Design and control of hybrid actuation lower limb exoskeleton

Autor: Hipolito Aguilar-Sierra, Wen Yu, Sergio Salazar, Ricardo Lopez

Publikováno v: Advances in Mechanical Engineering, Vol 7 (2015)

In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artifici

Externí odkaz: https://doaj.org/article/2407d03bbca54e6bb91b8e542ca76d4d

A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs

Autor: José Humberto Arroyo-Núñez, Jonatan Martín Escorcia-Hernández, Omar Aguilar-Mejia, Ahmed Chemori, Hipolito Aguilar-Sierra

Publikováno v: Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems, Springer Verlag, 2020, 200, pp.827-847. ⟨10.1007/s10846-020-01242-9⟩

International audience; In this paper, a RISE (Robust Integral of the Sign Error) controller with adaptive feedforward compensation terms based on Associative Memory Neu-ral Network (AMNN) type B-Spline is proposed to regulate the positioning of a De

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::61be5cba7d2df957cfe0be0b39077e6e
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02925920

An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot

Autor: Ahmed Chemori, Jonatan Martín Escorcia-Hernández, Omar Aguilar-Mejia, Hipolito Aguilar-Sierra, José Humberto Arroyo-Núñez

Publikováno v: 6th International Conference on Control, Decision and Information Technologies (CoDIT)
6th International Conference on Control, Decision and Information Technologies (CoDIT), Apr 2019, Paris, France. pp.361-366, ⟨10.1109/CoDIT.2019.8820472⟩
CoDIT
International Conference on Control, Decision and Information Technologies
CoDIT: Conference on Control, Decision and Information Technologies
CoDIT: Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France

International audience; In this paper a PD controller with intelligent compensation is used to solve the problem of tracking trajectories for a Delta Parallel Robot with three degrees of freedom. This controller uses an artificial B-Spline neural net

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1888eb1c742ae8871b32900b57dbc344
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02118344/document

A new solution for machining with RA-PKMs: Modelling, control and experiments

Autor: Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Ahmed Chemori, Jesús Arturo Monroy-Anieva

Publikováno v: Mechanism and Machine Theory
Mechanism and Machine Theory, Elsevier, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩

International audience; In this paper, a novel 5-Degree of Freedom (DOF) Redundantly Actuated (RA) Parallel Kine-matic Manipulator (PKM) called SPIDER4 is presented. The main purpose of this manipula-tor is to perform machining tasks such as drilling

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::474c61d2e8f034681f8d965738a3af25
https://doi.org/10.1016/j.mechmachtheory.2020.103864

Fault estimation using a polynomial observer: A real-time application

Autor: Rafael Martínez-Guerra, Hipolito Aguilar-Sierra, Juan L. Mata-Machuca

Publikováno v: IFAC Proceedings Volumes. 45:552-557

This chapter has been developed in the context of the faults diagnosis problem for nonlinear systems. The problem is viewed as the estimation of fault signals using extended state observers theory. A differential algebra approach is proposed to deter

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::727f88e89788980d27fdad83925ade32
https://doi.org/10.3182/20120829-3-mx-2028.00236