Model-based trajectory planning, optimization, and open-loop control of a continuous slab reheating furnace

Microrobotics is an ongoing study all over the world for which design is often inspired from macroscale robots. We have proposed the design of a new kind of microfabricated microrobot based on the use of binary actuators in order to generate a highly accurate and repeatable tool for positioning tasks at microscale without any sensor (with open-loop control). Our previous work consisted in the design, modeling, fabrication, and characterization of the first planar digital microrobot. In this paper, we focus on the motion planning of this robot for micromanipulation tasks. The complex motion pattern of this robot requires the use of algorithms. Graph theory is well suited for the discrete workspace generated by this robot. The comparison between several well-known trajectory-planning algorithms is done. A new graphical representation, named the hypercubic graph, is used for improving the computation speed of the algorithm. This is particularly useful for large workspace robots.

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Asymptotic Solution and Trajectory Planning for Open-Loop Control of Mobile Robots

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4035169 ◽

2017 ◽

Vol 139 (5) ◽

Cited By ~ 2

Author(s):

Alan Whitman ◽

Garrett Clayton ◽

Alexander Poultney ◽

Hashem Ashrafiuon

Keyword(s):

Mobile Robots ◽

Trajectory Planning ◽

Control Method ◽

Open Loop ◽

Order Correction ◽

Reference Trajectory ◽

Open Loop Control ◽

Loop Control ◽

First Order ◽

First Order Correction

A novel open-loop control method is presented for mobile robots based on an asymptotic inverse dynamic solution and trajectory planning. The method is based on quantification of sliding by a small nondimensional parameter. Asymptotic expansion of the equations yields the dominant nonslip solution along with a first-order correction for sliding. A trajectory planning is then introduced based on transitional circles between the robot initial states and target reference trajectory. The transitional trajectory ensures smooth convergence of the robot states to the target reference trajectory, which is essential for open-loop control. Experimental results with a differential drive mobile robot demonstrate the significant improvement of the controller performance when the first-order correction is included.

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Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics ◽

10.4018/978-1-4666-3634-7.ch012 ◽

2013 ◽

pp. 165-178

Author(s):

Umesh Bhagat ◽

Bijan Shirinzadeh ◽

Yanling Tian

Keyword(s):

Experimental Study ◽

Motion Tracking ◽

Closed Loop ◽

Position Control ◽

Laser Interferometry ◽

Open Loop ◽

Closed Loop Control ◽

Open Loop Control ◽

Loop Control ◽

Model Based

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based closed-loop control, and robust motion tracking closed-loop control for flexure-based mechanism. A comparative error analysis for closed-loop control with capacitive position sensor and laser interferometry feedback is discussed and presented. Model-based closed-loop control shows improvement in position and motion tracking over open-loop control. Robust control demonstrates high precise and accurate motion tracking of flexure-based mechanism compared to the model-based control. With this experimental study, this paper offers evidence that the laser interferometry-based closed-loop control can minimize positioning and tracking errors during dynamic motion, hence realizing high precision motion tracking and accurate position control.

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Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism

International Journal of Intelligent Mechatronics and Robotics ◽

10.4018/ijimr.2011070103 ◽

2011 ◽

Vol 1 (3) ◽

pp. 31-45 ◽

Cited By ~ 6

Author(s):

Bijan Shirinzadeh ◽

Umesh Bhagat ◽

Yanling Tian

Keyword(s):

Experimental Study ◽

Motion Tracking ◽

Closed Loop ◽

Position Control ◽

Laser Interferometry ◽

Open Loop ◽

Closed Loop Control ◽

Open Loop Control ◽

Loop Control ◽

Model Based

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based closed-loop control, and robust motion tracking closed-loop control for flexure-based mechanism. A comparative error analysis for closed-loop control with capacitive position sensor and laser interferometry feedback is discussed and presented. Model-based closed-loop control shows improvement in position and motion tracking over open-loop control. Robust control demonstrates high precise and accurate motion tracking of flexure-based mechanism compared to the model-based control. With this experimental study, this paper offers evidence that the laser interferometry-based closed-loop control can minimize positioning and tracking errors during dynamic motion, hence realizing high precision motion tracking and accurate position control.

Download Full-text