A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...

The study of the invariant error dynamics controller for a six-degrees-of-freedom (dof) electrohydraulic Stewart platform is presented. Rigid body and electrohydraulic models, including servovalve dynamics are employed. Friction is also included in the mechanical model. The developed controller employs the dynamic and hydraulic model of the system and yields the six servovalve input current vec...

At the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR Oberpfaffenhofen), a robotic hand-arm system is being developed, which will consist of a 19 active degree-of-freedom (DoF) hand and a 7 active DoF flexible arm based on antagonistic drive principles. It is targeted to mimic human hand and arm motion as closely as possible, taking kinematic as well as dynamic range...

Parameterizing three degree-of-freedom (DOF) rotations is difficult to do well. Many graphics applications demand that we be able to compute and differentiate positions and orientations of articulated figures with respect to their rotational (and other) parameters, as well as integrate differential equations, optimize functions of DOFs, and interpolate orientations. Widely used parameterization...

The current work focuses on the development of a comprehensive scheme for the coordinated control of remotely operated vehicle–manipulator (ROVM) systems, and it proposes a novel mode for their operation. The proposed scheme consists of 2 main stages: redundancy resolution, and and robust model based control. In the redundancy resolution stage, the end-effector input commanded by a human pilot ...

Commercial multi-degrees-of-freedom (multi-DOF) myoelectric hand prostheses can perform various gestures and grip motions using multiple DOFs. However, as most upper limb amputees have less than two electromyogram (EMG) signals generated at the amputation site, it is difficult to control multi-DOF prostheses. This paper proposes a multifunctional prosthesis system that uses only EMG sensors whi...

Abstract This article proposes a novel method to optimise the Dynamic Architecture Neural Network (DAN2) adapted for multi-task learning problem. The neural network adopts multi-head and serial architecture with DAN2 layers acting as basic subroutine. Adopting dynamic architecture, are added consecutively starting from minimal initial structure. optimisation an iterative heuristic scheme that s...

This paper is concerned with the H∞ dynamic output feedback (DOF) control problem for discrete-time switched Itô stochastic hybrid systems. By applying the average dwell time method and the piecewise Lyapunov function technique, a sufficient condition is first proposed, which guarantees the closed-loop switched stochastic system to be mean-square exponentially stable with a weighted H∞ performa...

ControlIt! is a ROS-based high performance feedback control framework that enables Whole Body Control (WBC) algorithms to be implemented, instantiated, and integrated into ROS applications. It operates above individual joint controllers but below planners and takes a holistic view of the robot to achieve multiple simultaneous objectives. Such capabilities are particularly useful for highly redu...