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Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mecha...
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... Therefore, methods must be found to structure the motor control system for general movement and imitation learning capabilities. Faced with these challenges, current approaches are divided into two trends: the first uses trajectory coding, which is a low-level representation of skill, in the form of a non-linear mapping between sensory and motor information; the second trend has used symbolic coding, which is a high-level representation of a skill that breaks down a skill into a sequence of action perception units [41,42]. ...
... Due to this and other factors, the data collected in the demonstration approaches need to be mapped through a mathematical model to compose the algorithmic models that will enable imitation acts. Therefore, systems operating in Lf D require a learning policy to extract and generalize the main features of assembly movements [42]. In [39,40], Hidden Markov Models (HMMs) were used to code and generalize the demonstration examples. ...
... Another modeling method that has shown good results was included in [41][42][43], where the authors used dynamic motion primitives (DMPs), which represent a fundamentally different approach to representing motion, one that based on nonlinear dynamical systems. ...
Paraconsistent Annotated Logic (PAL) is a type of non-classical logic based on concepts that allow, under certain conditions, for one to accept contradictions without invalidating conclusions. The Paraconsistent Artificial Neural Cell of Learning (lPANCell) algorithm was created from PAL-based equations. With its procedures for learning discrete patterns being represented by values contained in the closed interval between 0 and 1, the lPANCell algorithm presents responses similar to those of nonlinear dynamical systems. In this work, several tests were carried out to validate the operation of the lPANCell algorithm in a learning from demonstration (LfD) framework applied to a linear Cartesian robot (gantry robot), which was moving rectangular metallic workpieces. For the LfD process used in the teaching of trajectories in the x and y axes of the linear Cartesian robot, a Paraconsistent Artificial Neural Network (lPANnet) was built, which was composed of eight lPANCells. The results showed that lPANnet has dynamic properties with a robustness to disturbances, both in the learning process by demonstration, as well as in the imitation process. Based on this work, paraconsistent artificial neural networks of a greater complexity, which are composed of lPANCells, can be formed. This study will provide a strong contribution to research regarding learning from demonstration frameworks being applied in robotics.
... Fu et al. [16] proposed a postprocessing and path optimization method based on a nonlinear error to improve the precision of multijoint industrial robot-based three-dimensional (3D) printing. Guo et al. [17] developed a control system designed for a new five-DoF hybrid robot manipulator and described the mechanical structure, kinematics, dynamics, and control system of the robot manipulator. For the aforementioned robot manipulator, a new robotic deburring methodology was proposed for tool path planning and process parameter control [18]. ...
Five-axis working machines are applied in the high-precision machining of complex convex surfaces. Therefore, this study integrated a horizontal parallel three-axis motion platform and a three-axis machine tools to create a reconfigurable precision five-axis machine tools (RPFMT). A DELTA OPEN computer numerical control controller was used as the control system architecture. A human–machine interface and programmable controller were incorporated into the developed tool to achieve automatic online measurement. A suitable cutting tool was selected to calculate the five-axis NC machining code for a complex convex surface. The NC codes were input into the LabVIEW software for five-axis postprocessing conversion. A concave workpiece was cut through rough and finishing machining to verify the accuracy of the produced RPFMT.
... This machine is a five-axis machine tool designed by Terrier et al.; (10) it combines a 3DOF parallel module and a two-degree-offreedom serial tilting table. Guo et al. (11) proposed the mechanical structure, kinematics, dynamics, and control system of a new five-degree-of-freedom hybrid robot manipulator. Lue et al. (12) proposed the system structure and contour tracking for a hybrid motion platform. ...
... The reconfigurable parallel five-axis machine center can be applied to machining for various purposes. (4)(5)(6)(7)(8)(9)(10)(11)(12)(13) The realization of excellent machining quality requires not only high-quality machines but also computer-aided design (CAD) or computer-aided manufacturing (CAM) software with powerful functions to assist in the calculation of the cutting trajectories in the machining area. Developing comprehensive CAM software for machining is difficult and requires repeated testing and verification. ...
... In [29], on the base of a detailed study on the mechanical structure, the kinematics, dynamics, and the control system of a new type of 5-DOF 3T 2R hybrid robot manipulator (composes by a 3-DOF 3T parallel module and a 2-DOF 2R serial module) and a virtual kinematics co-simulation conducted both in ADAMS and MATLAB, a physical prototype and a specially designed control system are developed, followed by few tests for repeatability and accuracy. ...
In this paper, a brief overview is presented, resulting from a recent literature review of some representative books or papers regarding various research on different types of parallel robots, parallel kinematic machines, or hybrid parallel mechanisms. Starting from a short introduction regarding the motivation and necessity of the emergence of such parallel mechanisms, some basic terms are presented, in the context of founding the existence of several terminologies for certain specific expressions of this subject, as well as different definitions for them. Then, after a short presentation of the advantages and disadvantages of the parallel robots, compared to serial ones, and of the parallel kinematic mechanisms compared to the conventional machine tools, some publications related to kinematics, dynamics, modeling and simulation of these types of mechanisms are highlighted. This research is realized in order to identify a solution that will be the basis for the development of a prototype, both virtual and experimental, for such mechatronic system.
... To overcome these shortcomings of the analytical method, a new approach called an adaptive neuro-fuzzy inference system is proposed. In the article [8], a physical prototype and a specially designed control system for a new 5dof hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. ...
