Implementing optimized time-variant observer on flexible link manipulators

Robotic manipulators have been widely used in industries, mainly to move tools into different specific positions. Thus, it has become necessary to have accurate knowledge about the tool position using forward kinematics after accessing the angular locations of limbs. This paper presents a simulation study in which an encoder attached to the limbs gathers information about the angular positions. The measured angles are applied to the Kalman Filter (KF) and its variants for state estimation. This work focuses on the use of fractional order controllers with a Two Degree of Freedom Serial Flexible Links (2DSFL) and Two Degree of Freedom Serial Flexible Joint (2DSFJ) and undertakes simulations with noise and a square wave as input. The fractional order controllers fit better with the system properties than integer order controllers. The KF and its variants use an unknown and assumed process and measurement noise matrices to predict the actual data. An optimisation problem is proposed to achieve reasonable estimations with the updated covariance matrices.

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Position Control of a Planar Single-Link Flexible-Link Manipulator Based on Enhanced Dynamic Coupling Model

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.1546 ◽

2020 ◽

Vol 53 (2) ◽

pp. 7777-7782

Author(s):

Qingxin Meng ◽

Jundong Wu ◽

Ze Yan ◽

Chun-Yi Su

Keyword(s):

Position Control ◽

Coupling Model ◽

Flexible Link ◽

Dynamic Coupling ◽

Single Link ◽

Dynamic Coupling Model

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Economic Seafloor Massive Sulfide Mining by Japan’s Model

Volume 6: Ocean Space Utilization; Ocean Renewable Energy ◽

10.1115/omae2016-54575 ◽

2016 ◽

Author(s):

Tetsuo Yamazaki ◽

Yosuke Takeda ◽

Rei Arai ◽

Naoki Nakatani

Keyword(s):

Papua New Guinea ◽

Waste Disposal ◽

Mining Operation ◽

Massive Sulfide ◽

Sea Surface ◽

Flexible Link ◽

Private Companies ◽

Mining Site ◽

Seafloor Massive Sulfide ◽

Disposal Cost

Because of the higher Au, Ag, and Cu contents, seafloor massive sulfides (SMS) have received much attention as future commercial mining targets by private companies and nations. One of them, Solwara 1 Project in Papua New Guinea (PNG), is scheduled to start the commercial mining operation from 2018. Because the mining site is inter-island area and almost no cost is necessary for the waste disposal in PNG, the economy of the mining is expected very well. In contrast with this, because all the SMS distribution sites in Japan locate outer ocean areas and the waste disposal cost on land in Japan is very expensive, the economy of SMS mining in Japan is quite negative. In order to overcome the problems, a self-standing riser with flexible link to the sea surface platform and a primary ore separation on the seafloor prior to the ore lift-up are proposed. The improved SMS mining concept named Japan’s model is examined.

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