Hybrid DE-TLBO Based Robotic Arm Controller

Controller Design for a Robotic Arm System

Stable Hybrid Fuzzy Controller-based Architecture for Robotic Telesurgery Systems

Robotic surgery and remotely controlled teleoperational systems are on the rise. However, serious limitations arise on both the hardware and software side when traditional modeling and control approaches are taken. These limitations include the incomplete modeling of robot dynamics, tool–tissue interaction, human– machine interfaces and the communication channel. Furthermore, the inherent laten...

Multivariable Controller Design of a Lego Mindstorm NXT Robotic Arm

In this paper we present a 3R Lego Mindstorm robotic arm for a multivariable controller design through the use of Matlab and Simulink. System identification was performed to estimate the parameters of the system for a pick and place task. A Proportional-Integral (PI) controller was designed for a decoupled plant. Tustin and Forward Euler discretization techniques were compared to the continous ...

Modeling a Controller for an Articulated Robotic Arm

The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional Integral Derivative (PID) control technique is being used to replace the complex electronic circuitry, which would greatly reduce the cost and size of the controller. DC motors wi...

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...