Design of quaternion controller based on Virtual Spring-Damper hypothesis for hydraulic manipulator

Kim, Jin Tak; Cho, Jungsan; Park, Byung-Yun; Chon, Sanguk; Seo, Jaehong; Kim, Jungyeong; Park, Sangdeok

doi:10.1109/urai.2016.7625769

Cited by 4 publications

(2 citation statements)

References 18 publications

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“…In previous research, hydraulic manipulator experiments demonstrated that a manipulator driven by hydraulics as the rate source, which is a control input of the VSD hypothesis, could be applied (Kim et al, 2014). In addition, it was confirmed that the performance was exhibited by summation servo valves inputs generated in two VSD models (Kim, Cho, et al, 2016; Kim, Lee, et al, 2016). The virtual line connected to the manipulator set control points on the endpoint, wrist, thumb, and elbow.…”

Section: Control Architecturementioning

confidence: 69%

Development of disaster‐responding special‐purpose machinery: Results of experiments

Kim

Park

Han

et al. 2022

Journal of Field Robotics

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The frequent occurrence of disasters has prompted the development of efficient disaster-responding equipment. This study deals with the design of special-purpose machinery and its performance assessment. We defined scenarios through the environmental analysis of disaster situations and expert consulting. We also formulated a set of design specifications by analyzing the objectives of the tasks that must be performed at disaster sites, based on simulated scenarios and existing disaster response machinery. The disaster-responding special-purpose machinery was designed to perform various tasks and display rapid movement in disaster situations. Moreover, this paper presents the control structure configured to operate the developed machinery. The performance of the special-purpose machinery was assessed through different scenario tests.

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Section: Control Architecturementioning

confidence: 69%

Development of disaster‐responding special‐purpose machinery: Results of experiments

Kim

Park

Han

et al. 2022

Journal of Field Robotics

Self Cite

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“…Hydraulic systems are primarily used in industry where large actuators’ forces are needed (Kim et al , 2016), as showed in Figure 3(c). In the study of Kim et al (2002), their robotic manipulator driven by hydraulic actuators provides enough power for liver surgery and is small enough to be operated within 45-cm-high space.…”

Section: The Actuators Of Robotic Manipulatorsmentioning

confidence: 99%

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Shi

Wang

et al. 2017

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Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.

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A Novel Trajectory Reproduction Method: Multi Virtual Spring-Dampers

Geng

Wang

et al. 2018

2018 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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Design of quaternion controller based on Virtual Spring-Damper hypothesis for hydraulic manipulator

Cited by 4 publications

References 18 publications

Development of disaster‐responding special‐purpose machinery: Results of experiments

Development of disaster‐responding special‐purpose machinery: Results of experiments

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

A Novel Trajectory Reproduction Method: Multi Virtual Spring-Dampers

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