Download or read book Robust Optimal Motion tracking Control of Flexible joint Robots written by and published by . This book was released on 1999 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust H 0 0 Based Control of Flexible Joint Robots with Harmonic Drive Transmission written by Majid M. Moghaddam and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of the control of flexible joint robots is considered. Motion and torque control of robot joints, especially those equipped with harmonic drive (HD) transmission, is a challenging task due to the inherent nonlinear characteristics and joint flexibility of such systems. Two issues related to the control of flexible joint robots are investigated. The first is the development of a systematic scheme for selecting uncertainty bounds of robot joint nonlinearity and flexibility for control design purposes. The second is the development of motion and torque control schemes that guarantee robust performance in the presence of model uncertainties. We propose a twofold robust control design for flexible joint robots with HD: an actuator-level torque control and a link-level motion control. We utilize multivariable ${\cal H}\sb\infty$-based optimal control laws supported entirely by frequency domain measures at both levels. The proposed method provides a unified framework for achieving the desired performance requirements and for preserving robust stability in the presence of model uncertainties. Using simulation it is shown that the proposed method is more robust than conventional methods because the uncertainties due to the actuator-transmission nonlinearity are explicitly considered in the control design procedure. In the design of the actuator level torque control, we analyze nonlinear harmonic drive phenomena that have been widely observed in experiments. The focus is on incorporating into the control design process a knowledge of the mismatch between the physical system and its mathematical models. The describing function and conic-sector-bounded nonlinearity methods are used to build into the control design process the effects of mismatch between hysteresis, friction and nonlinear stiffness of HD transmission and their mathematical models. In the design of the link level motion control, a nonlinear compensator based on the computed torque technique is derived. It is shown that the closed-loop system achieves robust performance using the proposed control design technique. Using the Small Gain theorem and the Lyapunov Function method, the stability of the proposed control scheme is verified. Finally, in order to illustrate the proposed technique two control designs are presented for the IRIS-facility experimental testbed (a versatile, modular, and reconfigurable prototype robot developed at the Robotics and Automaton Laboratory of the University of Toronto) together with simulation and experimental results.
Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Download or read book Flexible Robotics written by Mathieu Grossard and published by John Wiley & Sons. This book was released on 2013-08-05 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.
Download or read book Flexible Joint Robots written by Mark C. Readman and published by CRC Press. This book was released on 1994-07-13 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.
Download or read book Robust Tracking Control of Robot Manipulators written by Zhihua Qu and published by . This book was released on 1996 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cable Driven Parallel Robots written by Tobias Bruckmann and published by Springer Science & Business Media. This book was released on 2012-09-09 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Download or read book Dynamics and Robust Control of Robot Environment Interaction written by Miomir Vukobratovic and published by World Scientific. This book was released on 2009 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.
Download or read book Robust Fuzzy Control of Flexible joint Robot Arm with Uncertainties written by Weiming Tang and published by . This book was released on 1993 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Control of Flexible Joint Robot Manipulators written by John York Hung and published by . This book was released on 1989 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of robot manipulator controller design in the presence of joint flexibility is addressed. The specific goal is to design a controller that yields good tracking performance in spite of parametric uncertainty. Feedback linearization, robust observers, singular perturbation technique, and adaptive control are different approaches that are theoretically analyzed. Experimental results on a single-link, flexible joint arm are also presented. Although each controller has its advantages and drawbacks, all of the design methods yield improved performance when compared to controller designs based upon rigid joint models.
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Download or read book Advanced Studies Of Flexible Robotic Manipulators Modeling Design Control And Applications written by Yanqing Gao and published by World Scientific. This book was released on 2003-08-14 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.
Download or read book Applied mechanics reviews written by and published by . This book was released on 1948 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive and Robust Control of Flexible Joint Robots with Joint Torque Feedback microform written by Tian Lin and published by National Library of Canada = Bibliothèque nationale du Canada. This book was released on 1998 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1989 with total page 1148 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cable Driven Parallel Robots written by Andreas Pott and published by Springer. This book was released on 2019-06-12 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Download or read book Fault Diagnosis written by Józef Korbicz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 936 pages. Available in PDF, EPUB and Kindle. Book excerpt: This comprehensive work presents the status and likely development of fault diagnosis, an emerging discipline of modern control engineering. It covers fundamentals of model-based fault diagnosis in a wide context, providing a good introduction to the theoretical foundation and many basic approaches of fault detection.
