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Flatness-Based Feedforward control of a Stacker Crane with Online Trajectory Generation

Flatness-Based Feedforward Control of a Stacker Crane with O...

引用

automation, control and Robots (ICACR), International Conference on

作者： Charlotte Tkany Martin Grotjahn Johannes Kühn Hochschule Hannover Institute of Engineering Design Mechatronics and Electromobility Hannover Germany RDS Motion Control Lenze Automation GmbH Braunschweig Germany

ISBN: (数字)9781728192079

ISBN: (纸本)9781728192086

Flatness-based feedforward control is an approach for combining fast motion with low oscillations for nonlinear or flexible drive systems. Its desired trajectories must be continuously differentiable to the degree of the system order. Designing such trajectories, that also reach the dynamic system limits, poses a challenge. Common solutions, like Gevrey functions, usually require lengthy offline calculations. To achieve a quicker and simpler industrial-suited solution, this paper presents a new online trajectory generation scheme. The algorithm utilizes higher order s-curve trajectories created by a cyclic filtering process using moving average filters. An experimental validation proves the capability as well as industrial applicability of the presented approach for flexible structures like stacker cranes.

关键词： Trajectory Cranes Oscillators Belts Springs Mathematical model Force

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Distributed Robust Energy Management of a Multi-Microgrid System in the Real-Time Energy Market

Distributed Robust Energy Management of a Multi-Microgrid Sy...

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IEEE General Meeting Power& Energy Society

作者： Yun Liu Yuanzheng Li Hoay Beng Gooi College of Mechatronics and Control Engineering Shenzhen University School of Automation Huazhong University of Science and Technology School of EEE Nanyang Technological University

In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring MGs and the main grid in the real-time energy market. Various uncertainties including renewable generation, load consumption, and buying/selling prices of the main grid are handled using an adjustable robust optimization technique. To keep consistent with the distributed nature of the multiple MGs, we propose a distributed adjustable robust optimal scheduling algorithm (DAROSA). Within the framework, each MG energy management system determines its own selling price and operation schedule via distributed communication of non-critical information with its neighboring MGs. Robust optimal scheduling and fair energy trading can be collectively achieved. A case study of a 4-MG system is conducted to validate the effectiveness of the proposed approach.

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Robust control Performance in Uncertain Environments: A Semi-Heuristic Gradient Descent Approach

Robust Control Performance in Uncertain Environments: A Semi...

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International Conference on Instrumentation control and automation (ICA)

作者： Mohammed Elbadri Ahmed Hassan Ahmad Irham Jambak Ismail Bayezit Mehmet Turan Soylemez Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkiye Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkiye Department of Aeronautical Engineering Istanbul Technical University Istanbul Turkiye

Designing a robust controller for systems with parameter uncertainties is a complex and demanding task. Traditional deterministic and probabilistic approaches may fall short in providing efficient and satisfactory solutions. To address this challenge, we propose a semi-heuristic approach that exploits the Kharitonov theorem to establish an initial point for the gradient descent algorithm. Through an iterative optimization process that incorporates user-defined performance criteria, our approach provide a robust controller with respect to presence of system uncertainties. Numerical simulations validate the effectiveness of our proposed method and highlight its superiority in addressing robust control problems compared with auto-tuned ΡΠ) controller.

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Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Mechatronic design of a fast and long range 4 degrees of fre...

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IEEE International Conference on Robotics and automation (ICRA)

作者： D.M. Brouwer J. Bennik J. Leideman H.M.J.R. Soemers S. Stramigioli Mechanical Automation and Mechatronics group DEMCON advanced mechatronics University of Twente Netherlands Philips Consumer Lifestyle Netherlands DEMCON advanced mechatronics Oldenzaal Netherlands Mechanical Automation and Mechatronics group Philips Applied Technologies DEMCON advanced mechatronics University of Twente Netherlands Control Engineering group University of Twente Netherlands

This paper describes the mechatronic design of a humanoid neck. To research human machine interaction, the head and neck combination should be able to approach the human behavior as much as possible. We present a novel humanoid neck concept that is both fast, and has a long range of motion in 4 degrees of freedom (DOFs). This enables the head to track fast objects, and the neck design is suitable for mimicking expressions. The humanoid neck features a differential drive design for the lower 2 DOFs resulting in a low moving mass and the ability to use strong actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and by using gravity compensation. Two cameras in the head are used for scanning and interaction with the environment.

