Robot Control System Research Articles

Research on the System Design and Target Recognition Method of the Rebar-Tying Robot

In the construction industry, the construction process of rebar tying is highly dependent on manual operation, which leads to a wide range of work areas, high labor intensity, and limited efficiency. Therefore, robot technology for automatic rebar tying has become an inevitable trend in on-site construction. This study aims to develop a planar rebar-tying robot that can achieve autonomous navigation, precise positioning, and efficient tying on a plane rebar mesh without boundaries. Our research covers the overall design of the robot control systems, the selection of key hardware, the development of software platforms, and the optimization of core algorithms. Specifically, to address the technical challenges of accurately recognizing the tying position and status, we propose an innovative two-stage identification method that combines a depth camera and an industrial camera to obtain image information about the area to be tied. The effectiveness of the planar rebar-tying robot system, including the recognition method proposed in this study, was verified by experiments on a rebar mesh demonstration platform. The following application of our robot system in the field of the Shenyang Hunnan Science and Technology City Phase IV project achieved satisfactory performance. It is shown that this research has made a unique and significant innovation in the field of automatic rebar tying.

Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

With the increase in the number of stroke patients, there is a growing demand for rehabilitation training. Robot-assisted training is expected to play a crucial role in meeting this demand. To ensure the safety and comfort of patients during rehabilitation training, it is important to have a patient-cooperative compliant control system for rehabilitation robots. In order to enhance the motion compliance of patients during rehabilitation training, a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed. A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory. At the high-level, an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot. The results of the patient–robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory, with a decrease of 76.45% in the dimensionless squared jerk (DSJ) and a decrease of 15.38% in the normalized root mean square deviation (NRMSD) when using the adaptive admittance controller. The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements, thereby ensuring the safety and comfort of patients during rehabilitation training.

GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition

Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments.

Design and Construction of A Remotely Controlled Multy-Tasking Chain-Wheel Combat Robot

Troops in the context of reconnaissance or search tasks to find out the enemy in difficult, protected and disguised terrain is an element of vulnerability that needs to be taken into account. If you insist on finding out the enemy's condition, there is a possibility that contact will occur early and cause casualties which could thwart the main task. Therefore, a tool or robot is needed to help obtain data about protected enemies by diverting the enemy's attention and providing resistance. The aim of this research is to create a prototype chain-wheeled combat robot platform system that is capable of maneuvering, firing SS2 and rockets, detecting mine-prone areas, and detecting body thermals. The robot control system consists of a mobile controller and a base station. The mobile controller functions to control robot movements such as forward, backward, right turn, left turn, weapon azimuth movement, weapon elevation movement and shooting using 2.4 GHz radio control and target monitoring using FPV ((First person view) directly in the field on a frequency of 5.6 GHz, base station functions to control the robot's movement and monitor targets using a laptop via the internet. The robot system is equipped with GPS and a metal detector, so that the robot's position can be monitored and report the presence of mines to the base station. Thus, the robot created is expected to be able to help to combat duty in the context of war military operations.

A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization

3D tracking of single‐port continuum surgical tools is an essential step toward their closed‐loop control in robot‐assisted‐laparoscopy, since single‐port tools possess multiple degrees‐of‐freedom (DoFs) without distal joint sensors and hence have lower motion precision compared to rigid straight‐stemmed tools used in multi‐port robotic laparoscopy. This work proposes a novel markerless 3D tracking framework for continuum surgical tools using a proposed surgical tool partial pose estimation network (STPPE‐Net) based on U‐Net and ResNet. The STPPE‐Net estimates the segmentation and a 5‐DoF pose of the tool end‐effector. This network is entirely trained by a synthetic data generator based on domain randomization (DR) and requires zero manual annotation. The 5‐DoF pose estimation from the STPPE‐Net is combined with the surgical tool axial rotation from the robot control system. Then, the entire pose is further refined via a region‐based optimization that maximizes the overlap between the tool end‐effector segmentation from the STPPE‐Net and its projection onto the image plane of the endoscopic camera. The segmentation accuracy and 6‐DoF pose estimation precision of the proposed framework are validated on the images captured from an endoscopic single‐port system. The experimental results show the effectiveness and robustness of the proposed tracking framework for continuum surgical tools.

