Improving Force Control using Zero Coupling Impedance Criterion in Series Manipulator Systems

2013 ◽  
Vol 46 (5) ◽  
pp. 549-554 ◽  
Author(s):  
Renjun Li ◽  
Ngoc Dung Vuong ◽  
Chee-Meng Chew ◽  
Chee Wang Lim
2016 ◽  
Vol 78 (10) ◽  
Author(s):  
Mustafa Mohebbi ◽  
Mahdi Hashemi ◽  
Musa Mailah

Vibration is a physical phenomenon involving repeated oscillatory movements or fluctuations at certain frequency and typically undesirable in many applications since it may cause undue failure or damage to the system. In this paper, the vibration of a three degree-of-freedom (DOF) model representing a short length drive shaft has been effectively and robustly suppressed through the implementation of a novel Active Force Control (AFC) used in conjunction with a classic proportional-integral-derivative (PID) controller. The shaft vibration caused by its support and constraint during its operation was simulated using MATLAB and Simulink considering a number of operating and loading conditions. The results proved that when a pure PID controller was implemented, the vibration is indeed reduced but at the expense of longer execution time and producing noticeable frequency oscillation with slight offset. On the other hand, when the AFC loop was engaged by adding it directly in series with the PID controller (PID+AFC) to produce a 2 DOF controller without any need to further tune the PID controller gains, the vibration is significantly reduced with the amplitude hovering a zero datum without any offset and yielding an extremely low frequency trending. 


2011 ◽  
Vol 110-116 ◽  
pp. 4932-4940 ◽  
Author(s):  
Amin Noshadi ◽  
Ali Zolfagharian ◽  
Gang Wang

This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.


Aerospace ◽  
2004 ◽  
Author(s):  
E. R. Westervelt ◽  
J. P. Schmiedeler ◽  
G. Washington

This paper presents a novel transmission design that consists of a parallel combination of an MR damper and a compliant element together acting in series with an actuator. By adjusting the magnetic field to vary the amount of damping, the transmission can be switched between compliant and effectively rigid modes. Transmission compliance between an actuator and its load has several benefits: It enables (1) storage of elastic energy to improve efficiency, (2) filtering of shocks acting on the load that would otherwise be transmitted to the actuator, and (3) facilitation of force control by converting it to a position control problem. Despite these benefits, the design objective for most robotic systems remains to minimize transmission compliance to improve transmission bandwidth, improving the ability to control the position of the load with high precision. With the new transmission presented in this paper, compliance becomes a tunable quantity allowing joint stiffness to be optimized based upon the task requirements.


Author(s):  
Viktor Orekhov ◽  
Derek Lahr ◽  
Bryce Lee ◽  
Dennis Hong

Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, existing designs add significant weight, size, and complexity. Series Elastic Actuators, on the other hand, are designed with a set stiffness usually tuned for actuator performance. We propose a new concept for implementing a physical spring in series with a linear SEA using a cantilevered spring. A movable pivot is used to adjust the stiffness by changing the effective length of the cantilever. While the proposed design does not allow for variable compliance, it does retain many of the benefits of passive spring elements such as absorbing impacts, storing energy, and enabling force control. The primary advantage of the design is the ability to adjust the stiffness of each joint individually without the increased weight and complexity of variable stiffness designs. This paper introduces the motivation for configurable compliance, describes the proposed design concept, explains the design methods, and presents experimental data from a completed prototype.


2020 ◽  
Vol 63 (9) ◽  
pp. 2921-2929
Author(s):  
Alan H. Shikani ◽  
Elamin M. Elamin ◽  
Andrew C. Miller

Purpose Tracheostomy patients face many adversities including loss of phonation and essential airway functions including air filtering, warming, and humidification. Heat and moisture exchangers (HMEs) facilitate humidification and filtering of inspired air. The Shikani HME (S-HME) is a novel turbulent airflow HME that may be used in-line with the Shikani Speaking Valve (SSV), allowing for uniquely preserved phonation during humidification. The aims of this study were to (a) compare the airflow resistance ( R airflow ) and humidification efficiency of the S-HME and the Mallinckrodt Tracheolife II tracheostomy HME (M-HME) when dry (time zero) and wet (after 24 hr) and (b) determine if in-line application of the S-HME with a tracheostomy speaking valve significantly increases R airflow over a tracheostomy speaking valve alone (whether SSV or Passy Muir Valve [PMV]). Method A prospective observational ex vivo study was conducted using a pneumotachometer lung simulation unit to measure airflow ( Q ) amplitude and R airflow , as indicated by a pressure drop ( P Drop ) across the device (S-HME, M-HME, SSV + S-HME, and PMV). Additionally, P Drop was studied for the S-HME and M-HME when dry at time zero (T 0 ) and after 24 hr of moisture testing (T 24 ) at Q of 0.5, 1, and 1.5 L/s. Results R airflow was significantly less for the S-HME than M-HME (T 0 and T 24 ). R airflow of the SSV + S-HME in series did not significant increase R airflow over the SSV or PMV alone. Moisture loss efficiency trended toward greater efficiency for the S-HME; however, the difference was not statistically significant. Conclusions The turbulent flow S-HME provides heat and moisture exchange with similar or greater efficacy than the widely used laminar airflow M-HME, but with significantly lower resistance. The S-HME also allows the innovative advantage of in-line use with the SSV, hence allowing concurrent humidification and phonation during application, without having to manipulate either device.


2008 ◽  
Vol 35 (S 01) ◽  
Author(s):  
Y Li ◽  
J Randerath ◽  
G Goldenberg ◽  
J Hermsdörfer

2005 ◽  
Vol 32 (S 4) ◽  
Author(s):  
F Kirsten ◽  
S Bohlen ◽  
J Sommer ◽  
T Merl ◽  
P Saemann ◽  
...  

Author(s):  
S. P. Bersenev ◽  
E. M. Slobtsova

Achievements in the area of automated ultrasonic control of quality of rails, solid-rolled wheels and tyres, wheels magnetic powder crack detection, carried out at JSC EVRAZ NTMK. The 100% nondestructive control is accomplished by automated control in series at two ultrasonic facilities RWI-01 and four facilities УМКК-1 of magnetic powder control, installed into the exit control line in the wheel-tyre shop. Diagram of location, converters displacement and control operations in the process of control at the facility RWI-01 presented, as well as the structural diagram of the facility УМКК-1. The automated ultrasonic control of rough tyres is made in the tyres control line of the wheel-tyre shop at the facility УКБ-1Д. The facility enables to control internal defects of tyres in radial, axis and circular directions of radiation. Possibilities of the facility УКБ-1Д software were shown. Nondestructive control of railway rails is made at two facilities, comprising the automated control line of the rail and structural shop. The УКР-64Э facility of automated ultrasonic rails control is intended to reveal defects in the area of head, web and middle part of rail foot by pulse echo-method with a immersion acoustic contact. The diagram of rail P65 at the facility УКР-64Э control presented. To reveal defects of the macrostructure in the area of rail head and web by mirror-shadow method, an ultrasonic noncontact electromagnetic-acoustic facility is used. It was noted, that implementation of the 100% nondestructive control into the technology of rolled stuff production enabled to increase the quality of products supplied to customers and to increase their competiveness.


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