Luige Vladareanu

Extension Hybrid Force-Position Robot Control in Higher Dimensions

The paper presents an advanced method for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying a 2D Extension Set. Using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in order to solve the robot real time control. The generalization of the extension distance and dependent function uses Extenics in Higher Dimensions theory eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Thus was developed an optimization method for hybrid position-force control which ensures positioning precision and robot movement stability on rough terrain. The final conclusions lead to development of a methodology that allows obtaining high level results for hybrid position-force control using extended transformations onto the real numbers set and an optimization function generated by the extended dependence function in 2 D space.

Advanced intelligent control methods in open architecture systems for cooperative works on 4 Nano-Micro-Manipulators platform

The paper deals with conceiving and developing a new open architecture (OAH) system for real-time control on 5 degrees of freedom of a 4 Nano-Micro-Manipulators platform, using optical processing of information and image processing based on multiprocessor systems operating in a cooperation regime in order to achieve measurements, experiments, checks and tests in the field of nano-micro-manufacturing.

Real-time control open systems of five DOF nanomanipulators

The main paper presents studies and research concerning the development of new open architectures for real-time control of a 5 degrees of freedom platform with 4 nano-manipulators, based on multiprocessor systems operating in a cooperation regime in order to achieve experiments in the 4 research domains: robotics, vibro-acustica, tribology, carbon nano tubes (CNTs ). In order to obtain this performance a positioning method with high precision at high speed is developed through reducing and compensating the induced dynamic vibrations by the system movement using the inverse dynamics method. The systems performance will allow the introduction of new functions without significant change to the hardware system. Through determining the optimal trajectory using a quadratic cost function for reducing tracking errors results increased motion speed and micro or nanometric positioning precision.

DYNAMIC STABILITY IMPROVEMENT OF WALKING ROBOTS 1

The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, for dynamics stability improvement of MERO walking robots. In order to increase mobility and stability in real conditions and to obtain superior results relating to the possibility of moving walking robots on terrains with close configuration to real situations such as slope walking, overtaking or avoiding obstacles, the paper presents research regarding the integration of compliant control and fuzzy control into the hybrid position force control system architecture for hexapod walking robots. The results obtained shows that this allows the robot to adapt to rough terrain through a real time control with increased stability during walking.

THE IMPROVEMENT OF STRUCTURAL AND REAL TIME CONTROL PERFORMANCES FOR MERO MODULAR WALKING ROBOTS

Starting from the standard MERO walking modular robot, which is a robot on 3x6 degrees of freedom, autonomous, being able to interact with the environment, are presented the results obtained by the improvement of the structural and real time control performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory that defines legs’ support and weigh centre positions. Related to this there is presented an Open Architecture system for the MERO robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of MERO robot’s position in Cartesian coordinates and increased flexibility.