New approaches on modular walking robots with force-position hybrid control
Keywords:
robotics, real time control, kinematics, open architecture systemsAbstract
The paper presents the fundamental and applicative research regarding the elaboration of new concepts and new approaches on modular walking robots forceposition hybrid control by developing and experimenting with a multiprocessor system, in real-time control and open architecture HFPC MERO. There are analyzed and developed the compliant control methods of modular walking robots with tracking functions, the “multi-stage” fuzzy control with two fuzzy control loops, one in position and the other in force and the open architecture multiprocessor system. With this approach, the HFPC MERO walking robot’s control system ensures flexibility, short execution time, target precision and repeatability of the moving programs, eliminating the closed systems with projects meant for specified applications.
References
Canudas de Wit C, B. Siciliano, G. Bastin, Teory of robot control, Springer-Verlag, London, 1996.
J. Yen, N. Pfluger, A Fuzzy Logic Based Extension to Payton and Rosenblatt´s Command Fusion Method for Mobile Robot Navigation, IEEE Transactions on Systems, Man, and Cybernetics, 25, 6, pp. 971-978, 1995.
Vladareanu L., Curaj A., Ion I., Velea L.M., Munteanu M., Mitroi D., Gal A.,Vasile A., Fundamentale and Aplicative Researche for Hybride Force-Position Control of Modular Walking Robots (phase 2/2008 and 3/2009), Research Project no. 263/2007-2010 in the framework of Grants of CNCSIS Program IDEAS, PN II (National Program for Scientific Research and Innovation Technologies).
Vl?d?reanu L., Open Architecture Systems for the Compliance Robots Control, WSEAS Transactions on Systems, 5, 9, 2006, pp. 2243-2249.
Wu C-J, Ching-Huo H, Parameter Identification of Direct Drive Robots, Journal of Intelligent and robotic Systems, 16, pp. 45-64, 1996.
Vl?d?reanu L., Tont G., Ion I., Vl?d?reanu V., Mitroi D., Modeling and Hybrid Position-Force Control of Walking Modular Robots, ISI Proceedings: Recent Advances in Applied Mathematics, Harvard University, Cambridge, USA, 2010, pp. 510-518.
Fisher W.D., Mujtaba M.S., Hybrid Position/Force Control: A Correct Formulation, The International Journal of Robotics Research, 11, 4, August 1992, pp. 299-311.
Denavit J., Hartenberg R.S., A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, J. Appl. Mech., June 1955, pp. 215-221
Published
Issue
Section
Copyright (c) 2020 The Romanian Journal of Technical Sciences. Applied Mechanics.
This work is licensed under a Creative Commons Attribution 4.0 International License.