SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Electromyographic study of the trapezius muscle in free movements of the arm

The trapezius muscle (superior, middle and inferior portions) was analyzed in 20 volunteers. The electromyographic tests were carried out using a four-channel TECA TE 2-7 electromyograph with surface- and single coaxial needle electrodes. In abduction, adduction and flexion-extension, the 3 portions show increasing and decreasing activity, respectively, from the beginning until the end of these movements. In hyperextension, the 3 portions show increasing activity from the beginning until the end of the movement, with greater participation of the middle portion. Significant differences were not observed in the electromyographic profile of the trapezius, using surface and needle electrodes.

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.