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RISS 인기검색어
- 검색키워드
- 저자 : Abdelfatah M. Mohamed (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Manar Lashin,Mohamed Fanni,Abdelfatah M. Mohamed,Tomoyuki Miyashita 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulatorpossesses pure decoupled translational motions and it is characterized by large workspace to size ratio,high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However,the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplifiednominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of thenominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Consideringthese dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, anew controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which isdesigned in H∞ framework. The new controller has the following merits; robustness, optimality, simple implementation,and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance inthe proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of errorcontrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is comparedwith those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation resultsvia co-simulation of MSC-ADAMS R ⃝ and MATLAB R ⃝ /Simulink software prove the robustness of the proposedcontroller against speed/payload variations. The proposed controller is found to have higher performance comparedwith IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with theproposed controller for pure translational tracking applications.
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Amos Alwala,Haitham El-Hussieny,Samy F. M. Assal,Abdelfatah Mohamed,Kiyotaka Iwasaki 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6
Drinking is an essential activity of daily living (ADL) that is frequently required for a healthy life. Disabled persons however need recurrent assistance from the caregivers to perform such ADL. The existing assistive robots that have been developed to assist in performing ADL require either manual or shared control. There is therefore need for completely autonomous systems that can deal with the existing system limitations. In this paper, a hybrid impedance control-based autonomous robotic system for natural-like drinking assistance for disabled persons is developed. The system comprises of a UR-10 manipulator and a Kinect RGB-D sensor for online detection of the face and mouth along with tracking head pose, cup region of interest recognition and detection of the drink level. A two-stage control strategy is employed; namely, a free-space control to convey an upright oriented cup of drink to the user’s mouth and in-contact compliant control to continuously reorient the cup. Online trajectory replanning is conducted in case of unintentional head and mouth pose changes. A hybrid impedance control is developed to tackle three cases of cup and user’s mouth contact; namely, permissible contact force, contact loss and exceeding the contact force threshold. Simulation results based on co-simulating the manipulator dynamics in ADAMS and MATLAB indicate high performance of the controller in terms of tracking the generated pose and desired force trajectories during the drinking task. The results also indicate that the proposed system can conduct the drinking assistance autonomously.
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