Optimized arm posture in parameter estimation for a multicopter with robot arm capable of adjusting position of center of gravity

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A1-B13
Author(s):  
Nozomu MATSUNAGA ◽  
Takeshi TAKAKI
Keyword(s):  
Parameter Estimation ◽  
Center Of Gravity ◽  
Robot Arm

Developments in Vehicle Center of Gravity and Inertial Parameter Estimation and Measurement

1995 ◽  
Author(s):  
Ronald A. Bixel ◽  
Gary J. Heydinger ◽  
Nicholas J. Durisek ◽  
Dennis A. Guenther ◽  
S. Jay Novak
Keyword(s):  
Parameter Estimation ◽  
Center Of Gravity ◽  
Inertial Parameter

scholarly journals Condition analysis of a multicopter carried with passive skid for rough terrain landing

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Maozheng Xu ◽  
Taku Senoo ◽  
Takeshi Takaki
Keyword(s):  
Numerical Analysis ◽  
Contact Point ◽  
Static Model ◽  
Center Of Gravity ◽  
Rough Terrain ◽  
Robot Arm ◽  
Arbitrary Plane

AbstractThis paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a method to determine whether the skid-carried multicopter can land on an arbitrary slope or not. We established the static model of the entire device, and analyzed the conditions under which the arm and skid can contact the arbitrary plane and the COG (Center of Gravity), which includes the mass of passive skid, multicopter body and each link of the robot arm. Further, we proposed a method to analyze whether the entire device can land stably. By analyzing that the projection of the entire device’s COG is inside or outside the triangle, that comprises the contact point between the device and the uneven ground, we can determine whether the device can land successfully and the condition for capable landing is concluded. After the numerical analysis, the verification experiment is conducted, and by comparing the result of analysis with the experiment, the accuracy of the analysis can be demonstrated.

Parameter Estimation of Flexible One-Link Manipulator Using B-Spline Approximations

1995 ◽  
Author(s):  
Fumio Kojima
Keyword(s):  
Parameter Estimation ◽  
Approximation Schemes ◽  
Robot Arm ◽  
Flexible Robot ◽  
Optical Encoder ◽  
B Spline ◽  
Experimental Apparatus ◽  
Estimation Problems ◽  
Cantilevered Beam ◽  
Tip Mass

Abstract A finite approximation strategy is considered for parameter estimation of flexible one-link manipulator using B-spline approximations. A variational formulation of an Euler-Bernoulli system model is presented for a one-link flexible robot arm with a tip mass at its free end. Approximation schemes employing cubic B-splines are developed for the computational model. The experimental apparatus is constructed from a single cantilevered beam attached to the DC servo motor. The joint angle are measured by built-in optical encoder in the motor and the vibration at the free end can be measured by accelerometer attached to the flexible arm. Parameter estimation problems are solved with experimental data and summaries of numerical studies are reported.

Integrated Direct/Indirect Adaptive Robust Control of Multi-DOF Hydraulic Robotic Arms

2007 ◽  
Author(s):  
Amit Mohanty ◽  
Bin Yao
Keyword(s):  
Parameter Estimation ◽  
Robust Control ◽  
Adaptive Robust Control ◽  
Least Square ◽  
Parametric Uncertainties ◽  
Robot Arm ◽  
Transient Performance ◽  
Seamless Integration ◽  
Output Tracking ◽  
Indirect Adaptive Robust Control