Design of control system for six-degree-of-freedom robotic arm

To study the robotic arm trajectory planning and motion, the six-degree-of-freedom robotic arm control system design is proposed. In this paper, we choose a multi-joint type of robotic arm. We analyze the design of the robotic arm at home and abroad and determine the specific servomotor model and the specific robotic arm mechanism. We analyze the torque relationship of each joint and the size of the servomotor. Using SolidWorks and Robot Studios, we carry out the three-dimensional design modeling and simulation of the robotic arm, design the whole set of robotic arms, and use the Arduino Uno development board for precise control of the servo motor. The control program was written using C language, and various control tests were carried out on the robotic arm to make sure that the system could satisfy the debugging and research of trajectory planning type.

Research on Education Robot Control System Based on ESP32

This study presents a comprehensive overview of the current state of educational robot control systems, examining their integration and impact in educational settings. The findings reveal the potential of these systems in enhancing learning experiences, motivating student engagement, and facilitating personalized education. The research highlights key benefits such as making abstract concepts accessible, providing interactive learning experiences, and bridging the gap in distance education. However, limitations in cost and accessibility, as well as the need for teacher training, are identified as challenges that need to be addressed. Looking ahead, the integration of artificial intelligence, machine learning, and immersive technologies like virtual and augmented reality are expected to further transform educational robot control systems, opening new possibilities for personalized and engaging learning experiences.

Синтез робастной системы управления манипуляционным роботом с полиномиальными регуляторами на основе грамианного метода

Since manipulation robots can have several control channels, and their nonlinear coordinate relationships lead to internal parametric disturbances, along with variations in mechanical parameters, the use of Gramian methods for the synthesis of robust automatic control systems seems to be an effective way to improve the quality of control of such objects. When developing a robust control system for a manipulative robot, the method of polynomial modal control is used, local regulators are synthesized for both parts of the manipulator and a centralized controller is synthesized using an object model adjusted by the Gramian method. The calculations of the regulator based on the linear model of a two-link robot manipulator and the analysis of the transient characteristics of the movement of its links are carried out in the MATLAB software package. A method to synthesize a robust control system for a manipulation robot is proposed. It is based on a linearized mathematical model of a control object with a dynamic (polynomial) controller, aimed at changing the singular number of controllability and observability Gramians and subsequent calculation of a centralized controller to control the original nonlinear object. The use of a modified object model makes it possible to improve the robust properties and increase the speed of the control system for a nonlinear robotic object while maintaining the aperiodic nature of the processes under conditions of mutual influence of links and parameter variations. The proposed method makes it possible to improve the quality of control of manipulative robots and their productivity in conditions of intensification of technological production.

Physics‐Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation

This work concerns the application of physics‐informed neural networks to the modeling and control of complex robotic systems. Achieving this goal requires extending physics‐informed neural networks to handle nonconservative effects. These learned models are proposed to combine with model‐based controllers originally developed with first‐principle models in mind. By combining standard and new techniques, precise control performance can be achieved while proving theoretical stability bounds. These validations include real‐world experiments of motion prediction with a soft robot and trajectory tracking with a Franka Emika Panda manipulator.

Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation.

Patients suffering from limb movement disorders require more complete rehabilitation treatment, and there is a huge demand for rehabilitation exoskeleton robots. Flexible and reliable motion control of exoskeleton robots is very important for patient rehabilitation. This paper proposes a novel exoskeleton robotic system for lower limb rehabilitation. The designed lower limb rehabilitation exoskeleton robot mechanism is mainly composed of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism. The forces and motion of the exoskeleton robot were analyzed in detail to determine its design parameters. The robot control system was developed to implement closed-loop position control and trajectory planning control of each joint mechanism. Multiple experiments and tests were carried out to verify robot's performance and practicality. In the robot angular response experiments, the joint mechanism could quickly adjust to different desired angles, including 15°, 30°, 45°, and 60°. In the trajectory tracking experiments, the exoskeleton robot could complete tracking movements of typical actions such as walking, standing up, sitting down, go upstairs and go downstairs, with a maximum tracking error of ±5°. Robotic wearing tests on normal people were performed to verify the assistive effects of the lower limb rehabilitation exoskeleton at different stages. The experimental results indicated that the exoskeleton robot has excellent reliability and practicality. The application of this exoskeleton robotic system will help paralyzed patients perform some daily movements and sports.

