Dynamic emulation of mechanical loads — position control approach

2010 ◽  
Author(s):  
Miran Rodic ◽  
Karel Jezernik ◽  
Mladen Trlep
Keyword(s):  
Position Control ◽  
Mechanical Loads ◽  
Control Approach ◽  
Dynamic Emulation

Stiffness Control of Parallel Continuum Robots

2018 ◽  
Author(s):  
Vincent Aloi ◽  
Caroline Black ◽  
Caleb Rucker
Keyword(s):  
Position Control ◽  
Target Position ◽  
Human Robot Interaction ◽  
Force Measurements ◽  
Modeling Framework ◽  
Continuum Robots ◽  
Integral Control ◽  
Control Approach ◽  
Cosserat Rods ◽  
Stiffness Control

Parallel continuum robots can provide compact, compliant manipulation of tools in robotic surgery and larger-scale human robot interaction. In this paper we address stiffness control of parallel continuum robots using a general nonlinear kinetostatic modeling framework based on Cosserat rods. We use a model formulation that estimates the applied end-effector force and pose using actuator force measurements. An integral control approach then modifies the commanded target position based on the desired stiffness behavior and the estimated force and position. We then use low-level position control of the actuators to achieve the modified target position. Experimental results show that after calibration of a single model parameter, the proposed approach achieves accurate stiffness control in various directions and poses.

Analysis of the Dynamic Emulation Problem for Validation of Position Control Algorithms in Machine Drives

2018 ◽  
Author(s):  
Carlos M. R. de Oliveira ◽  
Manoel Luis de Aguiar ◽  
Paulo R. U. Guazzelli ◽  
Allan Gregori de Castro ◽  
Stefan T. C. A. dos Santos ◽  
...  
Keyword(s):  
Position Control ◽  
Control Algorithms ◽  
Dynamic Emulation ◽  
Machine Drives

scholarly journals Mechatronic Control System for a Compliant and Precise Pneumatic Rotary Drive Unit

Actuators ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 1 ◽  
Author(s):  
Johannes T. Stoll ◽  
Kevin Schanz ◽  
Andreas Pott
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Mechanical Design ◽  
Control Algorithms ◽  
Field Oriented Control ◽  
Pneumatic Drive ◽  
Drive Unit ◽  
Control Approach ◽  
Human Robot Collaboration ◽  
Rotary Drive

Robots that enable safe human-robot collaboration can be realized by using compliant drive units. In previous works, different mechanical designs of compliant pneumatic rotary drive units with similar characteristics have been presented. In this paper, we present the overall control approach that we use to operate one of these compliant pneumatic rotary drive units. We explain the mechanical design and derive the differential equation that describes the dynamics of the system. In order to successfully operate a pneumatic drive unit with three or more working chambers, the torque specified by the controller has to be split up onto the working chambers. We transfer the well-known field-oriented control approach from electric motors to the investigated pneumatic drive unit to create such a torque mapping. Moreover, we develop optimized torque mappings that are tailored to work with this type of drive unit. Furthermore, we introduce and compare two control algorithms based on different implementations of state feedback to realize position control. Finally, we present the step responses that we achieve when we implement either one of the control algorithms in combination with the different torque mappings.

scholarly journals Implementation of Two-Axis Position-Based Impedance Control with Inverse Kinematics Solution for A 2-DOF Robotic Finger

2018 ◽  
Vol 7 (3.11) ◽  
pp. 10 ◽  
Author(s):  
Khairunnisa Nasir ◽  
Ruhizan Liza Ahmad Shauri ◽  
Norshariza Mohd Salleh ◽  
Nurul Hanani Remeli
Keyword(s):  
External Force ◽  
Inverse Kinematics ◽  
Position Control ◽  
Impedance Control ◽  
The Body ◽  
Geometrical Approach ◽  
Robot Hand ◽  
Control Approach ◽  
Axis Position ◽  
Mass Spring

Position-based impedance control is a force control approach which consists of a single control law that accommodates the external force to achieve the desired dynamics of the body. A previously developed three-fingered robot hand was very rigid in its motion due to the application of position control alone. The position control scheme was inadequate for the tasks that involves the interaction of a robot end-effector with its environment which could damage fragile objects or be prone to slippage when provided with incorrect object's position. This paper introduces the application of two-axis position-based impedance control to one of the 2 degree-of-freedom (DOF) robotic finger of the robot hand. The goal of the control is to produce a mass-spring-dashpot system for the robot hand which considers the external force exerted by the object or environment onto the finger to modify the targeted position of the robot's tip-end. The position-based impedance control which was successfully performed however could not directly drive the DC-micromotors at the finger joints since it was expressed in the Cartesian position (X,Y,Z) form. Therefore, inverse kinematics was derived using geometrical approach to convert the Cartesian position (X,Y,Z) to angle position of motor which is controlled by PID. The proposed control and the developed kinematics were programmed using Matlab Simulink and tested in real-time experiments. The validation result has proven that the proposed position-based impedance control could modify the initial fingertip position according to the amount and direction of the applied external force, thus produced softness to the robotic finger.  

Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control

2004 ◽  
Vol 8 (3) ◽  
pp. 324-331
Author(s):  
Dong Sun ◽  
◽  
Y. X. Su ◽  
James K. Mills ◽  
Keyword(s):  
Position Control ◽  
Robot Manipulators ◽  
Pd Controller ◽  
Control Performance ◽  
Direct Drive ◽  
Control Approach ◽  
Single Link ◽  
Nonlinear Tracking ◽  
Control Methodology ◽  
Fuzzy Pd

A position control approach for direct-drive robot manipulators with permanent magnet AC (PMAC) motors is proposed. The conventional vector control architecture has been simplified by specifying the motor stator phase so that the rotating d-axis current is zero. The position control is designed to be an enhanced fuzzy PD controller, by incorporating two nonlinear tracking differentiators into a conventional fuzzy PD controller. The proposed control methodology is easy to implement, and exhibits better control performance than conventional control methods. Experiments conducted on a single-link manipulator directly driven by a PMAC motor demonstrate the validity of the proposed approach.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

Industrial controller-based dynamometer with dynamic emulation of mechanical loads

2017 ◽  
Vol 99 (4) ◽  
pp. 1245-1254 ◽  
Author(s):  
Karol Kyslan ◽  
Miran Rodič ◽  
Ľuboš Suchý ◽  
Želmíra Ferková ◽  
František Ďurovský
Keyword(s):  
Mechanical Loads ◽  
Dynamic Emulation ◽  
Industrial Controller

Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1701-1727 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Control Approach ◽  
Mode Control ◽  
Aerial Robot ◽  
Six Dof

SUMMARYThe quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

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