Hybrid Force-Position Dynamic Control of the Robots Using Fuzzy Applications

Abstract

The paper presents methods of improving the hybrid force-position dynamic robot control using fuzzy logic for the error control. The implementation of the open architecture control system for robots using fuzzy application allows for the control of the hybrid position and force in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for control in closed loop. The effectiveness of various fuzzy control structures in controlling the force-position of the robot or mechatronics actuators is presented.

Design and Analysis of a Spatial Four-DOF Lower Limb Rehabilitation Robot

“…Put the equation (13) to the equation ( 11), we can obtain the position vector l 2 which is the point B 2 relative to the fixed coordinate system {A2}: l 2 ={l 2x ,l 2y ,l 2z } T According to Figure 3, we can obtain the direct kinematics relationship equation. The posture transformation matrix of endpoint C relative to the local coordinate system can be expressed as follows:…”

“…Its fundamental reason for existing was to empower the patients to reestablish their physical capacities and walking capacity. Numerous intelligent control interfaces based on advanced control strategies and human adaptive mechatronics [13][14], have been developed. Swortec organization built up a most progressive sitting lower rehabilitation recovery preparing robot MotionMaker [15].…”

Improving anthropomorphic robot stability using advanced intelligent control interfaces

“…The dynamic stability of the anthropomorphic robotic platform balance is ensured in the conditions of the projection of the ZMP in the support range defined by the AWR legs [11], [13] and is more difficult to maintain than in the case of multiple legs robots. The errors generated by the AWR modeling, by theoretical calculation reported to the effects and working environment in the control of walking on a horizontal or inclined plane, were included in the Ishikawa diagram based on strategies, methods and algorithms, either by study in plan horizontally and then extrapolate on the slope, or through the reverse linear inverted method pendulum (LIMP) [4], [7], [8], [13], [23], [25], dual-length linear inverted method pendulum (DLLIMP), virtual support point (VSP), energy efficiency [14], [16], [26] dynamic model adopted, sensory analysis of motion robot on unstructured and uneven terrain [11], [17], [18], [19], [21], [22]. The proposed method offers a stable walk with high speed for the NAO robot only in the conditions of a relatively straight route, with no sharp changes in direction.…”

“…The Versatile Intelligent Portable Robot Platform VIPRO allows the development of Intelligent Control Interfaces (ICIs) of AWR by providing a design, testing, simulation and validation of intelligent interface realtime control using the virtual projection method [11], [17], [18], [21], [22], in order to improve stability performance.…”

“…Gerbner's model [Burkhard, 2005] By applying the Ishikawa diagram on the stability of AWR and the Pareto principle, was created the control system with open architecture for improved stability, integrated in the Inteligent Control Interface AWR (AWR ICIs), presented in the figure 3. The Versatile Intelligent Portable Robot Platform VIPRO [11], [17], [18], [19], [21], [22] was developed to improve the AWR performances, provide unlimited power for design, test, experiment the real time, control methods by integrating the intelligent control interfaces (ICIs) in robot modeling and simulation for all types of humanoid robots, rescue robots, firefighting robots. The current VIPRO platform (Figure 4) integrates the Ishikawa diagram and the Pareto principle as two used offline modules in the design phase of the intelligent control interface for robot modeling.…”