Control
Nasir Ahmed Alawad; Amjad J Humaidi; Ahmed Sabah Alarejee
Abstract
Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. ...
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Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. The exoskeleton is a small robotic device used for knee injury training. It is a nonlinear mathematical model with many mechanical factors that might vary and produce uncertainty, as well as external disturbances that can be utilized to monitor control. The transitioning process is frequently organized using tracking differentiator TD to resolve the conflict between system speed and overshoot. An active disturbance rejection control (ADRC) with a modified tracking differentiator is described to tackle these challenges, enhance control accuracy, and reduce settling time for exoskeleton modified trajectory differentiator (MTD).Simulation tests showed that (MTD) reduced the tracking error by 36%, when compared with the improved TD1 and 37.5% for Hans TD2 at uncertainty case . Despite the presence of several model uncertainties, the suggested training knee exoskeleton robot system using the MTD-ADRC was able to achieve the necessary target value. Control design and analysis can be done with Matlab and Simulink
Control
Mustafa Laith Muhammed; Amjad Jaleel Humaidi; Enass Hassan Flaieh
Abstract
The search algorithms are characterized by their ability to find the optimal path in a short calculation time. In this study, a comparative analysis has been conducted to perform path planning of planar manipulator for static obstacle avoidance based on graph search algorithms. Four methods have been ...
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The search algorithms are characterized by their ability to find the optimal path in a short calculation time. In this study, a comparative analysis has been conducted to perform path planning of planar manipulator for static obstacle avoidance based on graph search algorithms. Four methods have been taken into account to establish a comparison platform; namely, conventional A*, modified A*, Chaos A*, and circulation heuristic search (CHS) algorithms. The performance of comparison is evaluated in terms of length of optimal path and consumption time of calculation. All algorithms have been coded and simulated within the MATLAB software environment. According to computer simulation, the results showed that CHS algorithms outperform the other graph search ones in terms of generated path length, while the Choas A* could give the least calculation time as compared to its counterparts.