The increased demand for liquid level measurement has been a key factor in designing accurate and reliable control systems. Here, a study was carried out to calculate the liquid level in a tank using a pressure sensor for changes in inlet liquid parameters like temperature, density and velocity. Prediction of their variables for the long term is essential due to the randomness present in the input and measurement. Hence, observer design for state estimation of a non-linear dynamic system with uncertainties in the measurement and process becomes important. This work provides a feedback observer solution for a system with multiple inputs and single measurable output. A full state observer model is developed to estimate a system’s states with a sensor placed at a definite position from the pipe’s input point through which the liquid flows at different densities and temperatures. Using the observability properties, Luenberger full state observer is designed by various methods, verified using MATLAB and SIMULINK for the system state estimation. To incorporate process noise and measurement noise, the Kalman estimator is integrated with the system. Chaotic systems are susceptible to initial conditions, variations in parameters and are complex dynamic systems. However, providing consistently precise measurements through particular meters necessitates time-consuming computations that can be reduced by employing machine learning approaches that make use of optimizers. The results obtained are compared with the prediction models obtained using Artificial Neural Networks and are validated through the readings obtained from the experimental setup.
{"title":"Estimation of Liquid Level in a Harsh Environment Using Chaotic Observer","authors":"Vighnesh Shenoy, Santhosh Krishnan Vekata","doi":"10.18196/jrc.v3i5.16183","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.16183","url":null,"abstract":"The increased demand for liquid level measurement has been a key factor in designing accurate and reliable control systems. Here, a study was carried out to calculate the liquid level in a tank using a pressure sensor for changes in inlet liquid parameters like temperature, density and velocity. Prediction of their variables for the long term is essential due to the randomness present in the input and measurement. Hence, observer design for state estimation of a non-linear dynamic system with uncertainties in the measurement and process becomes important. This work provides a feedback observer solution for a system with multiple inputs and single measurable output. A full state observer model is developed to estimate a system’s states with a sensor placed at a definite position from the pipe’s input point through which the liquid flows at different densities and temperatures. Using the observability properties, Luenberger full state observer is designed by various methods, verified using MATLAB and SIMULINK for the system state estimation. To incorporate process noise and measurement noise, the Kalman estimator is integrated with the system. Chaotic systems are susceptible to initial conditions, variations in parameters and are complex dynamic systems. However, providing consistently precise measurements through particular meters necessitates time-consuming computations that can be reduced by employing machine learning approaches that make use of optimizers. The results obtained are compared with the prediction models obtained using Artificial Neural Networks and are validated through the readings obtained from the experimental setup.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128584783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yassine Zahraoui, M. Moutchou, S. Tayane, Chaymae Fahassa, Sara Elbadaoui, A. Ma’arif
An improved vector control method is presented in this study to enhance synchronous reluctance motor (SynRM) performance. The maximum torque per ampere (MTPA) technique has demonstrated good dynamic properties since the torque control is closely tied to the current control. The selection of the control approach is primarily influenced by how the reference current values will be defined. Additionally, a five-level neutral-point-clamped (NPC) inverter replaces the traditional two-level inverter. Only eight voltage vectors can be produced by a two-level inverter, whereas one hundred twenty-five voltage vectors can be generated by a five-level inverter. The goal is to produce an output voltage vector that closely resembles the reference voltage vector in order to ensure a quick response on the one hand and enhance dynamic performance on the other. An exact comparison of the suggested vector control strategy's properties is made once it has been simulated in MATLAB/Simulink. The acquired findings are satisfactory and high performance is attained in terms of response time, torque ripple reduction, and current waveform improvement.
