In this paper a comparison of classical and neural control strategies for a robotic leg with two revolute joints is presented. The classical control scheme is based on a computed torque control. Better results are obtained when a model based neural control strategy is implemented. The performances of the implemented control strategies for trajectory tracking are analysed by computer simulation....

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joi...

A new neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the eeects of the uncertainties. The proposed N...

The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The...

Abstract: One of control methods for underactuated manipulators is known as a switching control which selects a partiallystable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method was proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energ...

In this paper, an analytical model based on Modified Slab Method is presented for rolling of clad sheet or double-layers in which the two layers are bounded prior to rolling. This model considers the general case of asymmetrical rolling due to unequal &#10surface speed, different contact friction, roll diameters, flow stress, and thickness ratios of the two layers. Using this model, rolling par...

In this paper, an analytical model based on Modified Slab Method is presented for rolling of clad sheet or double-layers in which the two layers are bounded prior to rolling. This model considers the general case of asymmetrical rolling due to unequal surface speed, different contact friction, roll diameters, flow stress, and thickness ratios of the two layers. Using this model, rolling param...

OBJECTIVE To evaluate the primary stability of different shaped miniscrews through the acquisition of data regarding maximum insertion torque, pullout force, and a radiodiagnosic evaluation of bone characteristics. MATERIALS AND METHODS Sixty fresh porcine bone samples were scanned by computed tomography (CT) and cone-beam computed tomography (CBCT). By means of a dedicated software, CT and C...

ABSTRACT In this paper, a new kind of smooth time-varying controller was proposed for the robust stabilization problem of nonholonomic kinematics mobile robots with uncertain camera parameters based on visual feedback. And a torque controller was also designed by using the method of computed-torque for the dynamic model associated with uncertain disturbances. This torque controller can let the ...