Robotic Arm System Research Articles

Sistem Penyeleksi Warna Dan Berat Barang Menggunakan Pergerakan Lengan Robot Empat DOF (Degree Of Freedom)

The use of robot arm in the system of colour and weight box selection has been done to integrate control system of robot arm moving with colour sensor TCS3200 and weight sensor load cell. The research was conducted by analyzing efficiency and accuracy system of robot arm moving to select colour and weight goods like box. The robot arm moving work suitable instruction of colour and weight sensor reading. At the most important from this system is how to accuracy of colour and weight sensor to detect colour ang weight and accuracy of robot arm moving system can positioning degree moving to take colour with different weight box suitable the place. The result of the analysis proved that robot arm moving had inregrated with colour and weight sensor efficient and effective to do this work as colour and weight box selection accurately.

A novel optimal coordinated control strategy for the updated robot system for single port surgery.

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating.

A sojourn probability approach to fuzzy-model-based reliable control for switched systems with mode-dependent time-varying delays

This paper addresses reliable control design for a switched system (SS) described by T-S fuzzy model subject to actuator failures and mode-dependent time-varying delay. A different type of switching law is introduced with the aid of sojourn probabilities (SPs) technique. The sojourn probability depicts the probability of a switched system staying in subsystem. It should be pointed out that, the SPs describe the probabilities of SSs stay in each subsystems which is easily measured. Both completely known and partly unknown SPs are proposed for the T-S fuzzy SSs. By using a matrix inequality approach and by constructing a proper Lyapunov–Krasovskii functional, less conservatism sufficient conditions are achieved in the form of linear matrix inequalities. A single link robot arm system is given to illustrate the validity of proposed design procedure.

A new approach for a Patient-Cooperative Upper Limb FES Support based on Vector Fields

Rehabilitation robotics and Functional Electrical Stimulation (FES) are becoming more important in the rehabilitation of stroke and spinal cord injured (SCI) patients. Patient-cooperative control strategies help to only compensate for deficits and to not support too much. The application of a cable-driven arm robotic system with constant force support is considered. FES of the biceps and triceps, as well as of the posterior and anterior part of the deltoid muscle allows us to control the flexion and extension of the elbow joint and of the shoulder motion in the transversal plane. In order to support these motions of the patient, we introduce a novel assist-as-needed FES support based on iterative learning vector fields. Using this new FES control scheme, we aim to facilitate the patient’s timing and completion of the motion. The approach is evaluated in experimental trials with healthy subjects performing a breaststroke swimming motion. Starting from a patient-typical deviation of 50°, the controller automatically adapts the support by adjusting the stimulation and thereby reduces the deviation to approximately 15° within less than ten strokes.

Soft brain-machine interfaces for assistive robotics: A novel control approach.

Robotic systems offer the possibility of improving the life quality of people with severe motor disabilities, enhancing the individual's degree of independence and interaction with the external environment. In this direction, the operator's residual functions must be exploited for the control of the robot movements and the underlying dynamic interaction through intuitive and effective human-robot interfaces. Towards this end, this work aims at exploring the potential of a novel Soft Brain-Machine Interface (BMI), suitable for dynamic execution of remote manipulation tasks for a wide range of patients. The interface is composed of an eye-tracking system, for an intuitive and reliable control of a robotic arm system's trajectories, and a Brain-Computer Interface (BCI) unit, for the control of the robot Cartesian stiffness, which determines the interaction forces between the robot and environment. The latter control is achieved by estimating in real-time a unidimensional index from user's electroencephalographic (EEG) signals, which provides the probability of a neutral or active state. This estimated state is then translated into a stiffness value for the robotic arm, allowing a reliable modulation of the robot's impedance. A preliminary evaluation of this hybrid interface concept provided evidence on the effective execution of tasks with dynamic uncertainties, demonstrating the great potential of this control method in BMI applications for self-service and clinical care.

Development of stereo endoscope system with its innovative master interface for continuous surgical operation

