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Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

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American Control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay Control systems Mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

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Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

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

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness mechatronics Digital filters IIR filters Vibrations Finite impulse response filter Control systems Cranes Convolution Mechanical engineering

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Discrete-time lqr and H2damping control of flexible payloads using a robot manipulator with a wrist-mounted force/torque sensor

Discrete-time lqr and H2damping control of flexible payloads...

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Lee, Chunhao Joseph Mavroidis, Constantinos Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854-8058 United States

ISBN: (纸本)9780791826652

This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-offreedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-offreedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively. © 2000 by ASME.

关键词： Flexible manipulators

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FABRICATION OF A ROBOTIC HAND USING RAPID PROTOTYPING

FABRICATION OF A ROBOTIC HAND USING RAPID PROTOTYPING

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Won, Jey DeLaurentis, Kathryn J. Mavroidis, Constantinos Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering Rutgers University The State University of New Jersey 98 Brett Rd PiscatawayNJ08854-8058 United States

ISBN: (纸本)9780791835203

In this paper, the application of Rapid Prototyping in the fabrication of a robotic hand is presented. Using the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of one four degree of freedom finger of a five-fingered robotic hand. This robotic finger and joints have been fabricated in one step, without requiring assembly while maintaining their desired mobility. Copyright © 2000 by ASME.

关键词： Rapid prototyping

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DESIGN AND CONTROL OF A SHAPE MEMORY ALLOY WIRE BUNDLE ACTUATOR

DESIGN AND CONTROL OF A SHAPE MEMORY ALLOY WIRE BUNDLE ACTUA...

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Mosley, Michael J. Mavroidis, Constantinos Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854-8058 United States

ISBN: (纸本)9780791835203

In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf- (445 N), which is approximately 300 times its weight, over a maximum distance of 0.5 in. (1.27 cm). The actuator was tested in two different loading configurations - linear displacement and operation of a revolute joint. A P1D based controller with the addition of an input shaping function was developed for each loading configuration with excellent results, maintaining steady state error within ± 0.004 in. (0.1 mm) for linear motion and ± 1° for revolute joint rotation. This powerful, compact, and lightweight actuator shows promise for use in space, medical, and other macro-robotic applications. © 2000 by ASME.

关键词： Linear actuators

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ANALYTIC GEOMETRIC DESIGN OF SPATIAL R-R ROBOT MANIPULATORS

ANALYTIC GEOMETRIC DESIGN OF SPATIAL R-R ROBOT MANIPULATORS

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Mavroidis, Constantinos Alam, Munshi Lee, Eric Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Laboratory Rutgers UniversityThe State University of New Jersey 98 Brett Rd. PiscatawayNJ08854 United States

ISBN: (纸本)9780791835173

This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of freedom end-effector tasks. The loop-closure geometric equations provide eighteen design equations in eighteen unknowns. Polynomial Elimination techniques are used to solve these equations and obtain the manipulator Denavit and Hartenberg parameters. A sixth order polynomial is obtained in one of the design parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses. Copyright (C) 2000 by ASME.

关键词： End effectors

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Behaviors blending for intelligent reactive navigation of climbing robot

Behaviors blending for intelligent reactive navigation of cl...

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作者： Al-Jumaily, Adel Ali S. Amin, Shamsudin H. M. Intelligent System Engineering Group Department of Mechatronics Engineering International Islamic University Jalan Gombak Kuala Lumpur53100 Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia UTM Skudai Johor81310 Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in the control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fiizzy? behavior based reactive navigation of goal achieving, obstacle avoidance, and propose new method to blend and coordinate multi behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior We build our simulation and animation programs that can reflect on-line the robot movement and have capability' to using graphical user interface (GUI). © 2000 IEEE.

关键词： Mobile robots

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Towards procedures for systematically deriving hybrid models of complex systems 3rd

Towards procedures for systematically deriving hybrid models...

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3rd International Workshop on Hybrid Systems: Computation and Control, HSCC 2000

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Department of Electrical Engineering and Computer Science Vanderbilt University Box 1679 Sta B NashvilleTN37235 United States

ISBN: (纸本)9783540464303

In many cases, complex system behaviors are naturally modeled as nonlinear differential equations. However, these equations are often hard to analyze because of "stiffness" in their numerical behavior and the difficulty in generating and interpreting higher order phenomena. Engineers often reduce model complexity by transforming the nonlinear systems to piecewise linear models about operating points. Each operating point corresponds to a mode of operation, and a discrete event switching structure is added to implement the mode transitions during behavior generation. This paper presents a methodology for systematically deriving mixed continuous and discrete, i.e., hybrid models from a nonlinear ODE system model. A complete switching specification and state vector update function is derived by combining piecewise linearization with singular perturbation approaches and transient analysis. The model derivation procedure is then cast into the phase space transition ontology that we developed in earlier work. This provides a systematic mechanism for characterizing discrete transition models that result from model simplification techniques. Overall, this is a first step towards automated model reduction and simplification of complex high order nonlinear systems. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Nonlinear systems

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Pre-transition phase control : three different approaches

Pre-transition phase control : three different approaches

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nakju Doh Gyudong Jeon Wan Kyun Chung Youngil Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and we propose three control methods. First, we propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Second, we present passive damper named as "flexible-damped joint" which is a good solution to circumvent the pre-transition phase. Third, we suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in the flexible-damped joint. It is named as "joint damping controller". The effectiveness of these three approaches are verified via experiments using the POSTECH 1-DOF DD arm.

关键词： Phase control Damping Robots Equations Friction Biomechatronics Mechanical engineering Shock absorbers Force control Stability

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Bandwidth modulation of rigid subsystem for the class of flexible robots

Bandwidth modulation of rigid subsystem for the class of fle...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joono Cheong Wankyun Chung Youngil Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint tracking performance and vibration suppression capability using the joint motion bandwidth parameter. For the flexibility isolated system, the independent sub-controllers for the rigid and flexible part are proposed just like the singular perturbation approach. The validity of the proposed method is verified by experiments.

关键词： Bandwidth Robots Vibrations Manipulator dynamics Torque control Adaptive control Equations Biomechatronics Mechanical engineering Motion control

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