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A fast kinematic-based control method for lower-limb power augmentation exoskeleton
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 2014 , pp. 678-683 ; ISBN: 9781479967438 ; Vossoughi, G. R ; Ghafari, A. S ; Jokar, M ; Sharif University of Technology
Abstract
Exoskeletons are robotic devices which are used in power augmentation and rehabilitation robotics. The exoskeleton control system is one of the most challenging issues in humanrobot interaction systems. Although the rehabilitation robotic control methods are well studied, little research has been conducted on power augmenting control methods. This paper presents a novel idea in control system of exoskeletons for load carrying and power augmentation. Here, the desired linear velocity of the exoskeleton in interaction points are taken to be proportional to interaction force at the corresponding location. The introduced control method is merely based on kinematic model and thus easy to...
Modeling and Control of a Fish Robotic System Using Hardware in the Loop Methodology
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and...
Kinematic control of a new hyper-redundant manipulator with lockable joints
, Article Scientia Iranica ; Volume 20, Issue 6 , 2013 , Pages 1742-1752 ; 10263098 (ISSN) ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Sharif University of Technology
2013
Abstract
Kinematic control of a special hyper-redundant manipulator with lockable joints is studied. In this manipulator, the extra cables are replaced by a locking system to reduce the weight of the structure and the number of actuators. This manipulator has discrete and continuous variables due to its locking system. Therefore, a hybrid approach has been adopted in control. At first the forward kinematics and velocity kinematics of this manipulator are derived, and then a novel closed-loop control algorithm is presented. This algorithm consists of decision making, an inner loop controller, and kinematic calculation blocks. The decision making block is the logical part of the control scheme in which...
Hardware in the loop simulation and analysis of a model of fish robotic system
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 5 , 2010 , Pages 203-210 ; 9780791849194 (ISBN) ; Vosoughi, G. R ; Farshchi, M ; Nemati, A ; Sharif University of Technology
2010
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using hardware in the loop methodology. Up to now, few researches have focused on autonomous control of fish robot in dynamic environments which may be the result of difficulties in modeling of hydrodynamic effects on fish robot. Therefore, following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Then, kinematics control to track desired trajectories was designed for under-actuated model of robot. Adaptive sliding mode controller, capable of adapting according to changes and uncertainties, was...