Actuator Gain Distributions to Analytically Meet Specified Performance Capabilities in Serial Robot Manipulators

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Oziel Rios ◽  
Delbert Tesar
Keyword(s):  
Configuration Management ◽  
Effective Length ◽  
Management Problem ◽  
Motor Speed ◽  
Analytic Process ◽  
Performance Specifications ◽  
Serial Robot ◽  
Manipulator Arm ◽  
System Output ◽  
Forward Mapping

A serial robotic manipulator arm is a complex electromechanical system whose performance is characterized by its actuators. The actuator itself is a complex nonlinear system whose performance can be characterized by the speed and torque capabilities of its motor, and its accuracy depends on the resolution of the encoder as well as its ability to resist deformations under load. The mechanical gain associated with the transmission is critical to the overall performance of the actuator since it amplifies the motor torque, thus improving the force capability of the manipulator housing it, reduces the motor speed to a suitable output speed operating range, and amplifies the stiffness improving the precision under load of the overall system. In this work, a basic analytic process that can be used to manage the actuator gain parameter to obtain an improved arm design based on a set of desired/required performance specifications will be laid out. Key to this analytic process is the mapping of the actuator parameters (speed, torque, stiffness, and encoder resolution) to their effective values at the system output via the mechanical gains of the actuators as well as the effective mechanical gains of the manipulator. This forward mapping of the actuator parameters allows the designer to determine how each of the parameters influences the functional capacity of the serial manipulator arm. The actuator gains are then distributed along the effective length of the manipulator to determine their effects on the performance capabilities of the system. The analytic formulation is also demonstrated to be effective in addressing the issue of configuration management of serial robotic manipulators where the goal is to assemble a system that meets some required performance specifications. To this end, two examples demonstrating a solution of the configuration management problem are presented. The analytic process developed based on the mapping of the mechanical parameters of the actuator to their effective values at the system output is shown to dramatically reduce the effort in the initial phases of the design process, meaning that the number of design iterations can be dramatically reduced.

Actuator Gain Distributions in Serial Robotic Manipulators to Meet Specified Task Requirements

2008 ◽  
Author(s):  
Oziel Rios ◽  
Delbert Tesar
Keyword(s):  
Configuration Management ◽  
Robotic Manipulators ◽  
Effective Length ◽  
Management Problem ◽  
Motor Speed ◽  
Analytic Process ◽  
Performance Specifications ◽  
Finite Set ◽  
Manipulator Arm ◽  
System Output

A serial robotic manipulator arm is a complex electro-mechanical system whose performance is highly characterized by its actuators. The actuator itself is a complex nonlinear system whose performance can be represented by the speed and torque capabilities of its motor and its accuracy depends on the resolution of the encoder as well as its ability to resist deformations under load. The mechanical gain associated with the transmission is critical to the overall performance of the actuator since it amplifies the motor torque thus improving the force capability of the manipulator housing it, reduces the motor speed to a suitable output speed operating range, enables an improvement in responsiveness (acceleration) and amplifies the stiffness improving the precision under load of the overall system. In this work, a basic analytic process that can be used to manage the actuator gain parameters to obtain an improved arm design based on a set of desired/required performance specifications will be laid out. Key to this analytic process is the mapping of the actuator parameters (speed, torque, stiffness and encoder resolution) to their effective values at the system output via the mechanical gains of the actuators as well as the effective mechanical gains of the manipulator. This forward mapping of the actuator parameters allows the designer to determine how each of the parameters influences the functional capacity of the serial manipulator arm. The actuator gains are then distributed along the effective length of the manipulator to determine the distribution effects on the performance capabilities of the system. The analytic formulation is used to address the issue of configuration management of serial robotic manipulators where the goal is to assemble a system from a finite set of components that meets some required performance specifications. To this end, two examples demonstrating a solution of the configuration management problem are presented. In the first, a manipulator is configured that is intended for light-duty applications while in the second, several manipulators intended for medium and heavy-duty applications are configured. The analytic process developed in this work can reduce the effort in the initial phases of the design process and the total number of design iterations can be reduced.

Feedback Linearizing Control of Surge in an Axial Compression System: Theory and Experimental Validation

1995 ◽  
Author(s):  
O. O. Badmus ◽  
S. Chowdhury ◽  
C. N. Nett
Keyword(s):  
Feedback Control ◽  
Closed Loop ◽  
Controller Design ◽  
Dynamic Pressure ◽  
Axial Compressor ◽  
State Feedback Control ◽  
Effective Length ◽  
Control Input ◽  
System Input ◽  
System Output

This paper presents experimental demonstration of surge stabilization in an axial compressor rig with a feedback linearizing controller. The controller design approach is model-based, and hence a nonlinear surge model for the facility is first validated. The surge model is a modification of the classic one-dimensional incompressible fluid surge model, with an effective length function incorporated, to account for the increased path-length of the fluid in the compressor due to the imparted tangential forces of the blade. This model, which adequately describes the observed surge dynamics both in terms of amplitude and frequency of oscillation, is then used to develop the feedback control law. The feedback linearizing control input implicitly linearizes the dynamics between the system input, throttle area parameter, and the system output, inlet dynamic pressure. A linear state feedback control input, implemented on the feedback linearized system thus ensures stabilization of the surge dynamics in the original nonlinear model. Finally, the nonlinear based observer is included in closed loop implementation to enhance the tracking of the system output, and also to minimize the adverse effect of measurement noise, thereby improving closed loop system performance.

