Experimental implementation and verification of multi-degrees-of-freedom effective force testing

2013 ◽  
Vol 43 (3) ◽  
pp. 413-428 ◽  
Author(s):  
Narutoshi Nakata ◽  
Erin Krug ◽  
Aaron King
Keyword(s):  
Degrees Of Freedom ◽  
Effective Force ◽  
Experimental Implementation ◽  
Effective Force Testing

An approach towards decentralized control of cooperating non-autonomous multiple robots

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 495-504 ◽  
Author(s):  
Khalid Munawar ◽  
Masayoshi Esashi ◽  
Masaru Uchiyama
Keyword(s):  
Decentralized Control ◽  
Degrees Of Freedom ◽  
Real Life ◽  
Robotic Systems ◽  
Present System ◽  
Multiple Robots ◽  
Experimental Implementation ◽  
Control Scheme ◽  
The Common ◽  
Event Based

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.

Nonlinear System Modeling and Velocity Feedback Compensation for Effective Force Testing

2005 ◽  
Vol 131 (3) ◽  
pp. 244-253 ◽  
Author(s):  
Jian Zhao ◽  
Carol Shield ◽  
Catharine French ◽  
Thomas Posbergh
Keyword(s):  
Nonlinear System ◽  
System Modeling ◽  
Velocity Feedback ◽  
Nonlinear System Modeling ◽  
Effective Force ◽  
Feedback Compensation ◽  
Effective Force Testing

Validation of loop shaping force feedback controller for nonlinear effective force testing

2013 ◽  
Vol 21 (14) ◽  
pp. 2773-2786 ◽  
Author(s):  
Narutoshi Nakata ◽  
Erin Krug
Keyword(s):  
Force Feedback ◽  
Feedback Controller ◽  
Effective Force ◽  
Loop Shaping ◽  
Effective Force Testing

Dynamic Force Loading Strategy for Effective Force Testing Considering Natural Velocity Feedback Compensation and Nonlinearity

2020 ◽  
pp. 2150007
Author(s):  
Zhen Wang ◽  
Yong Ding ◽  
Aming Shi ◽  
Xizhan Ning ◽  
Bin Wu
Keyword(s):  
Control Synthesis ◽  
Dynamic Force ◽  
Gradient Descent Method ◽  
Structural Dynamic ◽  
Velocity Feedback ◽  
Force Loading ◽  
Effective Force ◽  
Loading System ◽  
Effective Force Testing ◽  
Mcs Method

The effective force testing is a promising seismic testing method for evaluating the structural dynamic response to earthquakes for conciseness and efficiency. However, two challenging loading issues are associated with this method, i.e. the natural velocity feedback (NVF) and nonlinearities related to the interaction between the loading system and specimen, thereby hindering its development and extensive applications. To address these issues, this study proposes a dynamic force loading strategy using a hybrid algorithm with linear compensation for NVF and model reference adaptive control via the minimal control synthesis (MCS) method. Online identification of linear compensation gain in preliminary tests is conceived based on the gradient descent method. A series of numerical simulations on a nonlinear loading system model with linear/trilinear single/two degree(s)-of-freedom specimens are conducted using five loading strategies, including linear and nonlinear compensations and MCS method. Comparative studies show that the proposed method and nonlinear compensation strategy outperform the other three methods, and sometimes the proposed method performs best. In summary, the proposed method is promising because of its accuracy and robustness as well as its ease of implementation and cost-effectiveness.

Nonlinear Effective Force Testing Using Loop Shaping Controller

2013 ◽  
Author(s):  
Narutoshi Nakata ◽  
Erin Krug
Keyword(s):  
Effective Force ◽  
Loop Shaping ◽  
Effective Force Testing

Effective force testing using a robust loop shaping controller

2012 ◽  
Vol 42 (2) ◽  
pp. 261-275 ◽  
Author(s):  
Narutoshi Nakata
Keyword(s):  
Effective Force ◽  
Loop Shaping ◽  
Effective Force Testing
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