The paper investigates periodic solutions of a nonlinear model of the middle ear with a floating mass transducer. A multi degree of freedom model is used to obtain a solution near the first resonance. The model is solved analytically by means of the multiple time scales method. Next, the stability of obtained periodic solutions is analysed in order to identify the parameters of the floating mass transducer that affect the middle ear dynamics. Moreover, some parameters of the middle ear structure are investigated with respect to their impact on obtained periodic solutions.
... In [16][17][18][19][20] , different sliding mode control (SMC) algorithms were used for the trajectory tracking problem of a UVMS. In [21] and [22] , a kinematic and dynamic controller was proposed for a hybrid robot manipulator and a quadrotor manipulator system, respectively, but the subsystems were analysed separately. However, there are some examples of combined controllers. ...
A vehicle-manipulator system (VMS) is a class of mobile robots characterised by their ability to carry or be a robotic arm and therefore also manipulate objects. The VMS class includes vehicles with a robotic manipulator, free-floating space robots, aerial manipulators and underwater vehicle-manipulator systems (UVMSs). All of these systems need a kinematic controller to solve the kinematic redundancy of the VMS and a dynamic controller to follow the reference given by the kinematic controller. In this paper, we propose a combined kinematic and dynamic control approach for VMSs. The approach uses the singularity-robust multiple task-priority (SRMTP) framework to generate a velocity reference combined with a dynamic velocity controller based on a robust sliding mode controller (SMC). Any SMC can be used as long as it can make the velocity vector converge to the velocity reference vector in finite time. This novel approach allows us to analyse the stability properties of the kinematic and dynamic subsystems together in the presence of model uncertainty. We show that the multiple set-point regulation tasks will converge asymptotically to zero without the strict requirement that the velocities are perfectly controlled. This novel approach thus avoids the assumption of perfect dynamic control that is common in kinematic stability analyses for robot manipulators. We present two examples of SMCs that can make the velocity vector converge to the velocity reference vector in finite time. We also demonstrate the applicability of the proposed approach through a simulation study of an articulated intervention-AUV (AIAUV), which is a type of UVMS, by conducting three simultaneous tasks. The results show that both SMC algorithms can make all the regulation tasks converge to their respective set-points. In the simulation study, we also include the results from two standard control methods, a proportional-integral-derivative (PID) controller and a feedback linearisation controller, and we use two different AIAUVs to illustrate the advantages and robustness achieved from using SMC.
... Class II consists of the hybrid robots which have a basic parallel module combined with a serial manipulator [11][12][13][14][15][16][17][18][19][20][21][22][23][24] (Figure 1b). ...
... There have also been attempts working on the modelling and analysis of the hybrid robots Class II [11][12][13][14][15][16][17][18][19][20][21]. A real-time implementation of path planning, trajectory generation, and servo control for a hybrid manipulation was presented in [11]. ...
... The kinematic modelling, the kinematic design, the workspace modelling and other aspects related to the kinematics of the hybrid robots Class II were studied [12][13][14][15][16][17]. The dynamic modelling and analysis of the robots Class II were also investigated [18,19]. In addition, the structural synthesis and the stiffness of the hybrid robots of this class were studied [20][21][22]. ...
Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.
... The prototype of a 5-DOF hybrid manipulator was developed in research conducted by [10]. In this research the mechanical structure, the kinematics, the dynamics and the control system were presented. ...
This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swarm Optimization (PSO) with search space defined by RLS (RLSPSO). A helical trajectory in the cartesian space is used as input. The dynamic model is found through the Lagrange equation and the motion equations, which are used to calculate the torque values of each joint. The torques are calculated from the values of the inverse kinematics, identified by each algorithm and from the manipulator joint speeds and accelerations. The results obtained for the trajectories, speeds, accelerations, and torques of each joint are compared for each algorithm. The computational costs as well as the Multi-Correlation Coefficient ( R 2 ) are computed. The results demonstrated that the identification accuracy of RLSPSO is better than that of LS and PSO. This paper brings an improvement in RLS because it is a method with high complexity, so the proposed method (hybrid) aims to improve the computational cost and the results of the classic RLS.
... In the previous research, kinematics analysis, dynamics analysis, dexterity analysis, multi-objective smooth trajectory planning and dynamic load-carrying capacity calculation, actual building of mechanical system and motion control system, and tests for the repeatability and accuracy of both the position and path for the five-DOF robot manipulator are conducted. For discussions of these domains and a more detailed listing of related research for the robot manipulator, see [41][42][43][44]. The reachable workspace of the robot manipulator based on structure parameters (Table 1) is shown in Figure 5. ...
... In the previous research, kinematics analysis, dynamics analysis, dexterity analysis, multi-objective smooth trajectory planning and dynamic load-carrying capacity calculation, actual building of mechanical system and motion control system, and tests for the repeatability and accuracy of both the position and path for the five-DOF robot manipulator are conducted. For discussions of these domains and a more detailed listing of related research for the robot manipulator, see [41][42][43][44]. ...
Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.
... In most of the studies on dynamic simulation are used two or more software, such as: SolidWorks and Matlab in [21] and [22], ADAMS and Matlab in [23], [24], [25], [26] and [27], Pro/ENGINEER and ADAMS in [28], AutoCAD and ADAMS in [29], UG, MATLAB and ADAMS in [30]. There are also variants of software that provides, single, the dynamic simulation, such as Autodesk Inventor software [31]. ...