Effective Tool-Point Acceleration of Serial Chain Mechanisms Based on Basic Geometric Transformations

2009 ◽  
Vol 1 (4) ◽  
Author(s):  
Oziel Rios ◽  
Delbert Tesar
Keyword(s):  
Modular Design ◽  
Configuration Management ◽  
Optimal Solution ◽  
Point Force ◽  
Transmission Ratio ◽  
Management Problem ◽  
Geometric Transformations ◽  
Serial Chain ◽  
Six Dof ◽  
Forward Kinematic

In this paper, a method to manage the actuator parameters of a serial chain mechanism composed of revolute joints to achieve improved responsiveness characteristics (acceleration capability) based on the basic geometric parameters of the mechanism is presented. Here, an analytic framework presented by the authors in an earlier work, which exploits the geometric structure of this type of mechanism is extended to address the tool-point mass and acceleration. The manipulator’s geometry is reduced to a set of lengths, which are representative of the mechanical gains associated with the manipulator and they, along with the transmission ratio of the actuators, are used to map the actuator parameters to their effective values at the tool-point where a direct comparison to the task requirements can be made. With this method, minimal computations are required to evaluate the system’s performance since only the forward kinematic computations are required. The effects of the actuator transmission ratio parameter on the effective tool-point force, mass, and acceleration are investigated for a six-DOF serial chain manipulator. Through this case study, it is demonstrated how the transmission ratio is managed to balance the system’s effective tool-point force and mass to obtain an optimal tool-point acceleration. In addition to the investigation of the effects of the actuator parameters, the method is shown to be useful in the solution of the configuration management or modular design problem since the exponential design space can be searched for a globally optimal solution with minimal computations. The goal of the configuration management problem is to quickly configure and/or reconfigure a robotic manipulator from a finite set of actuator modules.

scholarly journals Worked out Results of IPCCR Framework for AMS Projects

2018 ◽  
Vol 7 (2.32) ◽  
pp. 86
Author(s):  
Srinivasa Rao Kosiganti ◽  
Dr Y. Prasanth
Keyword(s):  
Change Management ◽  
Configuration Management ◽  
Incident Management ◽  
Management Problem ◽  
Problem Management ◽  
Management Change ◽  
Important Concept ◽  
Release Management

The IPCCR framework that was designed to reduce CAPEX and OPEX of Application Support and Maintenance Projects, has helped to understand Incident, Problem, Change, Configuration and Release and directly impacts the costs that are accrued.  Using Proper Incident Management, Problem Management, Change Management, Configuration Management and Release Management, which are the key ingredients of ITIL V3.2 and DevOps reduces the costs of Capital Expenses and Operational Expenses.  The important concept of Known Error Database will subsequently reduce the Operational Expenses as much as possible.  

An analytic process method for defining appropriate measures of systems' performance and effectiveness

1982 ◽  
Author(s):  
Dorothy L. Finley ◽  
H. C. Strasel ◽  
Richard L. Bloom ◽  
John F. Oates
Keyword(s):  
Analytic Process ◽  
Process Method

On destructiveness in all of us

2019 ◽  
Vol 1 (1) ◽  
pp. 10-20
Author(s):  
Veronika Grüneisen
Keyword(s):  
Analytic Process ◽  
Societal Violence

This article describes experiences in the Nazareth Conferences. That is, confronting the aftermath of destructive societal violence in the relationships between Germans and Israelis, and then also Palestinians, today. It focuses on how destructiveness, which is mobilised in the course of a conference, can be confronted, contained, and worked with in the course of an analytic process and in current societal conflict.

First Insights on Peruvian Luxury Consumers

2018 ◽  
Vol 9 (8) ◽  
pp. 699-712
Author(s):  
Anne-Flore Maman Larraufie ◽  
Keyword(s):  
Emerging Markets ◽  
Cultural Dimensions ◽  
Historical Background ◽  
Two Stage ◽  
Secondary Sources ◽  
Strong Potential ◽  
Analytic Process ◽  
Emerging Country ◽  
Research Questions ◽  
Practical Recommendations

Peru is an emerging country showing strong potential for future luxury developments. It already holds luxury regular consumers, mainly in the Lima capital. However, it is currently approached in a standardized process by luxury firms, following what is done in other emerging markets for luxury. To be efficient, it is necessary to get more knowledge about Peruvian consumers. This is what this article aims at. After reviewing the historical background of the country along with its cultural dimensions, we present results from a two-stage analytic process based on data collected from secondary sources and interviews with consumers. We derive from that practical recommendations for luxury managers and propose some research questions and hypotheses to be further explored and tested.

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