Intrusion detection research of control system based on robot arm

2017 ◽  
Author(s):  
Lei Zhang ◽  
Lun Xie ◽  
Bo Hu ◽  
Zhi-liang Wang ◽  
Fuji Ren
Keyword(s):  
Control System ◽  
Intrusion Detection ◽  
Robot Arm

DEVELOPMENT OF AN ARTICULATION ROBOT ARM

2017 ◽  
Vol 41 (3) ◽  
pp. 443-455
Author(s):  
Kuo-Lan Su ◽  
Jian-Fu Weng ◽  
Jr-Hung Guo ◽  
Kai-Lu Cai
Keyword(s):  
Control System ◽  
Vision System ◽  
Motion Trajectory ◽  
Robot Arm ◽  
Plc Control ◽  
Plc Control System

This article describes the design of an articulation robot arm with seven joints. The control core of the robot arm is the module-based system built using the Mitsubishi Q series programming logical controller (PLC). The robot arm contains seven AC servomotors, seven driver devices, a vision system and a PLC control system. The PLC-based controller programs the motion trajectory of the gripper to catch or hold the objects and finish the assigned tasks. Kinect system (Asus Xtion Pro-Live, or called RGB-D sensor) acts as the vision system to recognize shape and color of each object. During the experiments, we found that the robot arm recognizes the shape and color of each object, and catches each object moving to the assigned box with the same color.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

Development of the Robot Arm Control System Using Forearm SEMG

2009 ◽  
pp. 710-713
Author(s):  
Yusuke Wakita ◽  
Noboru Takizawa ◽  
Kentaro Nagata ◽  
Kazushige Magatani
Keyword(s):  
Control System ◽  
Robot Arm ◽  
Robot Arm Control
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