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On the nonlinear modeling and identification of piezoelectric inertial actuators

On the nonlinear modeling and identification of piezoelectri...

引用

2001 ASME International Mechanical engineering Congress and Exposition

作者： Knowles IV, David W. Jalili, Nader Khan, Taufiquar Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC 29634 United States Department of Mathematical Science Clemson University Clemson SC 29634 United States

Active counter-force vibration control has significant advantages over the more traditional motion-based active vibration suppression schemes. A piezoelectric ceramic (PZT) inertial actuator is an efficient and inexpensive solution for this type of structural vibration control. In order to properly tune the control parameters of the absorber subsection, an accurate mathematical model is necessary. For this, a nonlinear model for the PZT inertial actuators is presented. In particular, a polynomial form of non-linearity in the dynamical model of the actuator is assumed. An inverse problem is then formed to identify the model parameters of the actuator (absorber). The model parameters consist of the effective mass, damping and stiffness of the actuator as well as the polynomial form of the non-linearity. Using Lyapunov's second method, the stability conditions for the proposed nonlinear model are established. An experimental setup is developed to validate the proposed nonlinear model. The results of the model identification using the actual experimental data demonstrate that the nonlinear model would better fit the experimental data, when compared to the linear model.

关键词： Actuators

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Regulation of a lightweight one-link flexible robot arm using an exponentially stable variable structure controller

Regulation of a lightweight one-link flexible robot arm usin...

引用

American Control Conference (ACC)

作者： N. Jalili Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC USA

An exponentially stable variable structure controller is presented for regulation of the angular velocity of a lightweight one-link flexible robot arm, while simultaneously stabilizing vibration transient in the arm. By properly selecting a sliding hyperplane, the non-homogenous governing equations are converted to homogenous ones, and hence, analytically solvable. The controller is then designed based on the original infinite dimensional distributed system which, in turn, removes some disadvantages associated with the truncated-model-base controllers. Utilizing only the arm base angular position and tip deflection for the controller, an on-line perturbation estimation routine is introduced to overcome the measurement imperfections and the ever-present unmodeled dynamics. Depending on the composition of the controller, some favorable features appear such as elimination of control spillovers, suppression of residual oscillations and simplicity of the control implementation. Numerical simulations along with an experimental setup are provided to verify the theoretical concept and validate the effectiveness of the proposed controller.

关键词： Automatic control robotics and automation Lighting control Vibration control Control systems Service robots Manipulators Optimal control Mechanical variables control Angular velocity control

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Transition to nonlinear /spl Hscr//sub /spl infin// optimal control from inverse-optimal solution for Euler-Lagrange system

Transition to nonlinear /spl Hscr//sub /spl infin// optimal ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Wan Kyun Chung Robotics and Bio-Mechatronics RNB Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0780365763

One of recent achievements in the field of nonlinear /spl Hscr//sub /spl infin// optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-Jacobi-Isaacs (HJI) equation associated to the so-called nonlinear /spl Hscr//sub /spl infin// inverse-optimal control. In this paper, we address the problem of nonlinear /spl Hscr//sub /spl infin// optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By introducing a technique of control weight loosening and state weight strengthening, we show that the associated HJI inequality, not the equation, for nonlinear /spl Hscr//sub /spl infin// optimal control can be solved also analytically using the inverse-optimal solution.

关键词： Optimal control Nonlinear equations Nonlinear control systems Control systems Cost function Robustness Robust control Control design Attenuation Robots

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Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators

Multiple tasks kinematics using weighted pseudo-inverse for ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Youngjin Choi Wan Kyun Chung Youngil Youm Robotics and Bio-Mechatronics RNB Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0780365763

This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property same as those conventional task priority based methods. In order to deal with general situations of task specification, the so-called semi-definitely weighted pseudo-inverse is devised.

