scholarly journals Non-Intelligent and Intelligent Force Control for Robotic Applications: A Review

2021 ◽  
Vol 16 ◽  
pp. 1-13
Author(s):  
Ruhizan Liza Ahmad Shauri ◽  
Ahmad Badiuzzaman Roslan
Keyword(s):  
Control System ◽  
Force Control ◽  
Robotic Systems ◽  
External Disturbances ◽  
Intelligent Methods ◽  
Robotic Applications

This paper presents an overview of force control approaches for robotic systems. It covers three main methods: non-intelligent methods, intelligent methods, and recent methods. In each section, the discussion focused on how the researcher implements their methods in control system to obtain the desired force control for system’s robustness towards external disturbances and internal uncertainties. The purpose of applying force control is to ensure that the executed robotic task does not damage the manipulated object or environment. The benefits for each method were highlighted at the end of each section.

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

Combined Temperature and Force Control for Robotic Friction Stir Welding

2013 ◽  
Author(s):  
Axel Fehrenbacher ◽  
Christopher B. Smith ◽  
Neil A. Duffie ◽  
Nicola J. Ferrier ◽  
Frank E. Pfefferkorn ◽  
...  
Keyword(s):  
Control System ◽  
Force Control ◽  
Closed Loop ◽  
Interface Temperature ◽  
Closed Loop Control ◽  
Weld Quality ◽  
Loop Control ◽  
Friction Stir ◽  
Tool Position ◽  
Robotic Friction Stir Welding

The objective of this research is to develop a closed-loop control system for robotic friction stir welding (FSW) that simultaneously controls force and temperature in order to maintain weld quality under various process disturbances. FSW is a solid-state joining process enabling welds with excellent metallurgical and mechanical properties, as well as significant energy consumption and cost savings compared to traditional fusion welding processes. During FSW, several process parameter and condition variations (thermal constraints, material properties, geometry, etc.) are present. The FSW process can be sensitive to these variations, which are commonly present in a production environment; hence, there is a significant need to control the process to assure high weld quality. Reliable FSW for a wide range of applications will require closed-loop control of certain process parameters. A linear multi-input-multi-output process model has been developed that captures the dynamic relations between two process inputs (commanded spindle speed and commanded vertical tool position) and two process outputs (interface temperature and axial force). A closed-loop controller was implemented that combines temperature and force control on an industrial robotic FSW system. The performance of the combined control system was demonstrated with successful command tracking and disturbance rejection. Within a certain range, desired axial forces and interface temperatures are achieved by automatically adjusting the spindle speed and the vertical tool position at the same time. The axial force and interface temperature is maintained during both thermal and geometric disturbances and thus weld quality can be maintained for a variety of conditions in which each control strategy applied independently could fail.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

Research on sports aided teaching and training decision system oriented to deep convolutional neural network

2021 ◽  
pp. 1-15
Author(s):  
Qinyu Mei ◽  
Ming Li
Keyword(s):  
Neural Network ◽  
Decision Making ◽  
Control System ◽  
Convolutional Neural Network ◽  
Force Control ◽  
Control Experiment ◽  
Deep Convolutional Neural Network ◽  
Flexible Cable ◽  
Cable Force ◽  
And Training

Aiming at the construction of the decision-making system for sports-assisted teaching and training, this article first gives a deep convolutional neural network model for sports-assisted teaching and training decision-making. Subsequently, In order to meet the needs of athletes to assist in physical exercise, a squat training robot is built using a self-developed modular flexible cable drive unit, and its control system is designed to assist athletes in squatting training in sports. First, the human squat training mechanism is analyzed, and the overall structure of the robot is determined; second, the robot force servo control strategy is designed, including the flexible cable traction force planning link, the lateral force compensation link and the establishment of a single flexible cable passive force controller; In order to verify the effect of robot training, a single flexible cable force control experiment and a man-machine squat training experiment were carried out. In the single flexible cable force control experiment, the suppression effect of excess force reached more than 50%. In the squat experiment under 200 N, the standard deviation of the system loading force is 7.52 N, and the dynamic accuracy is above 90.2%. Experimental results show that the robot has a reasonable configuration, small footprint, stable control system, high loading accuracy, and can assist in squat training in physical education.

scholarly journals Robust force and displacement control of an active landing gear for vibration reduction at touchdown and during taxiing

2021 ◽  
Vol 3 (4) ◽  
Author(s):  
Mehran Pirooz ◽  
Seyed Hossein Mirmahdi ◽  
Ahmad Reza Khoogar
Keyword(s):  
Control System ◽  
Force Control ◽  
Direct Method ◽  
Landing Gear ◽  
Gear System ◽  
Displacement Control ◽  
Robust Nonlinear Control ◽  
Control Loops ◽  
Tire Force ◽  
The Mathematical Model

AbstractIn this paper, a new approach is proposed to control the dynamic response of a landing gear system subjected to runway force, both on heavy landing conditions and at the taxiing process. The mathematical model of the system is used in a way that covers nonlinear dynamics characteristics of landing gear and nonlinear/nonaffine property of the external actuator. The operation of the landing gear system and its components are described briefly. The desired control system includes two different interior loops for displacement and force control. The inner loop determines the actuator force and the outer loop performs the displacement control. A lumped uncertainty is considered in both displacement and force control loops that represent uncertainties including parametric errors, measurement noises, unmodeled dynamics, disturbance due to runway excitation, and other disturbances. The direct method of Lyapunov is utilized for asymptotic stability analysis of the robust nonlinear control system (RNCS). This system is simulated in MATLAB software and the performance of the proposed controller is analyzed exactly. Besides, the results are compared with a passive system and conventional PID control. The comparison indicates that RNCS works better and more precisely. This method can reduce vibrations at touchdown and taxiing and effectively overcome uncertainty and provide well aircraft handling by decreasing the changes in tire force.

A voice coil motor based measuring force control system for tactile scanning profiler

2015 ◽  
Author(s):  
Shengdong Feng ◽  
Xiaojun Liu ◽  
Liangzhou Chen ◽  
Liping Zhou ◽  
Wenlong Lu
Keyword(s):  
Control System ◽  
Force Control ◽  
Voice Coil Motor ◽  
Force Control System ◽  
Measuring Force

FLY System of Green Infrastructure for Coping with Climate Change

2012 ◽  
Vol 260-261 ◽  
pp. 1156-1157
Author(s):  
Goeun Choei ◽  
Jeon Geun Bae ◽  
Sang Min Shin ◽  
Heek Yung Park
Keyword(s):  
Climate Change ◽  
Control System ◽  
Green Infrastructure ◽  
Transition Layer ◽  
Cfd Simulation ◽  
Outdoor Temperature ◽  
External Disturbances ◽  
Indoor Temperature ◽  
Technical Feasibility

This study aims to examine technical feasibility of the FLY system that was developed for control indoor temperature against change of outdoor temperature based on principles for green infrastructure. The FLY system is a control system that protects inner system from external disturbances by making transition layer. The CFD simulation was used for analyzing change of temperature at transition layer and indoor. It was analyzed that the FLY system can reduce variability of indoor temperature against uncertain change of outdoor temperature.

scholarly journals A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 597
Author(s):  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Tanvir Ahmed ◽  
Asif Al Zubayer Swapnil ◽  
Mohammad AssadUzZaman ◽  
...  
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
High Performance ◽  
Time Delay Estimation ◽  
Robotic Systems ◽  
External Disturbances ◽  
Uncertain Dynamics ◽  
Control Scheme ◽  
Twisting Control ◽  
Dynamics Stability

The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved.

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.

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