Autonomous Solar Panel Cleaning Robot

The dust particles accumulating on the solar panels will prevent the solar energy from reaching the solar cells, thereby reducing the overall power generation. Power output is reduced as much as by 50%, if the module is not cleaned for a month. In order to regularly clean the dust, an automatic cleaning system which removes the dust on the solar panel is developed. In this paper, the problem is reviewed and the method for dust removal is discussed. A robot cleaning device is developed and it travels the entire length of the panel. A PIC microcontroller is used to implement robots control system. The robot provided a favorable result and proved that such a system is viable by making the robotic cleaning possible, thus helping the solar panel to maintain its efficiency.

Mathematical Analysis and Real-Time Control of a Novel 5-DOF Robotic System with a Parallel Kinematics Structure for Additive Manufacturing Technologies

The systems that use parallel kinematic structures in additive manufacturing technology are particularly notable for their ability to provide exceptional precision and efficiency in the fabrication of intricate geometrically shaped items. This study introduces a novel system paradigm with five degrees of freedom, specifically developed to tackle existing additive manufacturing issues. In the proposed design, by incorporating rotational motions along the x and z axes, contributions were added to the efficiency of typical three-degrees-of-freedom (3-DOF) systems, resulting in a total of five degrees of freedom. In this way, it is aimed at increasing product durability, improving surface integrity, and saving production time. In this study, the conceptual design of the system was defined. Mathematical analyses were then used to determine the kinematic and dynamic models of the system, and a proposed model-based control technique was revealed. To evaluate the axis movement performance of the system, two different control techniques were used, and real-time test studies were conducted. The first control technique was the proportional–integral–derivative (PID) controller, and the second method was the sliding mode control (SMC) method, which was used to increase the performance of the system during trajectory tracking. The experimental results showed that the SMC method provides a reasonably good trajectory tracking response and a steady-state error compared to the classical PID controller.

Real-Time Performance Benchmarking of RISC-V Architecture: Implementation and Verification on an EtherCAT-Based Robotic Control System

RISC-V offers a modular technical approach combined with an open, royalty-free instruction set architecture (ISA). However, despite its advantages as a fundamental building block for many embedded systems, the escalating complexity and functional demands of real-time applications have made adhering to response time deadlines challenging. For real-time applications of RISC-V, real-time performance analysis is required for various ISAs. In this paper, we analyze the real-time performance of RISC-V through two real-time approaches based on processor architectures. For real-time operating system (RTOS) applications, we adopted FreeRTOS and evaluated its performance on HiFive1 Rev B (RISC-V) and STM3240G-EVAL (ARM M). For real-time Linux, we utilized Linux with the Preempt-RT patch and tested its performance on VisionFive 2 (RISC-V), MIO5272 (x86-64), and Raspberry Pi 4 B (ARM A). Through these experiments, we examined the response times on the real-time mechanisms of each operating system. Additionally, in the Preempt-RT experiments, scheduling latencies were evaluated by means of the cyclictest. These are very important parameters for implementing real-time applications comprised of multi-tasking. Finally, in order to show the real-time capabilities of RISC-V practically, we implemented motion control of a six-axis collaborative robot, which was performed on the VisionFive 2. This implementation provided a comparative result of RISC-V’s performance against the x86-64 architecture. Ultimately, the results indicated that the real-time performance of RISC-V for real-time applications was feasible. A noticeable achievement of this research is its first implementation of an EtherCAT master on RISC-V designed for real-time applications. The successful implementation of the EtherCAT master on RISC-V shows real-time capabilities for a wide range of real-time applications.