{"title":"Synchronous Reluctance Motor Performance Improvement Using MTPA Control Strategy and Five-Level Inverter Topology","authors":"Yassine Zahraoui, M. Moutchou, S. Tayane, Chaymae Fahassa, Sara Elbadaoui, A. Ma’arif","doi":"10.18196/jrc.v3i5.15326","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15326","url":null,"abstract":"An improved vector control method is presented in this study to enhance synchronous reluctance motor (SynRM) performance. The maximum torque per ampere (MTPA) technique has demonstrated good dynamic properties since the torque control is closely tied to the current control. The selection of the control approach is primarily influenced by how the reference current values will be defined. Additionally, a five-level neutral-point-clamped (NPC) inverter replaces the traditional two-level inverter. Only eight voltage vectors can be produced by a two-level inverter, whereas one hundred twenty-five voltage vectors can be generated by a five-level inverter. The goal is to produce an output voltage vector that closely resembles the reference voltage vector in order to ensure a quick response on the one hand and enhance dynamic performance on the other. An exact comparison of the suggested vector control strategy's properties is made once it has been simulated in MATLAB/Simulink. The acquired findings are satisfactory and high performance is attained in terms of response time, torque ripple reduction, and current waveform improvement.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127910163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The Internet of Things (IoT) is the extension of Internet connectivity into physical devices and to everyday objects. Efficient mobility support in IoT provides seamless connectivity to mobile nodes having restrained resources in terms of energy, memory and link capacity. Existing routing algorithms have less reactivity to mobility. So, in this work, a new proactive mobility support algorithm based on the Kalman Filter has been proposed. Mobile nodes are provided with a seamless connectivity by minimizing the switching numbers between point of attachment which helps in reducing signaling overhead and power consumption. The handoff trigger scheme which makes use of mobility information in order to predict handoff event occurrence is used. Mobile nodes new attachment points and its trajectory is predicted using the Kalman-Filter. Kalman-Filter is a predictor-estimator method used for movement prediction is used in this approach. Kalman Filtering is carried out in two steps: i) Predicting and ii) Updating. Each step is investigated and coded as a function with matrix input and output. Self-healing characteristics is being considered in the proposed algorithm to prevent the network from failing and to help in efficient routing of data. Proposed approach achieves high efficiency in terms of movement prediction, energy efficiency, handoff delay and fault tolerance when compared to existing approach.
{"title":"Establishing Self-Healing and Seamless Connectivity among IoT Networks Using Kalman Filter","authors":"N. Srinidhi, J. Shreyas, E. Naresh","doi":"10.18196/jrc.v3i5.11622","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.11622","url":null,"abstract":"The Internet of Things (IoT) is the extension of Internet connectivity into physical devices and to everyday objects. Efficient mobility support in IoT provides seamless connectivity to mobile nodes having restrained resources in terms of energy, memory and link capacity. Existing routing algorithms have less reactivity to mobility. So, in this work, a new proactive mobility support algorithm based on the Kalman Filter has been proposed. Mobile nodes are provided with a seamless connectivity by minimizing the switching numbers between point of attachment which helps in reducing signaling overhead and power consumption. The handoff trigger scheme which makes use of mobility information in order to predict handoff event occurrence is used. Mobile nodes new attachment points and its trajectory is predicted using the Kalman-Filter. Kalman-Filter is a predictor-estimator method used for movement prediction is used in this approach. Kalman Filtering is carried out in two steps: i) Predicting and ii) Updating. Each step is investigated and coded as a function with matrix input and output. Self-healing characteristics is being considered in the proposed algorithm to prevent the network from failing and to help in efficient routing of data. Proposed approach achieves high efficiency in terms of movement prediction, energy efficiency, handoff delay and fault tolerance when compared to existing approach.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129644056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Laijun Yang, Nan Guo, Ryota Sakamoto, N. Kato, K. Yano
Electric wheelchair-mounted robotic arms can help patients with disabilities to perform their activities in daily living (ADL). Joysticks or keypads are commonly used as the operating interface of Wheelchair-mounted robotic arms. Under different scenarios, some patients with upper limb disabilities such as finger contracture cannot operate such interfaces smoothly. Recently, manual interfaces for different symptoms to operate the wheelchair-mounted robotic arms are being developed. However, the stop the wheelchairs in an appropriate position for the robotic arm grasping task is still not easy. To reduce the individual’s burden in operating wheelchair in narrow spaces and to ensure that the chair always stops within the working range of a robotic arm, we propose here an operating system for an electric wheelchair that can automatically drive itself to within the working range of a robotic arm by capturing the position of an AR marker via a chair-mounted camera. Meanwhile, the system includes an error correction model to correct the wheelchair’s moving error. Finally, we demonstrate the effectiveness of the proposed system by running the wheelchair and simulating the robotic arm through several courses.
