G-Rob: a flexible multitask six-axis robotic-arm based system for crystallography

FPGA Based Robotic Arm With Six Degrees of Freedom

The purpose of the project is to build a multipurpose robotic arm which can perform operations with higher accuracy with 6 degrees of freedom. The arm will exhibit higher speed of operation and lower delay in processing due to the use of FPGA for processing and control. This will improve speed of operation and reduce the latency of response when used for applications such as bionic arm when com...

Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links

An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position. Substantially better end-effector position estimation and control performance would be obtainable if direct measurements of its end-effector position were also used. The subject of this paper is extended Kalman filtering for precise esti...

Control of a 2-DoF robotic arm using a P300-based brain-computer interface

In this study, a novel control algorithm, based on a P300-based brain-computer interface (BCI) is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women perform a 2-dimensional target tracking in a simulated environment. Their EEG (Electroencephalography) signals from visual cortex are recorded and P300 components are extracted and evaluated to perform a real...

Controller Design for a Robotic Arm System

Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...