关键词： Jacobian matrices Manipulator dynamics Matrix decomposition Robot kinematics Biomechatronics Mechanical engineering Error correction Inspection Weight control

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Novel smart connector for modular robotics

Novel smart connector for modular robotics

引用

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

作者： M. Badescu C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

This paper presents the concept, design, analytical modeling and experimental prototype for a new "smart connector", which provides electrical and mechanical connection between components of a system, specifically robotic modules. The connector includes plug and receptacle components. The plug has a central pin surrounded by a plurality of lamellae. The lamellae have an end connected to the base and a free end. A shape memory alloy (SMA) actuator is positioned about the lamellae of the plug for controlling the movement of the free end of the lamellae. The receptacle, which includes an SMA actuator, has a pin housing corresponding to the central pin of the plug. In another configuration, the plug and receptacle are positioned side by side to provide a universal connector. The connector can transmit axial force through the lamellae, shear force through the receptacle and plug housings, and torque in the case of universal configuration. The disconnection can be controlled from plug and/or receptacle side(s).

关键词： Connectors Intelligent robots Plugs Service robots Actuators Robotic assembly Shape memory alloys robotics and automation Torque Robot sensing systems

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Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator

Singularity analysis of CaPaMan: A three-degree of freedom s...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： E. Ottaviano C.M. Gosselin M. Ceccarelli Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Frosinone Italy Department of Mechanical Engineering University of Laval Quebec QUE Canada

ISBN: (纸本)0780365763

CaPaMan (Cassino parallel manipulator) is a three-degree of freedom parallel mechanism that has been designed and built at the Laboratory of robotics and mechatronics in Cassino. In the paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It is shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the manipulator. It is also proved that this type of singularity can be avoided by a proper analysis of the problem.

关键词： Manipulators Laboratories Parallel robots mechatronics Robot kinematics Leg Tires Testing Telescopes Aerospace simulation

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Proper filter design procedure for vibration suppression using delay-error-order curves

Proper filter design procedure for vibration suppression usi...

引用

2001 ASME International Mechanical engineering Congress and Exposition

作者： Economou, D. Mavroidis, C. Antoniadis, I. Natl. Technical University of Athens Department of Mechanical Engineering Mechanical Design Division 9 Heroon Polytechniou Str. 15773 Athens Greece Robotics and Mechatronics Laboratory Rutgers University State University of New Jersey 98 Brett Rd. Piscataway NJ 08854-8058 United States

Vibration suppression can be performed by digital filtering the input to the flexible system. Traditional digital filters have been proved to be efficient for vibration suppression, when they are properly designed, In order to ensure the proper filter design, the Delay-Error-Order (DEO) curves are introduced, to be used as a filter design tool. Based on the DEO curves, the vibration suppression properties and capabilities of the filter can be related with the design parameters involved in the traditional filter design methods. Using the DEO curves, the filters designed by means of conventional design methods posses excellent vibration suppression capabilities. This design procedure is presented in detail in this paper and an example of the application of the method is included.

关键词： Digital filters

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Experimental studies of neural network impedance force control for robot manipulators

Experimental studies of neural network impedance force contr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung Sun Bin Yim T.C. Hsia Intelligent Systems and Emotional Engineering Laboratory Department of Mechatronics Engineering Chungnam National University Daejeon South Korea The Robotics Research Laboratory University of California Davis Davis CA USA

ISBN: (纸本)0780365763

In this paper, the neural network force control is presented. Under the framework of impedance control, neural network is used to compensate for all the uncertainties from robot dynamics and unknown environment. A modified simple impedance function is realized after the convergence of the neural network. Learning algorithms for the neural network to minimize the force error directly are designed. As a test-bed, the large X-Y table robot was implemented. Experimental results obtained show better force tracking when the neural network is used.

关键词： Neural networks Impedance Force control Orbital robotics Robot kinematics Equations Intelligent robots Uncertainty Manipulator dynamics Intelligent networks

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Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

Robust two degree of freedom vehicle steering control satisf...

引用

European Control Conference (ECC)

作者： Bilin Aksun Güvenç Levent Güvenç Dirk Odenthal Tilman Bünte Department of Mechanical Engineering Ístanbul Technical University Istanbul Turkey Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center (DLR) - Oberpfaffenhofen Wessling Germany

Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability and a mixed sensitivity frequency domain bound. Simple, and therefore, easily implementable controller transfer functions with two design parameters are chosen for the two steering controller degrees of freedom. Using the parameter space method, the design specifications are mapped into the plane of controller parameters. The effectiveness of the final design is demonstrated using simulations.

关键词： Vehicles Robustness Sensitivity Vehicle dynamics Roads Uncertainty Stability analysis

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots Control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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