BackgroundAlthough robotic laparoscopic surgery has various benefits when compared with conventional open surgery and minimally invasive surgery, it also has issues to overcome and one of the issues is the discontinuous surgical flow that occurs whenever control is swapped between the endoscope system and the operating robot arm system. This can lead to problems such as collision between surgical instruments, injury to patients, and increased operation time. To achieve continuous surgical operation, a wireless controllable stereo endoscope system is proposed which enables the simultaneous control of the operating robot arm system and the endoscope system.MethodsThe proposed system consists of two improved novel master interfaces (iNMIs), a four-degrees of freedom (4-DOFs) endoscope control system (ECS), and a simple three-dimensional (3D) endoscope. In order to simultaneously control the proposed system and patient side manipulators of da Vinci research kit (dVRK), the iNMIs are installed to the master tool manipulators of dVRK system. The 4-DOFs ECS consists of four servo motors and employs a two-parallel link structure to provide translational and fulcrum point motion to the simple 3D endoscope. The images acquired by the endoscope undergo stereo calibration and rectification to provide a clear 3D vision to the surgeon as available in clinically used da Vinci surgical robot systems. Tests designed to verify the accuracy, data transfer time, and power consumption of the iNMIs were performed. The workspace was calculated to estimate clinical applicability and a modified peg transfer task was conducted with three novice volunteers.ResultsThe iNMIs operated for 317 min and moved in accordance with the surgeon’s desire with a mean latency of 5 ms. The workspace was calculated to be 20378.3 cm3, which exceeds the reference workspace of 549.5 cm3. The novice volunteers were able to successfully execute the modified peg transfer task designed to evaluate the proposed system’s overall performance.ConclusionsThe experimental results verify that the proposed 3D endoscope system enables continuous surgical flow. The workspace is suitable for the performance of numerous types of surgeries. Therefore, the proposed system is expected to provide much higher safety and efficacy for current surgical robot systems.

IMPLEMENTASI ALGORITMA FUZZY LOGIC PADA ROBOT ARM DENGAN MEMANFAATKAN ACCELEROMETER SMARTPHONE ANDROID

Now the development of smart phone technology has evolved rapid, especially Smartphone Android. Where multiple sensors embedded in a mobile phone, primarily an accelerometer sensor support be used of smartphone phone. Accelerometer is used to measure the acceleration reviews Angle X, Y and Z smartphone. So that the sensor is used to review the Movement Robot Arm matching is done with corner acceleration motion X, Y and Z smartphone Method on the system is backed with Fuzzy Logic the which serves to Determine the movement of the robot arm that is sent to the microcontroller. Arm robot system is processed using Matlab 6.1 and using the Software Arduino, and then implanted into the microcontroller, so that the robot goes According movement.
 Keywords : Android, Accelerometer, Robot Arm, Fuzzy Logic

Effect of Friction on the Dynamical Analysis of Three-Link Planar Robot Arm by Using Lagrange Approach

The dynamic analysis of Three-Link planar robot arm and control system with (PID) are presented and investigated. The dynamic analysis is very important in the design and control of the robot. The difference between the actual dynamic analysis and ideal dynamic analysis is the presence of friction in the robot joints. In this work, the frictional effect in the joints of three-link planar robot is inserting in the dynamic equations and that makes the dynamic analysis is more reality and difficult. The mathematical model that represent the friction consist of two types of friction (Coulomb and viscous friction). A Lagrange method is used and applied to evaluate the generalized forces in the two cases (without and with the effect of friction). Control system with (PID) controller is presented with Simulink block set to evaluate and show the dynamic response of each link in two cases (without and with friction). MATLAB software is used for programing and simulation the equations. In addition, with that, error signals are presented and analyzed for each link. It is concluded from the results that the values of generalized forces in case of presence of friction are more about (12%) than the values of the forces in case of without friction and the behaviors of the dynamic response is linear in case of without friction while the behavior become (non-linear) by inserting the frictional effect in the robot joints. The results indicate that the effect of friction is very important and must be not neglected.

Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system

Maintenance for nuclear fusion vessel is crucial, yet it faces great difficulty due to the complex internal physical and geometric conditions. Since the limitation on inherent strength, load, size, etc, a manipulator robot can only complete very limited tasks. Robotic arm systems for remote operation such as JET and MPD can carry certain tools to complete a variety of operating tasks, but it is difficult to achieve the system which is very complex. Therefore, if the inherent idea of using a single robot to complete the specified functions can change, it is possible to make the problems simpler and easier to solve by adding auxiliary robots working together with the robotic arm systems to complete the assigned tasks. Under the above background, based on the deeply analyzing and refining the functional requirements of the vessel operation robot, proceeding from the perspective of ability to move and carry a certain operating device, this paper presents a wormlike creeping mobile robot walking on the V-shaped circular slot inside a nuclear fusion vessel such as EAST (Experimental Advanced Superconducting Tokamak). We have designed and implemented the principle prototype of the robot which has chain structure with n (n≥2) creeping units. Each creeping unit is of three-part structure, which consists of fore segment, mid segment and back segment connected by bidirectional universal joint. The fore and back segments stretch the paws to contact the surface of V-shaped slot, while the mid segment realizes the overall movement of robot. In order to evaluate the design and implementation of the mobile robot platform, functional analysis is devoted to modules of robot. Especially for the requirements of walking stability on the V-shaped slot, creeping gait planning is analyzed to construct a multi-axis coordinating movement control scheme for creeping motion. Finally, by using the simulated EAST nuclear fusion vessel, the principle prototype is tested, and the preliminary evaluation of its functional index and related technical parameters is carried out. The experimental results show that the principle prototype of the robot can achieve stable walking on the V-shaped circular slot at the bottom of the nuclear fusion vessel, and it has a certain ability to carry equipments.

