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PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publsiher : Academic Press
  • Release : 10 January 2018
  • ISBN : 012813464X
  • Pages : 234 pages
  • Rating : 4/5 from 21 ratings
GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots

Summary:
PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering. Discusses novel PD and PID controllers for biomedical and industrial robotic applications, demonstrating how PD and PID with intelligent compensation is more effective than other model-based compensations Presents a stability analysis of the book for industrial linear PID Includes practical applications of robotic PD/PID control, such as serial sliding mode, explicit conditions for linear PID and high gain observers for neural PD control Includes applied exoskeleton applications and MATLAB code for simulations and applications


PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publisher : Academic Press
  • Release : 10 January 2018
GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control.


Surgical Robotics

Surgical Robotics
  • Author : Jacob Rosen,Blake Hannaford,Richard M. Satava
  • Publisher : Springer Science & Business Media
  • Release : 15 January 2011
GET THIS BOOKSurgical Robotics

Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have


Intelligent Control Design and MATLAB Simulation

Intelligent Control Design and MATLAB Simulation
  • Author : Jinkun Liu
  • Publisher : Springer
  • Release : 20 September 2017
GET THIS BOOKIntelligent Control Design and MATLAB Simulation

This book offers a comprehensive introduction to intelligent control system design, using MATLAB simulation to verify typical intelligent controller designs. It also uses real-world case studies that present the results of intelligent controller implementations to illustrate the successful application of the theory. Addressing the need for systematic design approaches to intelligent control system design using neural network and fuzzy-based techniques, the book introduces the concrete design method and MATLAB simulation of intelligent control strategies; offers a catalog of implementable intelligent


Wearable Robots

Wearable Robots
  • Author : José L. Pons
  • Publisher : John Wiley & Sons
  • Release : 15 April 2008
GET THIS BOOKWearable Robots

A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired


Advanced Technologies in Robotics and Intelligent Systems

Advanced Technologies in Robotics and Intelligent Systems
  • Author : Sergey Yu. Misyurin,Vigen Arakelian,Arutyun I. Avetisyan
  • Publisher : Springer Nature
  • Release : 01 January 2020
GET THIS BOOKAdvanced Technologies in Robotics and Intelligent Systems

This volume gathers the latest advances, innovations, and applications in the field of intelligent systems such as robots, cyber-physical and embedded systems, as presented by leading international researchers and engineers at the International Conference on Intelligent Technologies in Robotics (ITR), held in Moscow, Russia on October 21-23, 2019. It covers highly diverse topics, including robotics, design and machining, control and dynamics, bio-inspired systems, Internet of Thing, Big Data, RFID technology, blockchain, trusted software, cyber-physical systems (CFS) security, development of CFS in


New Trends in Medical and Service Robots

New Trends in Medical and Service Robots
  • Author : Doina Pisla,Hannes Bleuler,Aleksandar Rodic,Calin Vaida,Adrian Pisla
  • Publisher : Springer Science & Business Media
  • Release : 06 September 2013
GET THIS BOOKNew Trends in Medical and Service Robots

This book contains mainly the selected papers of the First International Workshop on Medical and Service Robots, held in Cluj-Napoca, Romania, in 2012. The high quality of the scientific contributions is the result of a rigorous selection and improvement based on the participants’ exchange of opinions and extensive peer-review. This process has led to the publishing of the present collection of 16 independent valuable contributions and points of view and not as standard symposium or conference proceedings. The addressed issues are: Computational


Modeling, Identification and Control of Robots

Modeling, Identification and Control of Robots
  • Author : W. Khalil,E. Dombre
  • Publisher : Butterworth-Heinemann
  • Release : 01 July 2004
GET THIS BOOKModeling, Identification and Control of Robots

Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority · Unique range of coverage not available in any other book · Provides a complete course on robotic control at an


Intelligent Manufacturing & Mechatronics

Intelligent Manufacturing & Mechatronics
  • Author : Mohd Hasnun Arif Hassan
  • Publisher : Springer
  • Release : 27 April 2018
GET THIS BOOKIntelligent Manufacturing & Mechatronics

This book presents the proceedings of SympoSIMM 2018, the 1st edition of the Symposium on Intelligent Manufacturing and Mechatronics. With the theme of “Strengthening Innovations Towards Industry 4.0”, the book comprises the studies towards the particularity of Industry 4.0’s current trends. It is divided into five parts covering various scopes of manufacturing engineering and mechatronics stream, namely Intelligent Manufacturing, Robotics, Artificial Intelligence, Instrumentation, and Modelling and Simulation. It is hoped that this book will benefit the readers in embracing the new era


Exoskeletons in Rehabilitation Robotics

Exoskeletons in Rehabilitation Robotics
  • Author : Eduardo Rocon,José L. Pons
  • Publisher : Springer
  • Release : 02 February 2011
GET THIS BOOKExoskeletons in Rehabilitation Robotics

The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes


Intelligent Robotics and Applications

Intelligent Robotics and Applications
  • Author : Haibin Yu,Jinguo Liu,Lianqing Liu,Zhaojie Ju,Yuwang Liu,Dalin Zhou
  • Publisher : Springer
  • Release : 01 August 2019
GET THIS BOOKIntelligent Robotics and Applications

The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete


Disturbance Observer-Based Control

Disturbance Observer-Based Control
  • Author : Shihua Li,Jun Yang,Wen-Hua Chen,Xisong Chen
  • Publisher : CRC Press
  • Release : 19 April 2016
GET THIS BOOKDisturbance Observer-Based Control

Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applica


Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton

This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on skeletal muscle biomechanical model, and SMA-based bionic skeletal muscle technology. This comprehensive and in-depth book presents the author's research experience and achievements of many years to readers in an effort


Simulation, Modeling, and Programming for Autonomous Robots

Simulation, Modeling, and Programming for Autonomous Robots
  • Author : Davide Brugali,Jan Broenink,Torsten Kroeger,Bruce MacDonald
  • Publisher : Springer
  • Release : 19 September 2014
GET THIS BOOKSimulation, Modeling, and Programming for Autonomous Robots

This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.


Biomechatronics: Harmonizing Mechatronic Systems with Human Beings

Biomechatronics: Harmonizing Mechatronic Systems with Human Beings
  • Author : Dingguo Zhang,Venketesh Dubey,Wenwei Yu,Kin Huat Low
  • Publisher : Frontiers Media SA
  • Release : 05 February 2019
GET THIS BOOKBiomechatronics: Harmonizing Mechatronic Systems with Human Beings

This eBook provides a comprehensive treatise on modern biomechatronic systems centred around human applications. A particular emphsis is given to exoskeleton designs for assistance and training with advanced interfaces in human-machine interaction. Some of these designs are validated with experimental results which the reader will find very informative as building-blocks for designing such systems. This eBook will be ideally suited to those researching in biomechatronic area with bio-feedback applications or those who are involved in high-end research on man-machine interfaces.


Wearable Robotics

Wearable Robotics
  • Author : Jacob Rosen
  • Publisher : Academic Press
  • Release : 16 November 2019
GET THIS BOOKWearable Robotics

Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary