Adaptive sliding mode control of a novel cable driven robot model

Inel, Fouad; Babesse, Saad

doi:10.15282/jmes.13.2.2019.26.0423

Cited by 3 publications

(6 citation statements)

References 15 publications

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“…Since four DOF of SCARA matrix will not have a definite solution unless R is in the form as stated in Eq. (19).…”

Section: Kinematic Modeling Of Scaramentioning

confidence: 99%

“…It has a special application on the different nonlinear systems based on feedback linearization by the use of nonlinear feedback law it would able to compute required torque in the arm [15][16][17][18]. It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24].…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

“…It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24]. Figure 3 provides the block diagram for PD-CTC Controller, which illustrates that it's a feedback control system.…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

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Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.

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“…Since four DOF of SCARA matrix will not have a definite solution unless R is in the form as stated in Eq. (19).…”

Section: Kinematic Modeling Of Scaramentioning

confidence: 99%

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

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Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

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show abstract

“…where the designations for compact notation is: (11) We substitute expressions for the force responses into Equation. (11) and solve inequalities relatively to the reaction N of the technological load of the robot:…”

Section: Determination Of the Allowable Technological Load Of The Robotmentioning

confidence: 99%

“…A dynamic model in the form of a state space is presented in [11], which allows increasing the productivity of the robot in terms of tracking the desired path, i.e. the trajectory of the robot.…”

Section: Introductionmentioning

confidence: 99%

Study on numerical analysis of dynamic parameters of mobile walking robot

Polishchuk¹,

Suyazov²,

Opashnyansky³

2020

JMES

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A dynamic model of a walking robot is proposed for moving along surfaces of different topologies and orientations to the horizon. The principal difference between walking robot mechanisms is that they are made in the form of flexible pedipulators. Actually the pedipulators are a set of spherical rings with a hydraulic or pneumatic drive. The patented design (Patent UA No 117065, publ. 2018.06.11) of the robot's feet is anthropomorphic and allows the robot to work in the angular coordinate system inherent in the human walking machine. The proposed mathematical model allows us to calculate the dynamic parameters (forces and moments) and compare these parameters with the allowable technological load that a walking robot can perform without losing adhesion with the displacement surface.

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Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flow

Tourajizadeh

Sedigh

Boomeri

et al. 2020

JMES

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Robust multivariable control of an in-pipe inspection robot with variable pitch rate is performed in this paper which moves through the pipelines while fluid is flowing. Most of the traditional inpipe robots have two challenges which make difficulty for investigating the pipe line. The necessity of blocking the flow and difficulty toward bypassing the probable obstacles in the pipes. Here a new mechanism of inpipe robot is proposed which can bypass the obstacles as a result of its mechanism modification and also is able to work in presence of flow by the aid of its designed robust controlled. To meet this goal, the proper mechanism is designed and its related model is derived. Afterwards a nonlinear robust controller is designed and implemented on the proposed robot based on Sliding Mode Control (SMC). The efficiency of the designed robot for bypassing the obstacles and also the robustness of its corresponding controller in presence of flow are investigated by the aid of MATLAB simulation. These simulations are validated by modeling the system in ADAMS and comparing the response of the proposed SMC and Feedback Linearization (FL). It is proved that the designed robot is able to move with controllable velocity through full pipelines while the designed controller can successfully cancel the fluid flow disturbances with a good accuracy of order 10-2.

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Adaptive sliding mode control of a novel cable driven robot model

Cited by 3 publications

References 15 publications

Performance estimation of computed torque control for surgical robot application

Performance estimation of computed torque control for surgical robot application

Study on numerical analysis of dynamic parameters of mobile walking robot

Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flow

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