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Distributed control of modular and reconfigurable robot with torque sensing

robotICA 2008年第1期26卷 75-84页

作者： Liu, Guangjun Abdul, Sajan Goldenberg, Andrew A. Ryerson Univ Dept Aerosp Engn Toronto ON Canada Univ Toronto Dept Mech & Ind Engn Toronto ON M5S 1A1 Canada

A major technical challenge in controlling modular and reconfigurable robots is associated with the kinematics and dynamic model uncertainties caused by reconfiguration. In parallel, conventional model uncertainties such as uncompensated joint friction still persist. This paper presents a modular distributed control technique for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under the proposed control method that is based on joint torque sensing, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need to adjust control parameters of the other modules of the robot. Model uncertainties associated with link and payload masses are compensated using joint torque sensor measurement. The remaining model uncertainties, including uncompensated dynamic coupling and joint friction, are compensated by a decomposition-based robust controller. Simulation results have confirmed the effectiveness of the proposed method.

关键词： decomposition-based control robust control modular and reconfigurable robot friction compensation joint torque sensing

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Power Efficiency Estimation Based Health Monitoring and Fault Detection of modular and reconfigurable robot

Power Efficiency Estimation Based Health Monitoring and Faul...

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IEEE International Conference on Automation and Logistics

作者： Yuan, Jing Liu, Guangjun Wu, Bin Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada Ryerson Univ Toronto ON M5B 2K3 Canada

ISBN: (纸本)9781424425020

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this paper, a simple yet effective power efficiency estimation based health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on a modular and reconfigurable robot with joint torque sensing and a distributed control system. Experiment results have demonstrated the effectiveness of the proposed method.

关键词： Health monitoring fault detection power efficiency estimation modular and reconfigurable robot

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Decentralized Integral Sliding Mode Control for modular and reconfigurable robot with Harmonic Drive Transmission Based on Joint Torque Estimation 27

Decentralized Integral Sliding Mode Control for Modular and ...

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27th Chinese Control and Decision Conference (CCDC)

作者： Dong, Bo Ding, Guibin Zhang, Jiazi Li, Yuanchun Jilin Univ State Key Lab Automot Simulat & Control Changchun 130022 Peoples R China Jilin Univ Dept Control Sci & Engn Changchun 130022 Peoples R China Changchun Univ Technol Dept Control Engn Changchun 130012 Peoples R China

ISBN: (纸本)9781479970162

This paper presents a decentralized integral sliding mode control method for a modular and reconfigurable robot (MRR) with harmonic drive (HD) transmission. Unlike known methods that rely on joint torque sensing, this paper addresses the problems with a joint torque estimation technique using only position measurements. First, a high-fidelity HD model is presented to estimate the joint torque which is used to formulate the dynamic model of the MRR. Second, based on only local dynamics information of each module, a decentralized integral sliding mode control scheme is proposed to reduce the chattering effect of the controller and compensating the model uncertainty. The asymptotic stability of the system is proved using the Lyapunov theory. Finally, simulations are performed for a 3-DOF MRR to study the effectiveness of the proposed method.

关键词： modular and reconfigurable robot Joint torque estimation Harmonic drive transmission Decentralized control Integral sliding mode control

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Safe robot Operation Alongside Humans using Spring-Assisted modular and reconfigurable robot 14

Safe Robot Operation Alongside Humans using Spring-Assisted ...