Stability analysis of braking and control system of pipeline intelligent plugging robot

In the maintenance and emergency repair of oil and gas long-distance pipelines, the pipeline intelligent plugging robot is a new type of intelligent and efficient plugging device inside the pipeline. The stability of its braking and control system determines whether it can successfully seal high-pressure oil and gas inside the pipeline. This research is about intelligent plugging robots for pipelines that use the friction between the rubber hose and the pipe wall for braking. A hydraulic control system is designed, and a braking model for the robot is established. The hydraulic control system is simulated using a numerical simulation method, and the influence of different braking distances on system stability is investigated for various initial velocities of the robot. The results indicate that the fuzzy PID control hydraulic system exhibits a faster response with a maximum overshoot acceleration of −12.8 m/s2. The system achieves the desired acceleration of −0.14 m/s2 within 7 seconds and successfully completes the braking process. The fuzzy PID control approach effectively reduces parameter fluctuations, improves system stability, and decreases acceleration variations when faced with different initial speeds and braking distance signals. Consequently, the positioning accuracy of the robot is enhanced, and power consumption is reduced. This research provides important guidance for the development of new technologies in pipeline maintenance and emergency repair, particularly in the area of plugging operations under pressure.

INTELLIGENT CONTROL SYSTEM OF MULTI-MOTION MOBILE ROBOT

Technical devices with irregular motion are described by complex non-linear differential equations, as they have an uncertain environment. Due to interactions and simplifications in these types of control objects, their mathematical models may have certain errors. For this reason, by known methods, for example, the linear matrix inequality method, Lyapunov's quadratic function, etc. The synthesized automatic control systems (ACS) for dynamic objects written by nonlinear mathematical models based on the quadratic matrix determined by The synthesis of regulators for the management of dynamic objects described in nonlinear and uncertain conditions is based on fuzzy logic theory. Since the controllers synthesized by fuzzy logic are based on knowledge, their application to other objects (robots) is limited. In such systems, it is difficult or not at all to determine the dependencies between ACS quality indicators, stability and object parameters. Taking into account the above, a method of analytically parametric synthesis of regulators that ensures the degree of stability and accuracy in ACS’s designed for fuzzy TS-type dynamic objects is proposed. In the article, the solution to the problem of the synthesis of the control system of the mobile robot was considered, and it was successfully applied in the multi-motion mobile robot system. Modeling and experimental results confirm that the operation and stability of the obtained system fully meet the technical requirements. The proposed method has led to an increase in both tracking and control accuracy during high-speed movements. Keywords: multi-motion mobile robot, mathematical model, mechatronic modules, fuzzy TS model, robust controller, fuzzy logic.

Automation of autonomous mobile robot docking based on the counter growth rapidly exploring random tree method

Objectives. The article substantiates the relevance of automatic docking of autonomous mobile robots. Specific examples show that the implementation of the automatic docking functions of autonomous robots reveals the potential for creating multi-agent systems with a transformable structure. The aim of the work is to develop means for automatic docking of autonomous mobile robots in complex scenarios and an uncertain environment.Methods. The proposed approach to automating autonomous mobile robot docking is reduced to a modification of the counter-growth rapidly-exploring random tree (RRT) method. It is based on the parallel execution of a decentralized route planning algorithm with mutual coordination of distributed computing processes. The effectiveness of the complex of algorithmic and software tools developed was evaluated using computer and natural simulation methods. The final series of full-scale experiments was carried out on the example of JetBot AI kit Nvidia platforms for automatic docking of autonomous robots. This was performed using the means and methods of intelligent control, visual navigation, technical vision and wireless network communication.Results. The study analyzed the features of automatic docking as one of the tasks of group control of autonomous robots. This is part of multi-agent systems, capable of reconfiguring structures for purposeful changes to the existing set of functional properties and application possibilities. The study also proposes a decentralized modification of the counter-growth RRT method. This allows the movements of autonomous mobile robots in the course of their mutual approach and subsequent docking to be planned. A set of software-algorithmic tools was developed to automate the docking of autonomous robots. A series of model and full-scale experiments were carried out to confirm the effectiveness of the approach developed herein.Conclusions. The modification presented herein of the counter-growth RRT method, traditionally used for planning the movements of manipulators and mobile platforms, is complementary to the tasks it resolves. This enables the docking of autonomous robots to be automated. The results obtained open up the potential for universal schedulers with extended functionality for autonomous robot control systems to be designed.

