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Characterization, modeling and vibration control of a flexible rubber beam with embedded piezoelectric actuators and sensors

Characterization, modeling and vibration control of a flexib...

引用

2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Grier, Matthew L. Jalili, Nader Department of Mechanical Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634-0921 United States

A cantilever rubber beam with laminated piezoelectric actuators and sensors is initially tested to determine the properties governing the dynamic behavior of the beam. Various techniques are employed to estimate beam properties such as elastic stiffness, damping coefficient and natural frequencies, as well as piezoelectric actuator capabilities for vibration control purposes. A simplified Euler-Bernoulli model is proposed, which is validated using the properties previously discovered. A passive electric shunt circuit is then proposed for the beam vibration suppression, when subjected to external excitation forces. Simulation of a series resistor-inductor shunt circuit is used to demonstrate the capability of altering the beam's dynamic behavior. Various methods for tuning the shunt circuit are explored in an effort to achieve optimal vibration suppression characteristics. Furthermore, experimental testing is conducted for validation of simulation results, which also yields similar information about passive shunting techniques for vibration damping.

关键词： Vibration control

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Time Domain Passivity Control with Reference Energy Behavior

Time Domain Passivity Control with Reference Energy Behavior

引用

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ryu, Jee-Hwan Hannaford, Blake Preusche, Carsten Hirzinger, Gerd Department of Electrical Engineering University of Washington Box 352500 Seattle WA 98195-2500 Department of Robotic Systems Inst. of Robotics and Mechatronics Box 1116 Munich D-82230 Germany

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a "PHANToM" commercial haptic device. The "Passivity Observer" (PO) and "Passivity Controller" (PC) stabilization method was formed to stabilize the system but also excite high frequency mode in the device. To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the time-varying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness (K = 500N/m), and stable and smooth contact is guarantee. Resetting and active environment display problems also can be solved with the reference energy following idea.

关键词： robotics

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Laser interferometry based robot position error modelling for kinematic calibration

Laser interferometry based robot position error modelling fo...

引用

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： G. Alici B. Shirinzadeh Department of Mechanical Engineering Robotics & Mechatronics Research Laboratory Monash University VIC Australia

In this paper, we present the results and implications of our experimental study into the parameter identification and the position error modelling of a Motoman SK 120 robot manipulator for kinematic calibration. The true values of the parameters and the coefficients of the error model are estimated, in the least-squares sense, from the position data of 85 identification configurations of the manipulator measured by a high precision laser tracking system. The proposed error model is utilised to calculate the expected position errors for an exemplary Cartesian space trajectory. These errors are then corrected using a first order approximation of the inverse kinematic model. The results prove that the established model is accurate enough to represent position error of the manipulator without needing further experimental position data. This work contributes to previously published work from the point of view of being a simple and systematic approach to the self-calibration of robotics systems with minimum experimental data.

关键词： Laser modes Interferometry Robots Kinematics Calibration Manipulators Parameter estimation Error correction Position measurement Orbital robotics

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Application of Proportional-Integral sliding mode tracking controller to robot manipulators

Application of Proportional-Integral sliding mode tracking c...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： M.N. Ahmad J.H.S. Osman Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly nonlinear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The proportional-integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period, i.e., the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered.

关键词： Pi control Proportional control Robot control Sliding mode control Manipulator dynamics Trajectory Robust control Couplings Centralized control Stability

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Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

Robust sliding mode control for robot manipulator tracking p...

引用

Student Conference on Research and Development (SCOReD)

作者： M.N. Ahmad J.H.S. Osman Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented.

关键词： Robust control Sliding mode control Uncertainty Manipulator dynamics Control systems Robustness Robot control Trajectory Nonlinear dynamical systems Equations

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Constrained structural optimisation of a revolute-jointed planar parallel manipulator

Constrained structural optimisation of a revolute-jointed pl...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： G. Alici B. Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne Australia

This paper addresses kinematic analysis and constrained structural optimisation of a five-bar planar parallel manipulator articulated with revolute joints only. The kinematics of the manipulator is investigated, and its Jacobian matrix as a function of the input joint positions has been formulated. An objective function based on minimizing the overall deviation of the condition number of the manipulator Jacobian matrix from the ideal condition number throughout the workspace of the manipulator has been employed to determine the link lengths subjected to a set of optimisation constraints. Optimisation results indicate that the proposed optimisation method is systematic, versatile and easy to implement for the optimal synthesis of the five-bar parallel manipulator and other kinematic chains.

关键词： Constraint optimization Kinematics Manipulator dynamics Jacobian matrices Parallel robots Optimization methods Couplings Transmission line matrix methods mechatronics Mechanical engineering

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Kinematics and stiffness analyses of a flexure-jointed planar micromanipulation system for a decoupled compliant motion

Kinematics and stiffness analyses of a flexure-jointed plana...

引用

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： G. Alici B. Shirinzadeh Department of Mechanical Engineering Robotics & Mechatronics Research Laboratory Monash University VIC Australia

This paper aims (i) to introduce a new monolithic micromanipulation system for applications requiring micro/nano scale planar motion, and (ii) to model its stiffness consisting of the inherent stiffness of its joints, and the artificial stiffness due to its joint space position controller in order to obtain a decoupled compliant motion for the manipulator end point while a Cartesian force vector is acting upon it. The micromanipulation system is an in-parallel actuated planar manipulator based on five single DOF flexure joints connecting five supposedly rigid links to each other. Numerical results provided show that there exist practical operation ranges of the manipulator yielding both a suitable set of joint serve gains as well as a diagonal Cartesian stiffness matrix. The stiffness model can be used to predict the reaction forces arising from part misalignment and the task forces during the execution of micro tasks, such as micromanufacturing and microassembly. The determination of the forces is also useful for many applications such as designing micro fixtures and micro end effectors sustainable to task forces.

关键词： Kinematics Motion analysis Force control Motion control Joining processes Transmission line matrix methods Predictive models Microassembly Fixtures End effectors

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A stable sequential inverse kinematics of flexible robots: explicit and implicit expansion methods

A stable sequential inverse kinematics of flexible robots: e...

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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： Joono Cheong Youngil Youm Wan Kyun Chung Robotics Laboratory School of Aerospace 63 Mechanical Engineering Seoul National University South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory South Korea

ISBN: (纸本)0780378601

This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in, the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

关键词： Robot kinematics Mechanical engineering Manipulator dynamics Aerodynamics Aerospace engineering Biomechatronics Stability Tracking Torque Robustness

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Time domain passivity control with reference energy behavior

Time domain passivity control with reference energy behavior

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jee-Hwan Ryu B. Hannaford C. Preusche G. Hirzinger Department of Electrical Engineering University of Washington Seattle WA USA Department of Robotic Systems Institute of Robotics and Mechatronics Germany

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a "PHANToM" commercial haptic device. The "passivity observer" (PO) and "passivity controller" (PC) stabilization method was formed to stabilize the system but also excite high frequency mode in the device. To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the time-varying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness (K=500 N/m), and stable and smooth contact is guarantee. Resetting and active environment display problems can also be solved with the reference energy following idea.

关键词： Haptic interfaces Virtual environment Humans Displays Delay effects Robots Control theory Damping Force control System testing

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Time domain passivity control for 6 degrees of freedom haptic displays

Time domain passivity control for 6 degrees of freedom hapti...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C. Preusche G. Hirzinger J.-H. Ryu B. Hannaford Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical Engineering University of Washington Seattle WA USA

In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept.

关键词： Haptic interfaces Displays Virtual reality Damping Humans Surgery Robots mechatronics Aerospace control Orbital robotics

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