scholarly journals Fractional Control of Coordinated Manipulators

2007 ◽  
Vol 11 (9) ◽  
pp. 1072-1078 ◽  
Author(s):  
N. M. Fonseca Ferreira ◽  
◽  
J. A. Tenreiro Machado ◽  
Keyword(s):  
Fractional Order ◽  
Force Control ◽  
Coordinated Motion ◽  
Integer Order ◽  
System Robustness ◽  
Order Position ◽  
End Effectors ◽  
And Performance ◽  
Fractional Control

When two robots execute a coordinated motion it is required specification not only of the desired trajectory of each robot, but also of the forces exerted by the end effectors. This article discusses the fractional-order position and force control of two co-operative robots handling one object. The system robustness and performance is analyzed and compared with other control approaches. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

Finite deformation and fractional order viscoelasticity of an auxetic foam

2022 ◽  
pp. 1045389X2110643
Author(s):  
Eugenia Stanisauskis ◽  
Paul Miles ◽  
William Oates
Keyword(s):  
Fractional Order ◽  
Finite Deformation ◽  
Viscoelastic Behavior ◽  
Integer Order ◽  
Relaxation Effects ◽  
Viscoelastic Parameters ◽  
Rate Dependent ◽  
Improve Model ◽  
Model Predictions ◽  
And Performance

Auxetic foams exhibit novel mechanical properties due to their unique microstructure for improved energy-absorption and cavity expansion applications that have fascinated the scientific community since their inception. Given the advancements in material processing and performance of polymer open cell auxetic foams, there is a strong desire to fully understand the nonlinear rate-dependent deformation of these materials. The influence of nonlinear compressibility is introduced here along with relaxation effects to improve model predictions for different stretch rates and finite deformation regimes. The viscoelastic behavior of the material is analyzed by comparing fractional order and integer order calculus models. All results are statistically validated using maximum entropy methods to obtain Bayesian posterior densities for the hyperelastic, auxetic, and viscoelastic parameters. It is shown that fractional order viscoelasticity provides [Formula: see text]–[Formula: see text] improvement in prediction over integer order viscoelastic models when the model is calibrated at higher stretch rates where viscoelasticity is more significant.

scholarly journals Invariant Image Representation Using Novel Fractional-Order Polar Harmonic Fourier Moments

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1544
Author(s):  
Chunpeng Wang ◽  
Hongling Gao ◽  
Meihong Yang ◽  
Jian Li ◽  
Bin Ma ◽  
...  
Keyword(s):  
Image Reconstruction ◽  
Fractional Order ◽  
Continuous Functions ◽  
Kernel Functions ◽  
Superior Performance ◽  
Image Description ◽  
Orthogonal Moments ◽  
Integer Order ◽  
Geometric Invariance ◽  
Order Continuous

Continuous orthogonal moments, for which continuous functions are used as kernel functions, are invariant to rotation and scaling, and they have been greatly developed over the recent years. Among continuous orthogonal moments, polar harmonic Fourier moments (PHFMs) have superior performance and strong image description ability. In order to improve the performance of PHFMs in noise resistance and image reconstruction, PHFMs, which can only take integer numbers, are extended to fractional-order polar harmonic Fourier moments (FrPHFMs) in this paper. Firstly, the radial polynomials of integer-order PHFMs are modified to obtain fractional-order radial polynomials, and FrPHFMs are constructed based on the fractional-order radial polynomials; subsequently, the strong reconstruction ability, orthogonality, and geometric invariance of the proposed FrPHFMs are proven; and, finally, the performance of the proposed FrPHFMs is compared with that of integer-order PHFMs, fractional-order radial harmonic Fourier moments (FrRHFMs), fractional-order polar harmonic transforms (FrPHTs), and fractional-order Zernike moments (FrZMs). The experimental results show that the FrPHFMs constructed in this paper are superior to integer-order PHFMs and other fractional-order continuous orthogonal moments in terms of performance in image reconstruction and object recognition, as well as that the proposed FrPHFMs have strong image description ability and good stability.

Analysis of a New Class of Impulsive Implicit Sequential Fractional Differential Equations

2020 ◽  
Vol 21 (6) ◽  
pp. 571-587 ◽  
Author(s):  
Akbar Zada ◽  
Sartaj Ali ◽  
Tongxing Li
Keyword(s):  
Differential Equations ◽  
Fractional Order ◽  
Fractional Differential Equations ◽  
Sufficient Conditions ◽  
Uniqueness Of Solutions ◽  
Integer Order ◽  
New Class ◽  
Proposed Model ◽  
Fractional Differential ◽  
Sequential Fractional Differential Equations

AbstractIn this paper, we study an implicit sequential fractional order differential equation with non-instantaneous impulses and multi-point boundary conditions. The article comprehensively elaborate four different types of Ulam’s stability in the lights of generalized Diaz Margolis’s fixed point theorem. Moreover, some sufficient conditions are constructed to observe the existence and uniqueness of solutions for the proposed model. The proposed model contains both the integer order and fractional order derivatives. Thus, the exponential function appearers in the solution of the proposed model which will lead researchers to study fractional differential equations with well known methods of integer order differential equations. In the last, few examples are provided to show the applicability of our main results.

scholarly journals Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 59
Author(s):  
Junjie Dai ◽  
Chin-Yin Chen ◽  
Renfeng Zhu ◽  
Guilin Yang ◽  
Chongchong Wang ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Impedance Control ◽  
Impedance Matching ◽  
Industrial Robots ◽  
Contact Phase ◽  
Dynamic Tracking ◽  
Force Tracking ◽  
The Difference ◽  
End Effectors

Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

Exploiting Fractional Order PID Controller Methods in Improving the Performance of Integer Order PID Controllers: A GA Based Approach

2009 ◽  
Author(s):  
Bijoy K. Mukherjee ◽  
Santanu Metia ◽  
Sio-Iong Ao ◽  
Alan Hoi-Shou Chan ◽  
Hideki Katagiri ◽  
...  
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Pid Controllers ◽  
Integer Order ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

The multi-model approach for fractional-order systems modelling

2016 ◽  
Vol 40 (1) ◽  
pp. 331-340 ◽  
Author(s):  
Samia Talmoudi ◽  
Moufida Lahmari
Keyword(s):  
Transfer Function ◽  
Fractional Order ◽  
Global Model ◽  
Fractional Order Systems ◽  
New Approach ◽  
Physical Systems ◽  
Integer Order ◽  
Systems Modelling ◽  
Model Approach

Currently, fractional-order systems are attracting the attention of many researchers because they present a better representation of many physical systems in several areas, compared with integer-order models. This article contains two main contributions. In the first one, we suggest a new approach to fractional-order systems modelling. This model is represented by an explicit transfer function based on the multi-model approach. In the second contribution, a new method of computation of the validity of library models, according to the frequency [Formula: see text], is exposed. Finally, a global model is obtained by fusion of library models weighted by their respective validities. Illustrative examples are presented to show the advantages and the quality of the proposed strategy.

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