{"title":"Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm","authors":"Laijun Yang, Nan Guo, Ryota Sakamoto, N. Kato, K. Yano","doi":"10.18196/jrc.v3i5.15944","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15944","url":null,"abstract":"Electric wheelchair-mounted robotic arms can help patients with disabilities to perform their activities in daily living (ADL). Joysticks or keypads are commonly used as the operating interface of Wheelchair-mounted robotic arms. Under different scenarios, some patients with upper limb disabilities such as finger contracture cannot operate such interfaces smoothly. Recently, manual interfaces for different symptoms to operate the wheelchair-mounted robotic arms are being developed. However, the stop the wheelchairs in an appropriate position for the robotic arm grasping task is still not easy. To reduce the individual’s burden in operating wheelchair in narrow spaces and to ensure that the chair always stops within the working range of a robotic arm, we propose here an operating system for an electric wheelchair that can automatically drive itself to within the working range of a robotic arm by capturing the position of an AR marker via a chair-mounted camera. Meanwhile, the system includes an error correction model to correct the wheelchair’s moving error. Finally, we demonstrate the effectiveness of the proposed system by running the wheelchair and simulating the robotic arm through several courses.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116548710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article seeks to improve the dynamic performance of a standalone doubly fed induction generator (DFIG) which driven by a wind turbine, with the help of an effective control approach. The superiority of the designed predictive controller can be confirmed through evaluating the performance of the DFIG under other control algorithm, which is the model predictive direct torque control (MPDTC), model predictive current control (MPCC) as classic types of control. Firstly, the operating principles of the two controllers are described in details. After that, a comprehensive comparison is performed among the dynamic performances of the designed MPDTC, MPCC techniques and the predictive control strategy, so we can easily present the merits and deficiencies of each control scheme to be able to easily select the most appropriate algorithm to be utilized with the DFIG. The comparison is carried out in terms of system simplicity, dynamic response, ripples’ content, number of performed commutations and total harmonic distortion (THD). The results of the comparison prove the effectiveness and validation of our proposed predictive controller; as it achieves the system simplicity, its dynamic response is faster than that of MPDTC and MPCC, it presents a lower content of ripples compared to MPDTC and MPCC. Moreover, it can minimize the computational burden, remarkably. Furthermore, the numerical results are showing a marked reduction in the THD with a percentage of 2.23 % compared to MPDTC and 1.8 % compared to MPCC. For these reasons, it can be said that the formulated controller is the most convenient to be used with the DFIG to achieve the best dynamic performance.
{"title":"Optimizing the Dynamic Performance of a Wind Driven Standalone DFIG Using an Advanced Control Algorithm","authors":"M. Abdelhamid, Mahmoud A. Mossa, Ahmed Hassan","doi":"10.18196/jrc.v3i5.16046","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.16046","url":null,"abstract":"The article seeks to improve the dynamic performance of a standalone doubly fed induction generator (DFIG) which driven by a wind turbine, with the help of an effective control approach. The superiority of the designed predictive controller can be confirmed through evaluating the performance of the DFIG under other control algorithm, which is the model predictive direct torque control (MPDTC), model predictive current control (MPCC) as classic types of control. Firstly, the operating principles of the two controllers are described in details. After that, a comprehensive comparison is performed among the dynamic performances of the designed MPDTC, MPCC techniques and the predictive control strategy, so we can easily present the merits and deficiencies of each control scheme to be able to easily select the most appropriate algorithm to be utilized with the DFIG. The comparison is carried out in terms of system simplicity, dynamic response, ripples’ content, number of performed commutations and total harmonic distortion (THD). The results of the comparison prove the effectiveness and validation of our proposed predictive controller; as it achieves the system simplicity, its dynamic response is faster than that of MPDTC and MPCC, it presents a lower content of ripples compared to MPDTC and MPCC. Moreover, it can minimize the computational burden, remarkably. Furthermore, the numerical results are showing a marked reduction in the THD with a percentage of 2.23 % compared to MPDTC and 1.8 % compared to MPCC. For these reasons, it can be said that the formulated controller is the most convenient to be used with the DFIG to achieve the best dynamic performance.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129030777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Agusma Wajiansyah, R. Malani, S. Supriadi, A. F. O. Gaffar
The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.
{"title":"Optimization of Humanoid Robot Leg Movement Using Open CM 9.04","authors":"Agusma Wajiansyah, R. Malani, S. Supriadi, A. F. O. Gaffar","doi":"10.18196/jrc.v3i5.15071","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15071","url":null,"abstract":"The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130863513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Carlos E. Martínez-Ochoa, I. Benítez-González, Ariel O. Cepero-Díaz, J. R. Núñez-Álvarez, Carlos G. Miguélez-Machado, Y. Llosas-Albuerne
Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.
{"title":"Active Disturbance Rejection Control for Robot Manipulator","authors":"Carlos E. Martínez-Ochoa, I. Benítez-González, Ariel O. Cepero-Díaz, J. R. Núñez-Álvarez, Carlos G. Miguélez-Machado, Y. Llosas-Albuerne","doi":"10.18196/jrc.v3i5.14791","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.14791","url":null,"abstract":"Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133627389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D. H. Shaker, S. W. Shneen, Fatin Nabeel Abdullah, G. Aziz
The current research sheds light on the electronic power devices that work as transformers and are named according to the function. A model of a single-phase transformer AC-AC type with half-wave and full-wave quality has been proposed. Its output is controlled by power, voltage and current, which is considered an input to the load. The fixed input transformer has a variable output according to the required power, voltage and current. Inverters of this type have so many uses that they are used in many different applications, including industrial, induction motor speed control, military, medical and household, including low-light circuits, among others. A simulation involving different types of single-phase AC transformers is proposed. The models were built in two ways, the first using a diode as an electronic switch, and the second using a thyristor. Different values for the load were chosen by adopting three values of 30 ohms, 40 ohms, and 50 ohms. An alternating power supply with an RMS value of 222 volts. Simulation was carried out after modeling to test the performance of the proposed transformer and its various modes of operation. Simulation models confirmed and reinforced the working theories of the proposed structures. From the results, we can reach the possibility of changing the voltage and power values using the electronic transformer by using the frequency of closing and opening the electronic keys within specific periods according to the proposed model, which can be represented or modified.
