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Energetic Approach for Actuator Fault Accommodation: Application to Bilateral Teleoperation

Energetic Approach for Actuator Fault Accommodation: Applica...

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Conference on Control and Fault-Tolerant Systems

作者： Lorinc Marton Jordi Artigas Esclusa Department of Electrical Engineering Sapientia - University of Transylvania Robotics and Mechatronics Center DLR - German Aerospace Center

ISBN: (纸本)9781479928569

This paper introduces a fault tolerant control approach based on direct compensation of the power, which is generated by a fault source located at the input of the controlled system. The power of the fault is estimated from the energy balance of the controlled system. The control law, proposed for fault accommodation, depends directly on the estimated fault power and it is formulated such to avoid large, unimplementable control signals that could appear in some specific operating conditions of the system. The method is directly applicable to guarantee the stability of bilateral control systems in the presence of communication delay between the master and the slave. The resulting control algorithm is an extended Passivity Observer - Passivity Controller scheme, which guarantees that the magnitudes of the control signals always remain in an admissible domain. Simulations and real-time experimental measurements are presented to show the efficiency of the proposed control scheme.

关键词： Fault Tolerant Control Teleoperation Energy Balance Passivity

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Control Allocation of All-Wheel Drive Vehicles: a Longitudinal Model

Control Allocation of All-Wheel Drive Vehicles: a Longitudin...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Asher Stern Zvi Shiller Paslin Robotics Research Laboratory Department of Mechanical Engineering and Mechatronics Ariel University Ariel 40700 Israel

ISBN: (纸本)9781467363563

This paper offers a method to compute the control inputs for an all-wheel drive vehicle that moves along a specified path on rough terrain. The focus of this paper is on longitudinal motion only, using a half-car model with no suspensions. For a given path, we first compute the range of the admissible speeds and accelerations at every point along the path, subject to vehicle dynamics and constraints on the wheel/ground forces. A feasible velocity profile along the path is then computed to respect the admissible speeds and accelerations and satisfy given boundary conditions. While the velocity profile represents the accelerations of the center of mass, it remains to determine the control inputs (torques) for the two independent wheels. The challenge stems from the longitudinal model being an indeterminate system, having two control inputs but only one degree-of-freedom along the specified path. This inherent indeterminacy is resolved by adding a virtual suspension to the rigid vehicle model, which allows to explicitly compute the two individual wheel torques. The method is demonstrated for a vehicle moving at the time optimal speeds over a bump. A dynamic simulation of the vehicle with a stiff suspension shows that the two wheels maintain contact with the ground at all times, despite moving at the ultimate speeds. It is also shown that the all-wheel-drive model produces a larger set of admissible speeds and accelerations, and hence results in faster speeds and shorter motion times than the single drive (front or rear) model.

关键词： Control Allocation All-Wheel Drive Vehicles Longitudinal Model

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Design and locomotion simulation of an improved eccentric paddle mechanism for amphibious robots

Design and locomotion simulation of an improved eccentric pa...

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IEEE International Conference on robotics and Biomimetics

作者： Huayan Pu Shugen Ma Jun Luo Tao Wang Yi Sun Yang Yang Zhenbang Gong School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Robotics Ritsumeikan University Shiga Japan

Eccentric paddle mechanism (ePaddle) is a novel locomotion mechanism designed for amphibious search and rescue tasks. The ePaddle is able to enhance the mobility of amphibious robots for multi-terrains tasks. Based on the principle of ePaddle and the experiments on the prototype, an improved mechanism named ePaddle-EGM is proposed in this paper. The ePaddle-EGM is based on the epicyclic gear mechanism, and follows the concept of alternating motion pattern through actively changing the position of the paddle shaft. The key features of the improved mechanism are the motion totally achieved by revolute joints and dynamic coupling between joints. The kinematic analysis as well as the prototype design are presented in this paper. The locomotion simulations of various gaits are carried out to verify the mobility of the new design.

关键词： Gears Shafts Wheels Fasteners Mobile robots Planets

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A new skill based robot programming language using UML/P Statecharts

A new skill based robot programming language using UML/P Sta...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ulrike Thomas Gerd Hirzinger Bernhard Rumpe Christoph Schulze Andreas Wortmann Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Software Engineering RWTH Aachen University Germany

This paper introduces the new robot programming language LightRocks(Light Weight Robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot programming. On lowest level skills are coded by domain experts. On a more abstract level these skills are supposed to be combined by shop floor workers or technicians to define tasks. The language is designed to allow as much flexibility as necessary on the lowest level of abstraction and is kept as simple as possible with the more abstract layers. A Statechart like model is used to describe the different levels of detail. For this we apply the UML/P and the language workbench MontiCore. To this end we are able to generate code while hiding controller specific implementation details. In addition the development in LightRocks is supported by a generic graphical editor implemented as an Eclipse plugin.

关键词： Unified modeling language Robot programming DSL Robot sensing systems

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Urban bus comfort optimization using a semi-active suspension

Urban bus comfort optimization using a semi-active suspensio...