Research of microprocessor device and software for remote control of a robotic system

The modern stage of the development of intelligent robotic systems is characterized by the expansion of fields of application, which is due to autonomous work and decision-making in conditions of uncertainty. The object of research is the system of remote control of robotic systems. During the remote control of robotic systems, problems arise that are associated with the use of wireless communication in real time. The article analyzes software and hardware implementations of various remote control systems suitable for use as part of autonomous robotic systems and analyzes promising microcontroller platforms for implementing a remote control device for a robotic system. A brief review of existing protocols for transmitting control signals using radio communication equipment and microprocessor platforms for the development of embedded systems is performed, among which a solution is selected for research. Several approaches to the control of a robotic system are highlighted – control using a wired connection and corresponding protocols, control via wireless communication or via the Internet, control via general-purpose network protocols. The target platform is chosen and justified, and the S.BUS protocol is analyzed with the provision of an algorithm for obtaining the values of the control channels from the S.BUS package. The structure and algorithm of functioning of the microprocessor remote control system based on the ESP32 microcontroller and the FreeRTOS OS are given. A study of the operation process of the proposed remote control system is carried out, for which it is placed on the chassis of a ground autonomous robotic system with four-wheel drive, and the delay time of the control signal from the receiver to the engine control modules is determined. According to the conducted analysis, the expediency of using specialized radio communication equipment with the S.BUS protocol for controlling executive devices as part of a robotic system, for precise movement control in real time, is shown.

Retracted: Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

Retracted: Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human.

The routine use of prosthetic hands significantly enhances amputees' daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework tailored for amputees. Drawing inspiration from the visual processing stream in humans, a fully autonomous bionic controller is integrated into the prosthetic hand control system to offload cognitive burden, complemented by a Human-in-the-Loop (HIL) control method. In the ventral-stream phase, the controller integrates multi-modal information from the user's hand-eye coordination and biological instincts to analyze the user's movement intention and manipulate primitive switches in the variable domain of view. Transitioning to the dorsal-stream phase, precise force control is attained through the HIL control strategy, combining feedback from the prosthetic hand's sensors and the user's electromyographic (EMG) signals. The effectiveness of the proposed interface is demonstrated by the experimental results. Our approach presents a more effective method of interaction between a robotic control system and the human.

What weeding robots need to know about ecology

In weed control the aims of securing crop productivity and protecting biodiversity are often difficult to reconcile. Currently, the development of autonomous in-field intervention technology, such as field robots, is creating new potential for minimizing trade-offs between these two aims. To exploit this potential, weed management strategies need to adapt. However, it is currently unclear which kind of input information (e.g. weed cover, number of weeds, weed species identity) is required for such a targeted approach, and which impacts the robotic application has on the trade-off between crop yield and biodiversity. Here, we used a dataset from organically farmed fields to assess several weed management strategies, simulating robot-supported weed control. Specifically, we used within-field heterogeneity of several weed and crop productivity variables to model effects of different kinds of input information for a hypothetical, spatially selective robotic weed control system. The results showed that, at a defined yield loss, gamma diversity (number of weed species on the entire investigated area) is maintainable to a large degree, even without information on weed or crop heterogeneity within the field being used to decide where to weed. However, to maintain alpha diversity (average number of weed species per plot), more spatially explicit input information is required, such as on the number of species per plot, weed quantity (weed cover per species), and weed competitiveness. Consequently, a weeding robot would have to be technically capable of distinguishing between individual weed species, measuring weed cover, processing captured information in real time and removing weeds at per-plant level. Further, it could be shown that the success of such a complex weed management strategy is independent of the degree of spatial heterogeneity of crop yield and of the present level of weed species richness.