In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analysis are derived such that quadrotor/joint space ...

An extremely compact, low-power instrument controller and data processor system has been developed for space-based applications. Known as the Advanced Instrument Controller (AIC), this hybrid device contains both digital and analog components in a package less than 5 grams in weight and 2 x 3 cm in size. Based on the Intel 8031/51 microprocessor and implementing a superset of the 8051 instructi...

The key function of the teleoperation system is to support the operator to perform complex, uncertain tasks in hazardous and less structured environments, such as space, nuclear plants, battlefield, surveillance, and underwater operations. In this study a teleoperation system was designed by force feedback joystick, sliding mode non-linear controller and 2 degree of freedom revolute joint robot...

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are biased towards a straight leg configuration by projecting leg joint angle objectives into the null-s...

This paper gives the structure optimization of fuzzy control systems based on genetic algorithm in the MATLAB environment. The genetic algorithm is a powerful tool for structure optimization of the fuzzy controllers, therefore, in this paper, integration and synthesis of fuzzy logic and genetic algorithm has been proposed. The genetic algorithms are applied for fuzzy rules set, scaling factors ...

This paper proposes an impedance control method for redundant manipulators, which can control not only the endpoint impedance using one of the conventional impedance control methods, but the joint impedance which has no effects on the end-point impedance. First, a sufficient condition for the joint impedance controller is derived. Then, the optimal controller for a given desired joint impedance...

The methods of nonlinear systems and control theory were applied to a simple musculoskeletal system with one joint and two muscles in this paper. For this purpose, a nonlinear input-affine state-space model has been developed for this system with a flexor and an extensor muscle taking into account the nonlinear muscle and movement dynamics. Two types of controllers were designed: a linear pole-...

−In the paper you will implement a set point control system for the single-link manipulator with flexible joint using a multiloop controller based on feedback linearization (inner loop) and linear statefeedback control (outer loop). Then, you will modify the multiloop controller to solve a trajectory tracking problem. The simulations demonstrate that the multi-loop control law it is a viable me...

The generation of movements in closed kinematic chains as opposed to open kinematic chains is a challenging task because all participating joints have to be moved in a highly coordinated manner in order to avoid destructive tensions in the limb. In this paper we present a new decentral joint controller which uses low level interactions between a moving joint and its environment consisting of ne...