Search results for: PUMA 560.

Authors: Gilberto Gonzalez-A, Ignacio Rodríguez- A., Dunia Nuñez-P

Abstract:

A bond graph model of a two degrees of freedom PUMA is described. System inversion gives the system input required to generate a given system output. In order to get the system inversion of the PUMA manipulator, a linearization of the nonlinear bond graph is obtained. Hence, the bicausality of the linearized bond graph of the PUMA manipulator is applied. Thus, the bicausal bond graph provides a systematic way of generating the equations of the system inversion. Simulation results to verify the calculated input for a given output are shown.

Keywords: Bond graph, system inversion, bicausality, PUMA manipulator

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Authors: A. Izadbakhsh, M. M. Fateh

Abstract:

A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.

Keywords: Model-free, robust control, position control, PUMA 560.

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Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane

Abstract:

In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.

Keywords: Internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation.

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Authors: M. Yasin, A. Tanveer, Z. Iqbal, A. Ali

Abstract:

This study was conducted to investigate the efficacy of five herbicides on narrow leaved weeds and growth and yield of wheat. An experiment was conducted at Agronomic Research Farm, University of Agriculture Faisalabad. The experiment was laid out in randomized complete block designee (RCBD) with three replications. Treatments studied were clodinafop (Topic-15 WG) at 37 g a.i. ha-1, clodinafop (Topaz-15 WG) at 45 g a.i. ha-1, fenoxaprop-p-ethyl (Puma Super-75 EW) at 45 g a.i. ha-1, fenoxaprop-p-ethyl (Gramicide-6.9 EW) at 85 g a.i. ha-1, fenoxaprop-p-ethyl (Chinlima-6.9 EW) at 85 g a.i. ha-1 and weedy check. Plots treated with fenoxaprop-p-ethyl (Puma Super-75 EW) at 45 g a.i. ha-1 produced relatively less weed biomass, more plant height, number of spike bearing tillers, number of grains per spike, 1000-grain weight and grain yield (4.20 t ha-1).

Keywords: clodinafop, fenoxaprop-p-ethyl, weeds, wheat

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.

Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

Robot manipulators are highly coupled nonlinear systems, therefore real system and mathematical model of dynamics used for control system design are not same. Hence, fine-tuning of controller is always needed. For better tuning fast simulation speed is desired. Since, Matlab incorporates LAPACK to increase the speed and complexity of matrix computation, dynamics, forward and inverse kinematics of PUMA 560 is modeled on Matlab/Simulink in such a way that all operations are matrix based which give very less simulation time. This paper compares PID parameter tuning using Genetic Algorithm, Simulated Annealing, Generalized Pattern Search (GPS) and Hybrid Search techniques. Controller performances for all these methods are compared in terms of joint space ITSE and cartesian space ISE for tracking circular and butterfly trajectories. Disturbance signal is added to check robustness of controller. GAGPS hybrid search technique is showing best results for tuning PID controller parameters in terms of ITSE and robustness.

Keywords: Controller Tuning, Genetic Algorithm, Pattern Search, Robotic Controller, Simulated Annealing.

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Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia

Abstract:

A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.

Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

In this paper performance of Puma 560 manipulator is being compared for hybrid gradient descent and least square method learning based ANFIS controller with hybrid Genetic Algorithm and Generalized Pattern Search tuned radial basis function based Neuro-Fuzzy controller. ANFIS which is based on Takagi Sugeno type Fuzzy controller needs prior knowledge of rule base while in radial basis function based Neuro-Fuzzy rule base knowledge is not required. Hybrid Genetic Algorithm with generalized Pattern Search is used for tuning weights of radial basis function based Neuro- fuzzy controller. All the controllers are checked for butterfly trajectory tracking and results in the form of Cartesian and joint space errors are being compared. ANFIS based controller is showing better performance compared to Radial Basis Function based Neuro-Fuzzy Controller but rule base independency of RBF based Neuro-Fuzzy gives it an edge over ANFIS

Keywords: Neuro-Fuzzy, Robotic Control, RBFNF, ANFIS, Hybrid GA.

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Authors: Catherine Portelli

Abstract:

Felines, such as Panthera tigris, Panthera leo and Puma concolor, have become common residents in animal parks and zoos. They often sustain injuries from other felines within the same, or adjacent enclosures and from playing with items of enrichment and structures of the enclosure itself. These open wounds, and their treatments, are often challenging in veterinary practice, where feline-specific studies are lacking. This study is based on the author’s clinical experience gained while working at local animal parks in the past five years, and current evidence of hydrocolloid dressing applied to other species. Hydrocolloid dressing is used for secondary healing of chronic and acute wounds, where there is a considerable amount of tissue loss. The patients included in this study were sedated using medetomidine and ketamine every three to four days, for wound treatment and bandage change. Comparative studies of different techniques of open wound management will improve the healing process of exotic felines in the future by decreasing the time of recovery and incidence of other complications. Such studies will also aid with treatment of injuries sustained in wild felines, such as foot hold trap and bite wounds, found in natural conservation areas and wild animal sanctuaries.

Keywords: Felines, hydrocolloid dressing, open wound, secondary healing.

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