关键词： mechatronics Neck Magnetic heads Humans Cameras Spine Acceleration Robotics and automation Actuators Gravity

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Application of GA based neuro - fuzzy automatic generation for teleoperation systems

Application of GA based neuro - fuzzy automatic generation f...

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International Conference on Digital Content, Multimedia Technology and its Applications (IDC)

作者： Sara Manifar Mahdi Aliyari Shoorhedeli Department of Mechatronics Engineering Islamic Azad University Science and Research Tehran Iran Department of Mechatronics Engineering and Advanced Process Automation and Control (APAC) Research Group K.N. Toosi University of Technology Tehran Iran

This paper discusses the design of a controller for teleoperation systems which operate in contact with unknown environments. For this purpose, the controller in the slave part is designed to use a classical controller and a neuro-fuzzy controller. To have a haptic teleoperation, the force feedback from the contact point to the master side is needed. In this study virtual force is fed back to the master instead of the measured contact force and the feedback force is the position error i.e. the difference between the position of master and slave robots. Primary, classical controller was designed for this object, the gains of this controller is obtained by standard genetic algorithm (GA), in offline and optimization method at nominal operating point. In master-slave robot with classical controller, when, robot works in soft or hard environment and the operating point was changed, the obtained controller are not suitable. For this reason, online neuro - fuzzy gain scheduling controller are designed for this system to tune the controller's parameters. The NF trained in offline mode based on GA and in online application tuned the controller based on monitoring of operating point of system. This method makes the system robust to uncertainties such as modeling errors, parameter mismatches and disturbances. The simulation results show the ability of proposed method in compare of other controllers such as Kalman filter.

关键词： Force Equations Monitoring Iron Mathematical model

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Robust Motion/Force control of Holonomic Constrainted Nonholonomic Mobile Manipulators using Hybrid Joints

Robust Motion/Force Control of Holonomic Constrainted Nonhol...

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World Congress on Intelligent control and automation (WCICA)

作者： Jun Luo Zhijun Li Aiguo Ming Shuzhi Sam Ge School of Mechatronics Engineering & Automation Shanghai University Shanghai China Department of Mechanical & Control Engineering University of Electro-Communications Tokyo Japan Department of Electrical & Computer Engineering National University of Singapore Singapore

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the defined reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force

关键词： Robust control Force control Manipulator dynamics Uncertainty control systems Trajectory Neural networks Motion control Adaptive control Uncertain systems

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Fault Diagnosis for Nonlinear Hydraulic-Mechanical Drilling Pipe Handling System

Fault Diagnosis for Nonlinear Hydraulic-Mechanical Drilling ...

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IEEE Conference on Decision and control

作者： Martin Choux Mogens Blanke Mechatronics Group Department of Engineering University of Agder N-4892 Grimstad Norway Automation and Control Group Department of Electrical Engineering Technical University of Denmark DK-2800 Kgs

ISBN: (纸本)9781612848006

Leakage and increased friction are common faults in hydraulic cylinders that can have serious consequences if they are not detected at early stage. In this paper, the design of a fault detector for a nonlinear hydraulic mechanical system is presented. By considering the system in steady state, two residual signals are generated and analysed with a composite hypothesis test which accommodates for unknown parameters. The resulting detector is able to detect abrupt changes in leakage or friction given the noisy pressure and position measurements. Test rig measurements validate the properties of residuals and high fidelity simulation and experimental results demonstrate the performance and feasibility of the proposed method.

关键词： Fault diagnosis fault test device HYDRAULIC CYLINDERS handling system Hypothesis testing high fidelity friction seed drills Pipe residual signal nonlinearity

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Hardware Implementation of a Sliding Detection Algorithm for Robotic Hands Using Force Sensors

Hardware Implementation of a Sliding Detection Algorithm for...

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Symposium on Integrated Circuits and Systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field Programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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