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IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Patel, Harshita Singh, Christopher Liu, Guangjun Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

ISBN: (纸本)9781509067596

Recently a novel spring-assisted modular and reconfigurable robot (SA-MRR) has been developed at our laboratory to reinforce its performance and to enable safe and dexterous operation in shared human-robot environments. Upon spring engagement at any joint position, the joint output torque becomes the sum of the actuator torque and spring torque, and the joint displacement range is mechanically limited. Restricting the manipulator's joint displacement limits individually allows the workspace to be confined selectively to a subspace of its entire or natural workspace, and creates an opportunity for a human to enter safely into the robot's natural workspace even while the robot continues to operate. Furthermore, the SA-MRR operating under spring-assistance offers functional benefits;the spring torque may counterbalance the manipulator and payload weight to avail the actuator torque fully for manipulation-an act which may simultaneously increase dexterity and decrease power consumption. The shared human-robot workspace notion as enabled by the SA-MRR is explored first in this work. Then, capabilities of a 3-DOF SA-MRR are investigated through simulations for dexterous operations and for payload handling within limited workspaces.

关键词： modular and reconfigurable robot spring-assisted robot human-robot shared environment robot safety

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Distributed modular and reconfigurable robot control with torque sensing

Distributed modular and reconfigurable robot control with to...

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IEEE International Conference on Mechatronics and Automation

作者： Liu, Guangjun Abdul, Sajan Goldenberg, Andrew A. Ryerson Univ Dept Aerosp Engn 350 Victoria St Toronto ON M5B 2K3 Canada Univ Toronto Dept Mech & Ind Engn Toronto ON M5S 1A1 Canada

ISBN: (纸本)1424404657

A major technical challenge in controlling modular and reconfigurable robots is associated with the kinematics and dynamic model uncertainties caused by reconfiguration. In parallel, conventional model uncertainties such as uncompensated joint friction still persist. This paper presents a modular distributed control technique for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under the proposed control method based on joint torque sensing, a modular and reconfigurable robot is stabilized joint by joints and modules can be added or removed without the need to adjust control parameters of the other modules of the robot. Model uncertainties associated with links and payload are compensated using joint torque sensor measurement, and the remaining model uncertainties including unmodeled dynamic coupling effect and joint friction are compensated by a decomposition based robust controller. This approach allows stable and precise distributed control of modular and reconfigurable robot. Simulations were conducted to investigate the proposed approach, and the results have confirmed its effectiveness.

关键词： decomposition-based control robust control modular and reconfigurable robot friction joint torque sensing

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Module System Monitoring and Fault Detection for modular and reconfigurable robot 8

Module System Monitoring and Fault Detection for Modular and...

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8th International Conference on Information Science and Technology (ICIST)

作者： Zhou, Fan Dong, Bo Li, Yan Liu, Keping Li, Yuanchun Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Jilin Peoples R China

ISBN: (纸本)9781538637821

A distributed module system monitoring and fault detection of the overall joint for modular and reconfigurable robot (MRR) is proposed in this paper. In the design procedure, the joint commanded torque generated by a distributed fault-tolerant controller is filtered and compared with a filtered torque estimate derived from the nonlinear dynamic model of MRR based on joint torque sensing. Considering the motor output capacity, a novel performance index for providing the operation health conditions of an MRR joint is constructed by using the torque prediction error. The proposed scheme is shown to be able to monitor the health of the overall joint for MRR with any movement, which is essential for robots working in human environments. The presented method has been experimentally tested, and the experimental results have demonstrated the effectiveness of the proposed method.

关键词： fault detection joint torque sensing modular and reconfigurable robot module system monitoring

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Fault tolerant control of modular and reconfigurable robot with joint torque sensing

Fault tolerant control of modular and reconfigurable robot w...

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IEEE International Conference on robotics and Biomimetics (ROBIO 2007)

作者： Abdul, Sajan Liu, Guangjun Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

ISBN: (纸本)9781424417612

A fault tolerant control method is proposed for modular and reconfigurable robots with joint torque sensing. Based on a unique joint by joint control approach, the controller for each module neither requires motion states of any other modules, nor the link dynamics. Thus the fault tolerance is achieved at each joint module without affecting or requiring information about the other modules, ideal for fault tolerant control of modular and reconfigurable robots. In the proposed control design, uncalibrated torque sensor signals are assumed and actuator performance degradation is considered. Simulation results have confirmed its effectiveness. The proposed method has been implemented on one modular robot joint;and the experimental results are presented in this paper along with simulation results.

