree-of-freedom serial manipulator and the results have been compared with other swarm techniques such as firefly algorithm (FA), particle swarm optimization (PSO) and artificial bee colony (ABC). Firstly, the DH parameters of the robot manipulator are created and transformation matrices are revealed. Afterward, the position equations are derived from these matrices. The position of the end effector of the robotic manipulator in the work space is estimated using Quantum PSO and other swarm algorithms. For this reason, a fitness function which name is Euclidian has been determined. This function calculates the difference between the actual position and the estimated position of the manipulator end effector. In this study, the algorithms have tested with two different scenarios. In the first scenario, values for a single position were obtained while values for a hundred different positions were obtained in the second scenario. In fact, the second scenario confirms the quality of the QPSO in the inverse kinematic solution by verifying the first scenario. According to the results obtained; Quantum behaved PSO has yielded results that are much more efficient than standard PSO, ABC and FA. The advantages of the improved algorithm are the short computation time, fewer iterations and the number of particles.
Journal Article
Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators
A non‐linear optimal (H‐infinity) control approach is proposed for the dynamic model of multi‐degree‐of‐freedom (DOF) electro‐hydraulic robotic manipulators. Control of electro‐hydraulic manipulators is a non‐trivial problem because of their non‐linear and multi‐variable dynamics. In this study, the considered robotic system consists of a multi‐link robotic manipulator that receives actuation from rotary electro‐hydraulic drives. The article's approach relies first on approximate linearisation of the state‐space model of the electro‐hydraulic manipulator, according to first‐order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H‐infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time‐step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.
Journal Article
Recurrent fuzzy wavelet neural networks based on robust adaptive sliding mode control for industrial robot manipulators
A robust adaptive control method is proposed in this paper based on recurrent fuzzy wavelet neural networks (RFWNNs) system for industrial robot manipulators (IRMs) to improve high accuracy of the tracking control. The RFWNNs consist of four layers, and second layer has the feedback connections. Wavelet basis function is used as fuzzy membership function. In general, it is not easy to adopt a model-based method to achieve this control object due to the uncertainties of the IRM, such as unknown dynamic, disturbances and parameter variations. To solve this problem, all the parameters of the RFWNNs system are tuned online by an adaptive learning algorithm, and online adaptive control laws are determined by Lyapunov stability theorem. In addition, the robust controller is designed to deal with the approximation error, optimal parameter vectors and higher-order terms in Taylor series. Therefore, with the proposed control, the desired tracking performance, stability and robustness of the closed-loop manipulators system are guaranteed. The simulations and experimental performed on a three-link IRMs are provided in comparison with fuzzy wavelet neural network and robust neural fuzzy network to demonstrate the effectiveness and robustness of the proposed RFWNNs methodology.
Journal Article
Spring-balanced 3-DoF serial planar manipulators for constant forces in arbitrary directions
With the use of springs, a method to balance the constant forces in arbitrary directions on a planar serial manipulator is developed in this study. Gravity balancing has been discussed a lot in the past. However, manipulators usually bear forces from various directions rather than only a fixed one as gravity. For instance, an industrial manipulator would bear forces from everywhere during the working process. Therefore, a method to balance these forces in arbitrary directions with springs is proposed. Based on the representation of energy, spring energy is the function of springs’ attachment points. Two spring systems with different attachment angles are needed to balance respectively forces in arbitrary directions and gravity. The spring installations of the above systems on 3-DoF manipulators are proposed. Finally, a resistive force-balanced manipulator with/without gravity balance in the grinding process is shown. In sum, this paper for the first time develops the balancing method for forces in arbitrary directions, expanding the spring balance theory to a broader application.
Journal Article