This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

A new type of a parallel wire-driven robot is proposed in order to reach ultra-high speed. The driving principle of parallel wire systems is described. Since wires can only pull and not push on an object, at least np1 wires are needed in order to move the object in a n-dimensional space. In this paper, taking account of the effect of such redundancy on actuation, the motion stability in wire length coordinates is analyzed by using a Lyapunov function. Using “Vector Closure”, it is proven that the hand position and orientation converge to the corresponding desired values and the internal force also converges to the desired one. Moreover, by making good use of non-linear elasticity of parallel wire driven robots, it is claimed that the internal force arising from redundant actuation can effectively reduce vibration when the high-speed robot stops at desired points. As a result, ultra-high speed with more than 40 g(g:gravitational acceleration) can be attained by using relatively small actuators.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0A052A81B94B9430D6DEEA32443CF0C8/S0263574799002477a.pdf/div-class-title-high-speed-manipulation-by-using-parallel-wire-driven-robots-div.pdf

High-speed manipulation by using parallel wire-driven robots

Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory Illustrative examples appear throughoutThe author begins by discussing typical robot manipulator mechanisms and their controllers He then devotes three chapters to the analysis of robot manipulator mechanisms He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters The final chapter develops the concept of manipulabilityThe second half focuses on the control of robot manipulators Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theoryTsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering

Foundations of robotics : analysis and control

High speed robots are an important component of modern assembly operations. In this paper, we describe the development of an ultrahigh speed robot named FALCON (Fast Load Conveyance), based on a wire driven parallel manipulation system. It achieves peak accelerations of up to 43G and maximum velocities of 13 m/s, even if considerably small DC motors (60W) are used. Due to the use of wires in actuation, the problem of vibration arises. We employ internal force control among wires to reduce the vibration by utilizing nonlinear elasticity from the wire mechanism. Experimental results on point to point control using the prototype system are presented under linear PD feedback, to illustrate the effectiveness of the system.

Development of an ultrahigh speed robot FALCON using wire drive system

The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot

In this paper, an adaptive steering-control system for a steer-by-wire system, which consists of a vehicle directional-control unit and a driver-interaction unit, is developed. The adaptive online estimation method is used to identify the dynamic parameters of the vehicle directional-control and driver-interaction units. A nonlinear 4-degree-of-freedom (DOF) vehicle model, including the longitudinal, lateral, yaw, and quasi-static roll motions, is derived using Newtonian mechanics to simulate and test the adaptive steering-control system. Experimental results are performed to demonstrate the efficacy of the proposed adaptive steering-control system.

Implementation and Development of an Adaptive Steering-Control System

Comparative evaluation of EMG signal features for myoelectric controlled human arm prosthetics

Prediction of externally applied forces to human hands using frequency content of surface EMG signals

In cooperative motion of multi arm robotic mechanisms or in the case of a grasping operation by robot hands, internal forces which balance inside the mechanism are generated. The research described deals with such forces and their effects on closed mechanisms. Internal forces can be generated by both potential and non-potential driving forces. In either case the structural stiffness of the mechanism changes due to the internal forces as the mechanism moves. When the internal force is compressive, the mechanism may have negative stiffness leading to a problem similar to the stability problem in the grasping operation. >

http://ieeexplore.ieee.org/iel4/564/6178/00240569.pdf

Mehmet Arif Adli

Papers

The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot

Implementation and Development of an Adaptive Steering-Control System

Comparative evaluation of EMG signal features for myoelectric controlled human arm prosthetics

Prediction of externally applied forces to human hands using frequency content of surface EMG signals

Effect of internal forces on stiffness of closed mechanisms