Optimal Simultaneous Kinematic, Dynamic and Control Design of High Performance Manipulators Based on Trajectory Pattern Method

1998 ◽  
Author(s):  
J. Rastegar ◽  
L. Liu ◽  
M. Mattice
Keyword(s):  
High Speed ◽  
High Performance ◽  
Optimality Criterion ◽  
Control Design ◽  
Tracking Errors ◽  
Motion Patterns ◽  
Trajectory Pattern ◽  
And Control ◽  
Velocity Tracking ◽  
Trajectory Pattern Method

Abstract An optimal simultaneous kinematic, dynamic and control design approach is proposed for high performance computer controlled machines such as robot manipulators. The approach is based on the Trajectory Pattern Method (TPM) and a fundamentally new design philosophy that such machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. In the proposed approach, given the structure of the manipulator, its kinematic, dynamic and control parameters are optimized simultaneously with the parameters that describe the selected trajectory pattern. In the example presented in this paper, a weighted sum of the norms of the higher harmonics appearing in the actuating torques and the integral of the position and velocity tracking errors are used to form the optimality criterion. The selected optimality criterion should yield a system that is optimally designed to accurately follow the specified trajectory at high speed. Other objective functions can be readily formulated to synthesize systems for optimal performance. The potentials of the developed method and its implementation for generally defined motion patterns are discussed.

Real-Time Validation and Control Environment for Parallel Robot Control Design

2011 ◽  
Author(s):  
A. Zubizarreta ◽  
E. Portillo ◽  
I. Cabanes ◽  
M. Marcos ◽  
Ch. Pinto
Keyword(s):  
High Speed ◽  
High Performance ◽  
Experimental Testing ◽  
Control Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Full Potential ◽  
Control Environment ◽  
High Level ◽  
And Control

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However, exploiting the full potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

Trajectory Pattern Based Simultaneous Kinematic and Dynamic Optimal Design of High Speed Manipulators

1996 ◽  
Author(s):  
M. Tai ◽  
J. Rastegar
Keyword(s):  
Optimal Design ◽  
High Speed ◽  
High Performance ◽  
Current Approach ◽  
Operating Conditions ◽  
Control Problems ◽  
Structure And Motion ◽  
Design Variables ◽  
Trajectory Pattern ◽  
And Control

Abstract An integrated structure and motion pattern specific design approach is proposed for optimal design of high speed and accuracy computer controlled machines including robots. The approach is based on the Trajectory Pattern Method (TPM). The current approach to the design of such machines is to assume that the machine will be required to perform more or less any arbitrary and often unrealistic tasks. This assumption nearly always leads to designs based on the worst operating conditions. The proposed trajectory pattern based design methodology presented in this paper stems from a fundamentally new design philosophy. The philosophy behind the proposed approach is that machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. And that trajectory patterns, i.e., classes of parametric trajectories, exist with which high speed motions can be synthesized with minimal ensuing vibration and control problems. In the proposed approach, given the kinematic structure of the machine, its kinematic and dynamic parameters are optimized simultaneously with the parameters that describe a selected trajectory pattern. The controller parameters may also be included as design variables. In the present study, the optimality criterion employed is based on minimizing the higher harmonic portion of the actuating forces (torques) required for performing the selected class(es) of motion patterns. Trajectories that do not demand high frequency actuating torque harmonics are desirable since they reduce vibration and control problems in high performance systems and reduce settling time. Examples of the application of the proposed approach are presented.

Passivity-based cruise control of high speed trains

2016 ◽  
Vol 24 (3) ◽  
pp. 492-504 ◽  
Author(s):  
Mohammadreza Faieghi ◽  
Aliakbar Jalali ◽  
Seyed Kamal-e-ddin Mousavi Mashhadi ◽  
Dumitru Baleanu
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Longitudinal Motion ◽  
Computationally Efficient ◽  
Cruise Control ◽  
Tracking Errors ◽  
High Speed Trains ◽  
Control Feedback ◽  
Bounded Perturbations ◽  
Velocity Tracking

The cruise control problem of high speed trains (HSTs) is revisited in this paper. Despite the ongoing trend of using Lyapunov-based approaches, the concept of passivity is used as the basis of cruise controller design. To begin with, the Euler–Lagrange modeling of longitudinal motion of HST is introduced. Consequently, passivity properties of the system is investigated and it is shown that the system presents a strictly passive input–output map output. This property is utilized to design a controller based on an energy-shaping method. Since the controller benefits from the passivity property of the train, it is structurally simple and computationally efficient while ensuring asymptotic velocity tracking. In addition, as revealed in our robust analysis, the controller is capable of dealing with bounded perturbations. That is to say, boundedness of velocity tracking errors is guaranteed for sufficiently large control feedback gains. The obtained theoretical results have been verified by numerical simulation.

scholarly journals Adaptive Fault-Tolerant Cruise Control for a Class of High-Speed Trains with Unknown Actuator Failure and Control Input Saturation

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Tao Tao ◽  
Hongze Xu
Keyword(s):  
High Speed ◽  
Monotone Mapping ◽  
Input Saturation ◽  
Fault Detection And Diagnosis ◽  
Control Input ◽  
Cruise Control ◽  
Nonlinear Dynamic Model ◽  
High Speed Trains ◽  
And Control ◽  
Velocity Tracking

This paper investigates the position and velocity tracking control of a class of high-speed trains (HST) with unknown actuator failures (AF) and control input saturation (CIS). Firstly, a nonlinear dynamic model for HST at normal operating status is built. The structure of traction system in HST is analyzed and the corresponding model for HST with unknown AF is presented as well. The type of AF under consideration is that some of the plant inputs are influenced by hopping function. An adaptive model-based fault detection and diagnosis (AMFDD) module is proposed based on immersion and invariance (I&I) method to make decisions on whether a fault has occurred. A new framework to design a monotone mapping is proposed in I&I method, that is,P(x)-monotone. Using on-line obtained fault information, an adaptive law is designed to update the controller parameters to handle unknown AF and CIS in HST simultaneously when some of plant parameters are unknown. Closed-loop stability and asymptotic position and velocity tracking are ensured. Numerical simulations of China Railways High-speed 2 (CRH2) train are provided to verify the effectiveness of the presented scheme.

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

Guidance and control design for HOPE-X High Speed Flight Demonstrator Phase II

2001 ◽  
Author(s):  
Taro Tsukamoto ◽  
Hirokazu Suzuki ◽  
Masakazu Sagisaka ◽  
Takeshi Nishizawa
Keyword(s):  
Phase Ii ◽  
High Speed ◽  
Control Design ◽  
Guidance And Control ◽  
And Control

Study on CNC System of Parallel Mechanism

2010 ◽  
Vol 37-38 ◽  
pp. 1273-1277
Author(s):  
Xue Yong Zhong ◽  
Yan Bing Ni ◽  
Pan Feng Wang ◽  
Zhi Yong Yang
Keyword(s):  
Virtual Instrument ◽  
Parallel Mechanism ◽  
High Speed ◽  
High Performance ◽  
Functional Module ◽  
Numerical Control ◽  
Open Architecture ◽  
Parallel Mechanisms ◽  
Cnc System ◽  
And Control

In this paper, the open architecture technique is used to develop the computer numerical control (CNC) system of parallel mechanism. The personal computer (PC) with high-performance motion control card Flex-6C and virtual instrument software package are utilized as the hardware and software platforms, respectively. The interface between motion controller and servo system is designed, and the core functional module and control software is programmed. Further it is successfully applied in a series of parallel mechanisms, which serves as the foundation for achieving the high-speed and high-precision control of such kinds of parallel mechanism.

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