Human Step Rehabilitation Using a Robot Attached to the Pelvis

2004 ◽  
Author(s):  
D. Aoyagi ◽  
W. E. Inchinose ◽  
D. J. Reinkensmeyer ◽  
J. E. Bobrow
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Control Law ◽  
Task Space ◽  
Control Laws ◽  
Position Feedback ◽  
Pelvic Motion ◽  
Linear Force ◽  
And Control ◽  
Piston Chamber

This paper describes a new robot capable of manipulating pelvic motion during human step training on a treadmill. The robot, PAM (Pelvic Assist Manipulator), uses two pneumatically actuated subsystems arranged in a tripod configuration to measure and control the pelvis of a person during body weight supported stepping on a treadmill. The device can be used in a back-drivable mode to record pelvic trajectories, either specified manually by a therapist or pre-recorded from unimpaired subjects, then replay these trajectories using a PD position feedback control law in the task space and a non-linear force control algorithm for each piston chamber. The control laws are presented, along with data that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

scholarly journals Position-force control of mobile manipulator – nonadaptive and adaptive case

2017 ◽  
Vol 27 (4) ◽  
pp. 487-503 ◽  
Author(s):  
Mirela Kaczmarek ◽  
Wojciech Domski ◽  
Alicja Mazur
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Parametric Uncertainty ◽  
Mobile Manipulator ◽  
Control Law ◽  
Mobile Manipulators ◽  
Constrained Dynamics ◽  
Holonomic Constraint ◽  
System A ◽  
Theoretical Considerations

AbstractThis article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

Continuum of Motion Equations and Control Laws for the Inverted Pendulum Cart and Rotary Pendulum

2020 ◽  
Author(s):  
Constance Lare ◽  
Warren N. White
Keyword(s):  
Inverted Pendulum ◽  
Equations Of Motion ◽  
Control Law ◽  
Control Laws ◽  
Motion Equations ◽  
Base Radius ◽  
Limiting Condition ◽  
And Control ◽  
The Given ◽  
Insight Into

Abstract This paper questions whether the controller properties for a given rigid body mechanical system still apply as the given system is changed. As a first attempt in this investigation, the controller for the underactuated rotary pendulum is investigated as the system morphs into an underactuated inverted pendulum cart. As the limiting condition of the inverted pendulum cart is approached, the investigation allows the controller to also morph. The authors show that, as the pendulum base radius grows, the rotary pendulum equations of motion morph into the inverted pendulum cart dynamics. The paper presents necessary conditions for the successful morphing of the dynamic equations. The morphing process for the controller tests the idea whether the control law also satisfies the same continuum basis as the motion equations. The paper presents a framework for the class of controllers investigated for providing insight into when the controller morphing may be successful. This paper presents dimensionless quantities that render the equations of motion and controller for the inverted pendulum cart and rotary pendulum into dimensionless form. These dimensionless quantities allow comparison of controllers and systems that are not possible through simple inspection. This comparison ability is especially useful for quantifying the nonlinearities of a given system and controller compared to another system and controller having different parameter sizes, a comparison rarely seen in the control literature.

On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches

2012 ◽  
Vol 198-199 ◽  
pp. 1021-1024
Author(s):  
De Hai Yu ◽  
Dong Cai Qu ◽  
Jian Hua Lu ◽  
Bin Wen Lu
Keyword(s):  
Control Law ◽  
Simple Analysis ◽  
Control Laws ◽  
Control Scheme ◽  
Improve Accuracy ◽  
Working Principle ◽  
Simulation Results ◽  
Low Altitude ◽  
Constant Altitude ◽  
And Control

In order to improve accuracy of constant altitude fly at low altitude and fly track of glide down to fixed altitude, aeroplane’s control scheme of glide down to fixed low altitude with PID compensatory link were designed. At the same time, the corresponding control laws had been designed. After simple analysis about working principle of the aeroplane’s control system, simulation researches were done to optimize designed control laws, so that achieving expectant requirement. Simulation results show that designed control scheme and control law were accurate and effective.

scholarly journals Position/Force Control of Manipulator in Contact with Flexible Environment

2019 ◽  
Vol 13 (1) ◽  
pp. 16-22 ◽  
Author(s):  
Piotr Gierlak
Keyword(s):  
Neural Networks ◽  
Significant Influence ◽  
Contact Surface ◽  
Force Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Control Law ◽  
Controlled System ◽  
End Effector ◽  
Control Purpose

Abstract The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.

scholarly journals Implementation of automation in vibration-isolating supports of new type for engines of sea and river vessels

2021 ◽  
Vol 2142 (1) ◽  
pp. 012004
Author(s):  
P A Fomichev ◽  
E V Fomicheva
Keyword(s):  
Power Plants ◽  
Vibration Isolation ◽  
Modern Technology ◽  
Control Law ◽  
Control Laws ◽  
Active Systems ◽  
Single Process ◽  
New Type ◽  
Almost All ◽  
And Control

Abstract In almost all areas of modern technology, the problem of vibration isolation arises, which is associated with the goal of improving the quality, reliability and productivity of various technical objects. One of the important tasks of shipbuilding is to reduce vibration levels of ship power equipment. This article proposes a non-linear control law for an electromagnetic hydraulic vibration-insulating support (EGVO) for ship power plants (SEP), which allows you to compensate for external harmonic disturbances at the SEP, which leads to an increase in their technological safety. The proposed control law of EGVO has advantages over various control laws of vibration-insulating systems of an active type for SEP. The proposed method can be used to create vibration-isolating active systems for various technical objects. The essential novelty of this method is a consistent synthesis of control laws and the creation of a single process of technological self-organization and control.

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