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20th International Congress on Sound and Vibration 2013, ICSV 2013

作者： Kowarska, Izabela Korta, Jakub Uhl, Tadeusz Kuczek, Krystian Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Krakow Poland EC Engineering Sp. z o.o. v.l. Opolska 100 31-323 Krakow Poland

ISBN: (纸本)9781629931500

The paper presents an innovative method for improving a city bus comfort, using a semiactive air suspension system. The novelty of the described approach relies on linking different modeling techniques, to equipped 3D bus model with active suspension on-board systems. The procedure departs from number of numerical simulations guided by a design of experiment algorithm. The structural modifications are obtained by means of the mesh morphing technique, whereas vehicle dynamics alternations are achieved with characteristics parameterization. Subsequently, a metamodel is used in conjunction with a genetic algorithm in order to find a Pareto set of quasi-optimal solutions. The procedure is fully automatic: the user input consists only of providing the design parameters and choosing the final solution from found possibilities. The exemplary application of the elaborated optimization platform was carried out on a numerical model of an urban bus, that is currently produced. The established objectives were chosen to find ameliorations in comfort taking into account conflicting criteria. The conducted sensitivity analysis revealed an impact of the design parameters on the variations of measured output quantities. The selected final solution exhibited improvements in all of the considered fields, substantiating the usefulness and effectiveness of the developed optimization platform.

关键词： Design of experiments

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PID Motion Control Tuning Rules in a Damping Injection Framework

PID Motion Control Tuning Rules in a Damping Injection Frame...

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American Control Conference

作者： Tadele Shiferaw Tadele Theo de Vries Stefano Stramigioli Robotics and Mechatronics chair at the Faculty of Electrical Engineering Mathematics and Computer Science University of Twente 7500 AE Enschede The Netherlands

ISBN: (纸本)9781479901777

This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety due to the compliance it introduces and guarantees asymptotic stability because of its passive nature. In order to perform successful manipulation with a damping injection framework controlled robot, a performance based analysis and tuning of the controller is essential. By mapping a performance based frequency domain tuning of PID controllers on the framework, the proposed tuning method attempts to analyze and define controller parameters that yield a desired performance requirement given in terms of the maximum allowed position error. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.

关键词： PID damping injection impedance control performance tuning

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Experimental system identification and feed-forward control of a 2-DOF flexure-based mechanism

Experimental system identification and feed-forward control ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： U. Bhagat B. Shirinzadeh L. Clark Y. Qin D. Zhang Y. Tian Department of Mechanical & Aerospace Engineering Robotics and Mechatronics Research Laboratory Clayton VIC Australia Tianjin University School of Mechanical Engineering Tianjin China

The work presented in this paper focuses on the system identification of a 2-DOF flexure-based mechanism, designed for micro/nano scale positioning and manipulation. In the presented compliant mechanism, the cross axis coupling ratio is below 1% indicating excellent decoupling performance. The system identification procedure, experimental design, data collection, data analysis, and validation of the identified system are detailed in this paper. A linear sine swept signal over a range from 1 Hz to 1000 Hz is applied to the system as an input. Laser interferometry-based sensing and measurement technique is used to measure the response of the system. The experimental data is used to evaluate the transfer function of the system in the X and Y axes. The first natural frequency of the 2-DOF mechanism in the X and Y axes are estimated using the identified models, which are found out to be 557 Hz and 545 Hz respectively. Validation data is collected and used to verify the accuracy of the identified model. The error between the predicted output of the identified model and the experimental response is found to be less than ±10%, mostly resulted from actuator hysteresis. Further, a feedforward controller is implemented to track a 1-DOF smooth multiple-frequency trajectory.

关键词： Data models System identification Measurement by laser beam Couplings Transfer functions Predictive models Trajectory

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Mapping planetary caves with an autonomous, heterogeneous robot team

Mapping planetary caves with an autonomous, heterogeneous ro...

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2013 IEEE Aerospace Conference, AERO 2013

作者： Husain, Ammar Jones, Heather Kannan, Balajee Wong, Uland Pimentel, Tiago Tang, Sarah Daftry, Shreyansh Huber, Steven Whittaker, William L. Robotics Institute Carnegie Mellon University United States GE Global Research Schenectady NY United States Mechatronics Engineering University of Brasilia Brazil Mechanical and Aerospace Engineering Princeton University United States Electronics and Communication Manipal Institute of Technology United States Astrobotic Technology Inc. Pittsburgh PA United States

ISBN: (纸本)9781467318112

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves. © 2013 IEEE.

关键词： Multipurpose robots

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Linearized Mathematical Model of Intelligent Pneumatic Actuator System: Position, Force and Viscosity Controls

Linearized Mathematical Model of Intelligent Pneumatic Actua...

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Asian Control Conference

作者： Ahmad 'Athif Mohd Faudzi Teh Chuan Enn Khairuddin Osman Zool Hilmi Ismail Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor

ISBN: (纸本)9781467357661

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.

关键词： Intelligent Pneumatic Actuator (IPA) Cylinder Linearization PI ANFIS

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Non-singular 3-DOF planar parallel manipulator with high orientational capability for a hybrid machine tool

Non-singular 3-DOF planar parallel manipulator with high ori...

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International Conference on Advanced robotics (ICAR)

作者： Samy F. M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Porg-E1Arab Egypt

Since almost all symmetric 3-DOF planar parallel manipulators have inherent singularities which limits the usable workspace, a 3-PPR planar parallel one in a non conventional architecture is developed in this paper for a hybrid machine tool. This architecture permits a large workspace with unlimited orientation capability and no singularities. It also has the advantage of being partially decoupled to independently control the actuators. The kinematics, singularities, orientation capability and workspace analyses of the developed manipulator are studied to verify those advantages. The kinematic and dynamic performances are investigated based on non-dimensional design parameters space. The local kinematic and dynamic dexterity indices are proven to be uniform within the constant orientation workspace. Simulation results are finally presented to verify a high dexterity non-singular planar parallel manipulator.

关键词： Kinematics Jacobian matrices Vectors Machine tools Joints Manipulators Legged locomotion

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