The Movement Analysis of Hydraulic Robotic Arms

The robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, crane etc. In this paper, the movement of hydraulic robotic arms and hydraulic cylinders are separately analyzed with multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system.

A Hybrid CKF-NNPID Controller for MIMO Nonlinear Control System

This paper presents a detailed study to demonstrate the online tuning dynamic neural network PID controller to improve a joint angle position output performance of 4- joint robotic arm. The proposed controller uses a new updating weight rule model of the neural network architecture using multi-loop calculation of the fusion of the gradient algorithm with the cubature Kalman filter (CKF) which can optimize the internal predicted state of the updated weights to improve the proposed controller performances, called a Hybrid CKF-NNPID controller. To evaluate the proposed controller performances, the demonstration by the Matlab simulation program is used to implement the proposed controller that connects to the 4-joint robotic arm system. In the experimental result, it shows that the proposed controller is a superior control method comparing with the other prior controllers even though the system is under the loading criteria, the proposed controller still potentially tracks the error and gives the best performances.

Output feedback hierarchical control for nonlinear systems

SummaryIn this paper, we address the problem of hierarchical control for nonlinear systems and design two dynamic output feedback hierarchical control laws in a semiglobal sense and in a global sense, respectively. With the controllers applied to a class of nonlinear systems, some transient and steady properties of the system output trajectories can be satisfied simultaneously. Furthermore, the corresponding result in the global sense for linear systems is naturally derived. Finally, the effectiveness of our approach is illustrated by a single‐link robot arm system. Copyright © 2017 John Wiley & Sons, Ltd.

Application of character recognition to robot control on smartphone test system

In this study, three webcams are applied to a five-joint robotic arm system. One camera is applied to recognize commands from control panel, which consist of words and numbers. The letters of command can be obtained after image is transformed from red, green, and blue to hue, saturation, and lightness color space and using the optical character recognition and pattern matching process. The message will then be sent to robot system. Another two cameras are used for catching the left and right images of an object. Calibration procedure of the robot and cameras is performed first. The values from image plane can be compared and transformed to three-dimensional coordinates by the Q matrix. The coordinates are then translated to 4096 precision values in robotic arm system. Movements of the robotic arm are based on fuzzy logic theory that can drive the robotic arm to the relative point and position of a given object. Feedback values of arm movement are applied to correct the position error in real time. The robot system can catch the three-dimensional coordinates of the object and perform smartphone automatic testing operations by the commands from visual recognition system.

Generation of comfortable lifting motion for a human transfer assistant robot

Moving a patient between a bed and a wheel-chair is one of the most burdensome nursing-care tasks for caregivers. Various kinds of transfer assistant robots have been proposed previously. However, designing comfortable transfer motions for individuals has not been intensively studied due to the difficulty of modeling such physical human-robot interactions in conjunction with user preference. To lift a patient from a bed, a robot should raise the patient’s body from the supine posture to a holding posture. In this research, we proposed two different methods for generating lifting motions comfortable for users: (1) a model-based method for estimating the holding posture, and (2) a model-free method based on Bayesian optimization for generating the raising motion. A comfortable holding posture can be generated using human-robot interactive models by reducing the load and pain sensation in simulation, without user trials. To reduce the load, a musculoskeletal model is developed to estimate muscle force considering human-robot physical interactions. To reduce pain, a softness distribution model of the human body is also created to control the robot to contact the human body at a softer place. The motion for raising the human body from the supine posture to the estimated holding posture can be generated with the model-free method from the user’s feedback (scalar value) in terms of the comfort level. Using Bayesian optimization, the number of required trials with physical interactions between user and robot can be reduced to ease the user’s burden. To verify the effectiveness of the proposed methods, we conducted experiments with a dual arm robotic system and human subjects. We search for the most comfortable holding posture based on the developed human models and compare it with the measured value of subjects in the experiment. To generate the raising motion, the experimental result shows that our method can optimize a user-comfortable care motion controller for each individual efficiently.

CAD-based intelligent robot system integrated with 3D scanning for shoe roughing and cementing

Roughing and cementing are very essential to the process of bonding shoe uppers and the corresponding soles; however, for shoes with complicated design, such as sport shoes, roughing and cementing greatly relied on manual operation. Recently, shoe industry is progressing to 3D design, thus 3D model of the shoe upper and sole will be created before launching into mass production. Taking advantage of the 3D model, this study developed a plug-in program on Rhino 3D CAD platform, which realized the complicated roughing and cementing route planning to be performed by the plug-in program, integrated with real-time 3D scanning information to compensate the planned route, and then converted to working trajectory of robot arm to implement roughing and cementing. The proposed 3D CAD-based intelligent robot arm system integrated with 3D scanning for shoe roughing and cementing is realized and proved to be feasible.

