Dynamic Model-based Control of Redundantly Actuated, Non-holonomnic, Omnidirectional Vehicles

2016 ◽  
Author(s):  
Christoph Stöger ◽  
Andreas Müller ◽  
Hubert Gattringer
Keyword(s):  
Dynamic Model ◽  
Model Based Control ◽  
Model Based ◽  
Redundantly Actuated

Model-based control of a thermal regenerator. Part 1: dynamic model

2000 ◽  
Vol 24 (11) ◽  
pp. 2519-2531 ◽  
Author(s):  
Kenneth R Muske ◽  
James W Howse ◽  
Glen A Hansen ◽  
Dominic J Cagliostro
Keyword(s):  
Dynamic Model ◽  
Model Based Control ◽  
Model Based

scholarly journals Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

2019 ◽  
Vol 139 ◽  
pp. 329-345 ◽  
Author(s):  
Sana Baklouti ◽  
Eric Courteille ◽  
Philippe Lemoine ◽  
Stéphane Caro
Keyword(s):  
Dynamic Model ◽  
Vibration Reduction ◽  
Parallel Robots ◽  
Model Based Control ◽  
Model Based

Redundantly Actuated 3RRR Parallel Planar Manipulator - Numerical Analyses of its Dynamics Sensitivity on Modifications of its Platforms Inertia Parameters

2013 ◽  
Vol 198 ◽  
pp. 33-38 ◽  
Author(s):  
Krzysztof Lipiński
Keyword(s):  
Open Loop ◽  
Numerical Analyses ◽  
Loop Model ◽  
Inverse Dynamic ◽  
Model Based Control ◽  
Model Based ◽  
Inertia Parameters ◽  
Redundantly Actuated ◽  
The Right ◽  
Controlled Object

Below, numerical analyses, as well as dynamics of a complex mechanism, are presented. Two objectives are focused: inverse dynamic model is needed (dedicated to be use in the model predictive controller); an identification method is searched (some trajectory parameters are controlled, when specific trajectory is tracked under an open-loop model-based control), as selected parameters must be identified for the model. A redundantly actuated mechatronic system is considered (in the present case some planar, parallel manipulator). When the redundancies are present, traditional torque estimation techniques can not be used directly (a non-square matrix is present in the equations). Thus, the right Moore-Penrose pseudo-inverse is used to estimate them. To model the mechanism - multibody dynamics is used. Its dynamics equations are nonlinear in respect to the joints position (displacements are significant during the mechanism motion). An open-loop model-based control algorithm is postulated for the system (the subcomponents from the closed-loop controller will not be considered in the present paper). As the real parameters of the controlled object can differ from the ones proposed in the controller, obtained trajectories differ from the requested (open-loop controller is used only). Correlations between the inertia error and the trajectory errors are tested. Sensible trajectory parameters are searched to estimate inertia of the controlled object. At present, analyses are restricted to numerical experiments, only.

scholarly journals A model-based control law for vibration reduction of serial robots with flexible joints

2021 ◽  
Vol 22 ◽  
pp. 38
Author(s):  
Jacques Farah ◽  
Hélène Chanal ◽  
Nicolas Bouton ◽  
Vincent Gagnol
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Control Law ◽  
Flexible Joints ◽  
Dynamic Identification ◽  
Model Based Control ◽  
Model Based ◽  
Serial Robots ◽  
Pick And Place ◽  
The Impact

The presence of flexibilities in rotational joints can limit the kinematic performances of manipulators doing high speed tasks as Pick and Place. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks in order to improve productivity. Based on a dynamic model of a robot with flexible joints, a model-based control law is proposed with its associated tuning methodology. The robot dynamic model is then the key point of our methodology. This dynamic model considers stiffness and damping of each flexible joint. To guarantee its accuracy, a geometrical and dynamic identification procedure is realized. The objective is to show the relevancy of the proposed approach which integrates joint flexibilities in the control law. Theoretical results based on a representative model are used to illustrate the benefit of this model-based control law compare to two other control strategies (Feedforward control and control dedicated to rigid structures). Finally, a sensitivity analysis of this control law is realized to quantify the impact of modelling error and conclude on the criticality of joint damping value on vibration decreasing.

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