In a general DIARC framework [13], the emphasis is always on the guaranteed transient performance and accurate trajectory tracking in the presence of uncertain nonlinearity and parametric uncertainties along with accurate parameter estimation for secondary purpose such as system health monitoring and prognosis. Need for accurate parameter estimation calls for the use of Least Square Estimation (LSE) type of algorithms for such a seamless integration of good tracking performance and accurate parameter estimation. This paper presents a physical model based integrated direct/indirect adaptive robust control (DIARC) strategy for a hydraulically actuated 3-DOF robotic arm. To avoid the need of acceleration feedback for DIARC back-stepping design, the property, that the adjoint matrix and the determinant of the inertial matrix could be linearly parameterized by certain suitably selected parameters is utilized. Unlike gradient-type parameter estimation law, which used overparamterization, there is no multiple estimation of the single parameter. Theoretically, the resulting controller is able to take into account not only the effect of parametric uncertainties coming from the payload and various hydraulic parameters but also the effect of uncertain nonlinearities. Furthermore, the proposed DIARC controller guarantees a prescribed output tracking transient performance and final tracking accuracy while achieving asymptotic output tracking in the presence of parametric uncertainties only. Simulation results based on a three degree-of-freedom (DOF) hydraulic robot arm (a scaled down version of an industrial back-hoe/excavator arm) are presented to illustrate the proposed control algorithm.

scholarly journals Trajectory planning of the nursing robot based on the center of gravity for aluminum alloy structure

2021 ◽  
Vol 60 (1) ◽  
pp. 731-743
Author(s):  
Libo Zhang ◽  
Hanjun Gao ◽  
Huichao Xu ◽  
Jing Song
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Center Of Pressure ◽  
Pressure Sensors ◽  
Center Of Gravity ◽  
Robot Arm ◽  
Planning Algorithm ◽  
Movement Stability ◽  
The Stability ◽  
The Mathematical Model

Abstract In this paper, the robot arm is manufactured to increase the structural strength and improve safety. The stability of the nursing robot in the process of carrying out the typical nursing task of holding patients was studied, and the influence of the center of gravity on the movement stability of the nursing robot was analyzed. The mathematical model of the stability of the robot is built by using the inverse kinematics solution of the robot. By studying the trajectory planning of a nursing robot under the condition of ZMP constraint, the robot can move safely and optimally along the prescribed trajectory between two working points. The simulation results show that the algorithm can significantly improve the work safety of the robot. In the experiment, four pressure sensors are used to measure the pressure of four wheels on the ground, the data are obtained and substituted into the expression of center of pressure (COP) method. The results show that the stability is in a reasonable moving area without any hidden danger, and its COP value is less than the stable qualitative boundary, which verifies the rationality and effectiveness of the optimal center of gravity stability planning algorithm.

scholarly journals Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes

2020 ◽  
Vol 7 (1) ◽  
Author(s):  
Kenta Tabata ◽  
Hiroaki Seki ◽  
Tokuo Tsuji ◽  
Tatsuhiro Hiramitsu ◽  
Masatoshi Hikizu
Keyword(s):  
Parameter Estimation ◽  
High Speed ◽  
Robot Motion ◽  
Robot Arm ◽  
Motion Generation ◽  
Angular Velocities ◽  
Best Parameter ◽  
Mass Spring ◽  
Time Series Images ◽  
Dynamic Manipulation

AbstractWe propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the joint angular velocities expressed by the Bezier curves. Their control points are randomly positioned to generate various robot motion for dynamic string manipulation. The generated motion is performed by a wire-driven robot arm and, real string movement is captured by the camera. These time-series images are used for the parameter estimation of string. The best parameter set is determined via comparison between real and simulated string movement after changing parameter randomly and logarithmically. This parameter set is not unique, but it simulates the actual string movement well. Since the estimated string parameter is used for the robot motion generation after repeating the above 3 steps, the motion generation reflects string property and motion objective can success without special tests in advance. This is an advantage of our method because it is difficult to know all of string property with very complicated non-linearity beforehand. We focus on realizing the momentary string shape in 2 dimensions in this paper. We confirmed the effectiveness of our proposed method by realizing five momentary shapes and 3 kinds of string properties. We also discussed the reproducibility and compatibility of estimated parameters and motion generation.

Weighted Combination of Prior and Sample Information and Parameter Estimation

Optimization ◽  
1976 ◽  
Vol 7 (5) ◽  
pp. 665-672
Author(s):  
H. Burke ◽  
C. Hennig ◽  
W H. Schmidt
Keyword(s):  
Parameter Estimation ◽  
Sample Information ◽  
Weighted Combination
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