In Situ Mechanical Characterization of Multilayer Soft Tissue Using Ultrasound Imaging.

In this paper, we report the development of a technique to characterize layer-specific nonlinear material properties of soft tissue in situ with the potential for in vivo testing. A soft tissue elastography robotic arm system comprising of a robotically manipulated 30MHz high-resolution ultrasound probe, a custom designed compression head, and load cells has been developed to perform compression ultrasound imaging on the target tissue and measure reaction forces. A multilayer finite element model is iteratively optimized to identify the material coefficients of each layer. Validation has been performed using tissue mimicking agar-based phantoms with a low relative error of ∼7% for two-layer phantoms and ∼10% error for three layer phantoms when compared to known ground-truth values obtained using a commercial material testing system. The technique has then been used to successfully determine the in situ layer-specific mechanical properties of intact porcine stomach. The mean C10 and C20 for a second-order reduced polynomial material model were determined for the muscularis (6.41 ± 0.60, 4.29 ± 1.87 kPa), submucosal (5.21 ± 0.57, 3.68 ± 3.01 kPa), and mucosal layers (0.06 ± 0.02, 0.09 ± 0.24 kPa). Such a system can be utilized to perform in vivo mechanical characterization, which is left as future work.

Performance Improvement of the Robotic Arm using Fractional Order PID

This research is concerned with the study of Fractional order PID controller (FOPID). The fractional order controller (FOPID) is the generalization of the integer order PID controller. Which applied on robotic arm have 5Joints, practically and by simulation utilizing Matlab/Simulink. The Simulink by using tools fomcon version (1.0) has been added to the Matlab program. As well as the building and convert the robot arm of the type robotic arm edge. Practically the realization has been done using microcontroller Arduino which connection Matlab program by using tools box has been added to the Matlab program too. To control the arm joints of the positions that is the human arm simulator. Since the FOPID and PID controller has many parameters, which must be tuned to get the best performance for the robotic arm system so that the robotic arm system simulated in Matlab and interconnected with intelligent optimization method which called Bacterial Foraging Optimization to find the optimal parameter values that minimizing an objective function given as overshoot and Integral of time weighted absolute error (ITAE). The time domain and frequency domain performance for the closed loop the arm joints system compared for both FOPID with conventional PID controller. The obtained results show that the performance of the system with FOPID controller was better than the conventional PID controller.

Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion will vary under different payload masses, which will decrease the end-effector positioning accuracy of the robotic arm system. Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.

Minimum jerk norm scheme applied to obstacle avoidance of redundant robot arm with jerk bounded and feedback control

In this study, a minimum jerk norm (MJN) scheme with an obstacle avoidance constraint is proposed and applied to a redundant robot arm, of which the joint jerks keep bounded for a human-friendly robot control. To achieve superior tracking performances of the redundant robot arm, the proposed jerk bounded MJN scheme is improved by the feedback control. More importantly, the effectiveness on obstacle avoidance of the proposed scheme is guaranteed by the variable-magnitude escape jerk theorem. Besides, for the purpose of implementation on the practical robot system, the corresponding discrete formulas with their theoretical analyses are presented. Then the proposed scheme is reformulated as a dynamical quadratic program which is solved by a piecewise-linear projection equation neural network. Furthermore, the path-tracking simulation and comparison substantiate the effectiveness and accuracy of such a scheme with the smooth and human-friendly joint variables applied to the obstacle avoidance of a six degrees of freedom jerk bounded robot arm. At last, the experimental application conducted on a practical redundant robot arm system further shows the physical realisability and the safety of the proposed scheme.

Semi-global sampled-data output feedback disturbance rejection control for a class of uncertain nonlinear systems

ABSTRACTThis paper investigates the semi-global output feedback disturbance rejection control problem for a class of uncertain nonlinear systems with additive disturbances using linear sampled-data control. Aiming to reject the adverse effects caused by the uncertainties and unknown nonlinear perturbations which may not satisfy the strict feedback or feedforward structure, a new generalised discrete-time extended state observer is proposed to estimate the disturbance at sampling points. An output feedback disturbance rejection control law is then constructed in a sampled-data form which facilitates digital implementations. By selecting adequate control gains and a sufficiently small sampling period to restrain the state growth under a zero-order-hold input, the semi-global asymptotic stability of the hybrid closed-loop system and the disturbance rejection ability are proved. Both numerical example and an application of a single-link robot arm system demonstrate the feasibility and efficacy of the proposed method.