关键词： modular and reconfigurable robot fault tolerant control joint torque sensing

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Decentralized Integral Sliding Mode Control for modular and reconfigurable robot with Harmonic Drive Transmission Based on Joint Torque Estimation

Decentralized Integral Sliding Mode Control for Modular and ...

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第27届中国控制与决策会议

作者： Bo Dong Guibin Ding Jiazi Zhang Yuanchun Li State Key Laboratory of Automotive Simulation and Control Jilin University Department of Control Science and Engineering Jilin University Department of Control Engineering Changchun University of Technology

ISBN: (纸本)9781479970186

This paper presents a decentralized integral sliding mode control method for a modular and reconfigurable robot(MRR) with harmonic drive(HD) *** known methods that rely on joint torque sensing,this paper addresses the problems with a joint torque estimation technique using only position ***,a high-fidelity HD model is presented to estimate the joint torque which is used to formulate the dynamic model of the ***,based on only local dynamics information of each module,a decentralized integral sliding mode control scheme is proposed to reduce the chattering effect of the controller and compensating the model *** asymptotic stability of the system is proved using the Lyapunov ***,simulations are performed for a 3-DOF MRR to study the effectiveness of the proposed method.

关键词： modular and reconfigurable robot Joint torque estimation Harmonic drive transmission Decentralized control Integral sliding mode control

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Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms

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robotICA 2009年第2期27卷 291-302页

作者： Li, Z. Melek, W. W. Clark, C. Univ Waterloo Waterloo ON N2L 3G1 Canada Calif Polytech State Univ San Luis Obispo San Luis Obispo CA 93407 USA

In this paper, we propose a decentralized robust control algorithm for modular and reconfigurable robots (MRRs) based on Lyapunov's stability analysis and backstepping techniques, In using decentralized control schemes with robot manipulators, each joint is considered as an independent subsystem, and the dynamical effects from the other links and joints are treated as disturbance. However, there exist many uncertainties due to unmodeled dynamics, varying payloads, harmonic drive (HD) compliance, HD complex gear meshing mechanisms, etc. Also, while the reconfigurability of MRRs is advantageous, modifying the configuration will result in changes to the robot dynamics parameters, thereby making it challenging to tune the control system. All of the above mentioned disturbances in addition to reconfigurability present a challenge in controlling MRRs. The proposed controller is well Suited for MRR applications because of its simple structure that does not require the exact. knowledge of the dynamic parameters of the configurations. Desired tracking performance can be achieved via tuning a limited set of parameters of the robust controller. If the numbers of degrees of freedom are held constant, these parameters are shown to be relatively independent of the configuration, and can be held constant between changes in configuration. This strategy is novel compared to existing MRR control methods. In order to validate the controller performance, experimental setup and results are also presented.

关键词： modular and reconfigurable robot Robust Decentralized Lyapunov Backstepping

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Distributed fault detection for modular and reconfigurable robots with joint torque sensing: A prediction error based approach

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MECHATRONICS 2013年第6期23卷 607-616页

作者： Ahmad, Saleh Zhang, Hongwei Liu, Guangjun Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

A distributed fault detection scheme for modular and reconfigurable robots (MRRs) with joint torque sensing is proposed in this paper. With the proposed scheme, the joint torque command is filtered and compared with a filtered torque estimate derived from the nonlinear dynamic model of MRR with joint torque sensing. Common joint actuator faults are considered with fault detection being performed independently for each joint module. The proposed fault detection scheme for each module does not require motion states of any other module making it an ideal modular approach for fault detection of modular robots. Experimental results have confirmed the effectiveness of the proposed fault detection scheme. Crown Copyright (C) 2013 Published by Elsevier Ltd. All rights reserved.

关键词： Fault detection Nonlinear dynamics modular and reconfigurable robot Joint torque sensing

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