{"title":"Simulation Model of Single-Phase AC-AC Converter by Using MATLAB","authors":"D. H. Shaker, S. W. Shneen, Fatin Nabeel Abdullah, G. Aziz","doi":"10.18196/jrc.v3i5.15213","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15213","url":null,"abstract":"The current research sheds light on the electronic power devices that work as transformers and are named according to the function. A model of a single-phase transformer AC-AC type with half-wave and full-wave quality has been proposed. Its output is controlled by power, voltage and current, which is considered an input to the load. The fixed input transformer has a variable output according to the required power, voltage and current. Inverters of this type have so many uses that they are used in many different applications, including industrial, induction motor speed control, military, medical and household, including low-light circuits, among others. A simulation involving different types of single-phase AC transformers is proposed. The models were built in two ways, the first using a diode as an electronic switch, and the second using a thyristor. Different values for the load were chosen by adopting three values of 30 ohms, 40 ohms, and 50 ohms. An alternating power supply with an RMS value of 222 volts. Simulation was carried out after modeling to test the performance of the proposed transformer and its various modes of operation. Simulation models confirmed and reinforced the working theories of the proposed structures. From the results, we can reach the possibility of changing the voltage and power values using the electronic transformer by using the frequency of closing and opening the electronic keys within specific periods according to the proposed model, which can be represented or modified.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129013165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Akhtar Un Nisa, S. Samo, Raheel Ahmed Nizamani, Areesha Irfan, Zuha Anjum, Laveet Kumar
Humans put their own lives aside to save other human’s life and perform risky and dangerous activities. The risk can be reduced by using new technologies. This research study focuses on telepresence and teleoperation systems with motion and force control systems that replace humans in hazardous workspaces. In telepresence, the system helps humans to visualize the environment in real-time. In teleoperation, the system provides sensation to assist human beings in performing out-of-reach and dangerous operations safely as in real, providing a shadow hand to the operator. In this study, a system is developed that consists of a slave robotic arm and a master wearable device with bidirectional communication between the robotic arm and operator (master wearable device). It also presents a gesture-controlled robotic arm that uses sensors to read and translate human arm movements as commands. The slave robotic arm, senses applied force on an object and a master wearable device develops the force according to sensed force, in a result operator senses/feels the same object in the control room at distance. The slave robotic arm also mimics the operator arm to reach the proper position of an object. Several experiments were conducted with untrained personnel and satisfactory results were yielded, which showed that the motion and force replication is 90-95% accurate.
{"title":"Design and Implementation of Force Sensation and Feedback Systems for Telepresence Robotic Arm","authors":"Akhtar Un Nisa, S. Samo, Raheel Ahmed Nizamani, Areesha Irfan, Zuha Anjum, Laveet Kumar","doi":"10.18196/jrc.v3i5.15959","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15959","url":null,"abstract":"Humans put their own lives aside to save other human’s life and perform risky and dangerous activities. The risk can be reduced by using new technologies. This research study focuses on telepresence and teleoperation systems with motion and force control systems that replace humans in hazardous workspaces. In telepresence, the system helps humans to visualize the environment in real-time. In teleoperation, the system provides sensation to assist human beings in performing out-of-reach and dangerous operations safely as in real, providing a shadow hand to the operator. In this study, a system is developed that consists of a slave robotic arm and a master wearable device with bidirectional communication between the robotic arm and operator (master wearable device). It also presents a gesture-controlled robotic arm that uses sensors to read and translate human arm movements as commands. The slave robotic arm, senses applied force on an object and a master wearable device develops the force according to sensed force, in a result operator senses/feels the same object in the control room at distance. The slave robotic arm also mimics the operator arm to reach the proper position of an object. Several experiments were conducted with untrained personnel and satisfactory results were yielded, which showed that the motion and force replication is 90-95% accurate.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128230410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.
{"title":"Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator","authors":"A. Irawan, M. Azahar, Dwi Pebrianti","doi":"10.18196/jrc.v3i5.16316","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.16316","url":null,"abstract":"Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint. ","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115092216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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