Cooperative Motion Control by Human and Mobile Manipulator Using Equivalent Mass Matrix and Virtual Impedance

2003 ◽  
Vol 123 (10) ◽  
pp. 1227-1233 ◽  
Author(s):  
Eri Yamanaka ◽  
Toshiyuki Murakami ◽  
Kouhei Ohnishi
Keyword(s):  
Motion Control ◽  
Mass Matrix ◽  
Mobile Manipulator ◽  
Cooperative Motion ◽  
Equivalent Mass ◽  
Virtual Impedance

A motion control strategy based on equivalent mass matrix in multidegree-of-freedom manipulator

1995 ◽  
Vol 42 (2) ◽  
pp. 123-130 ◽  
Author(s):  
T. Murakami ◽  
N. Oda ◽  
Y. Miyasaka ◽  
K. Ohnishi
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Mass Matrix ◽  
Equivalent Mass

Power Supply Overlaid Communication with Common Clock Delivery for Cooperative Motion Control

2011 ◽  
Vol E94-A (12) ◽  
pp. 2773-2775
Author(s):  
Fumikazu MINAMIYAMA ◽  
Hidetsugu KOGA ◽  
Kentaro KOBAYASHI ◽  
Masaaki KATAYAMA
Keyword(s):  
Motion Control ◽  
Power Supply ◽  
Cooperative Motion

Vibration Analysis of Continuous Systems by Dynamic Discretization

1980 ◽  
Vol 102 (2) ◽  
pp. 391-398 ◽  
Author(s):  
B. Downs
Keyword(s):  
Power Series ◽  
Shear Deformation ◽  
Vibration Analysis ◽  
Dynamic Properties ◽  
Mass Matrix ◽  
Continuous System ◽  
Mode Shapes ◽  
Continuous Systems ◽  
Stress Distributions ◽  
Equivalent Mass

An equivalent mass matrix may be defined, for a segment of a continuous system, as one which retains precisely the dynamic properties of the original segment in discretized form. Dynamic Discretization, which makes use of a particular form of Stodola iteration, progressively generates the equivalent mass matrix in ascending powers of frequency squared, whilst simultaneously generating deformation functions in a similar power series. The method is quasi-static and readily copes with shear deformation, rotary inertia and quite complex segment geometry. Accurate vibration analysis in terms of frequencies, mode shapes and corresponding stress distributions is achieved using an extremely coarse system subdivision for a variety of geometries.

scholarly journals Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

10.5772/5794 ◽  
2005 ◽  
Vol 2 (2) ◽  
pp. 14 ◽  
Author(s):  
Musa Mailah ◽  
Endra Pitowarno ◽  
Hishamuddin Jamaluddin
Keyword(s):  
Motion Control ◽  
Force Control ◽  
Dynamic Control ◽  
Mobile Manipulator ◽  
Active Force ◽  
Proportional Integral ◽  
Active Force Control ◽  
Resolved Acceleration Control ◽  
Unknown Disturbances ◽  
Robust Motion Control

A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study.

Sliding Mode Impedance and Stiffness Control of a Pneumatic Cylinder

2019 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Eric J. Barth ◽  
Mark L. Nagurka
Keyword(s):  
Motion Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Pneumatic Cylinder ◽  
Control Methods ◽  
Control Applications ◽  
Compliant Motion ◽  
Simultaneous Control ◽  
Stiffness Control ◽  
Virtual Impedance

Abstract Pneumatic double acting cylinders are able to provide inherent stiffness and force control for compliant motion control applications. Impedance control methods allow for a broad spectrum of mechanical properties of actuators to be achieved. The range of this spectrum can be increased by simultaneously controlling the actuator’s inherent stiffness and impedance, a concept explored in this paper. Presented here is a sliding mode impedance and stiffness controller for a servo-pneumatic double acting cylinder. Two proportional servo-valves are employed for simultaneous control of the virtual impedance and inherent stiffness of the pneumatic cylinder. Experimental results of tracking trajectories and contact are reported and discussed with respect to different approaches in the literature.

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