Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm

Iqbal, Jamshed; Ullah, Muhammad Imran; Khan, Abdul Attayyab; Irfan, Muhammad

doi:10.5545/sv-jme.2015.2511

Cited by 37 publications

(30 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Python is an interpreted language, i.e. a programmer can write a script or a program and execute it immediately with the compilation into machine code [25][26][27].…”

Section: Softwarementioning

confidence: 99%

Device to rehabilitate one’s Physical and Learning Abilities

Tutak

Kolodziej

2018

Teh. vjesn.

View full text Add to dashboard Cite

This article presents an innovative device to rehabilitate people's physical and learning abilities. We aim to substantiate the subject, review existing solutions, and explain the most important issues connected with rehabilitation. We describe the CAD-based conceptual design of the device, its dedicated software, selection of actuators, and construction of the device's prototype, including its first tests. The device includes an original set of exercises, which can be individually set for every patient to improve his physical abilities, memory (both visual and auditory) and reflexes (i.e. reaction time to a stimulus). Rehabilitation exercises, which are performed in virtual reality and shown on a display screen, are additionally enhanced in real life by introducing obstacles and space restrictions, which the user faces while performing his tasks. Deliberate restrictions of one's space in which to perform exercises is made possible not only due to the device's original design, that is a four-frames construction, but also due to connectors with adjustable installation points, which enables positioning of obstacles to suit the current state of a patient. The prototype device and its original software have been designed to suit stroke convalescents and preschool children. First tests were carried out with preschool children and this article highlights the results of these tests. They included exercises, which were custom-made for children, such as a quiz, exercise to train one's reflexes, visual memory, auditory memory and games involving music. Since the rehabilitation device utilizes unique technical solutions, a patent application has been filed for it.

show abstract

“…Python is an interpreted language, i.e. a programmer can write a script or a program and execute it immediately with the compilation into machine code [25][26][27].…”

Section: Softwarementioning

confidence: 99%

Device to rehabilitate one’s Physical and Learning Abilities

Tutak

Kolodziej

2018

Teh. vjesn.

View full text Add to dashboard Cite

show abstract

“…The control system consists of two control units and two mechanical assemblies making up the whole machine [10].…”

Section: System Componentsmentioning

confidence: 99%

Horizontal Automated Storage and Retrieval System

Tutak

Wiech

2017

Adv. Sci. Technol. Res. J.

View full text Add to dashboard Cite

This article describes an innovative automated storage and retrieval system (AS/RS) based on Raspberry Pi. It substantiates the grounds of the undertaken subject and presents an overview of existing automated storage and retrieval solutions. Moreover, the machine is described in terms of type and structure of, following the analysis of the kinematics and dynamics, conducted as a part of the project. The article presents the mechanical design of the machine, describes the choice of structural elements and actuators, and develops the control system with an algorithm using Raspberry Pi. Furthermore, an interface based on a touch-screen display cooperating with a single board computer was designed. One of the key features of the device is its modularity and the individual configurability of the storage module, depending on available storage space where an automated storage and retrieval system is to be installed: vertically -by defining the number of containers in width and height, horizontally -by defining the number of containers in width and depth, horizontally and vertically -by defining the number of containers in width and depth, and modules responsible for storage in height. The final stage of the project consisted in verifying the designed solution in tests on a prototype storage device. More precisely, it was tested on a machine prepared for a particular customer and a chosen configuration, which is a combination of the triune manipulator of vertical storage controlled in an open loop.

show abstract

“…The authors of [11] replaced the original controller of the manipulator, which has a closed architecture, with a controller manufactured by them. This controller is described in [12], has an open architecture, is programmed through a graphical user interface (GUI), and it has been implemented as: PID regulator [13], computed torque controller [14], and optimal regulator [15]. On the other hand, sliding mode controllers, an adaptive regulator, and neural networks are, respectively, proposed in [16][17][18][19][20][21], for tracking control of robot manipulators employed for educational and research purposes.…”

Section: Introductionmentioning

confidence: 99%

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

Concha

Figueroa-Rodríguez

Fuentes-Covarrubias

et al. 2020

Sensors

View full text Add to dashboard Cite

This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot through a decentralized control scheme. The robot joints are actuated through five direct current motors coupled to optical encoders. Each encoder signal is fed to a proportional integral derivative controller with anti-windup that employs the motor velocity provided by a state observer. The motion controller works with only two open-architecture Arduino Mega boards, which carry out data acquisition of the optical encoder signals. MATLAB-Simulink is used to implement the controller as well as a friendly graphical interface, which allows the user to interact with the manipulator. The communication between the Arduino boards and MATLAB-Simulink is performed in real-time utilizing the Arduino IO Toolbox. Through the proposed controller, the robot follows a trajectory to collect a desired object, avoiding its collision with other objects. This fact is verified through a set of experiments presented in the paper.

show abstract

Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm

Cited by 37 publications

References 12 publications

Device to rehabilitate one’s Physical and Learning Abilities

Device to rehabilitate one’s Physical and Learning Abilities

Horizontal Automated Storage and Retrieval System

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

Contact Info

Product

Resources

About