Robust H¦0¦0 - Based Control of Flexible Joint Robots with Harmonic Drive Transmission PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Robust H¦0¦0 - Based Control of Flexible Joint Robots with Harmonic Drive Transmission PDF full book. Access full book title Robust H¦0¦0 - Based Control of Flexible Joint Robots with Harmonic Drive Transmission by Majid M. Moghaddam. Download full books in PDF and EPUB format.
Author: Majid M. Moghaddam Publisher: ISBN: Category : Languages : en Pages :
Book Description
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.
Author: Majid M. Moghaddam Publisher: ISBN: Category : Languages : en Pages :
Book Description
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.
Author: Mark C. Readman Publisher: CRC Press ISBN: 9780849326011 Category : Technology & Engineering Languages : en Pages : 164
Book Description
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.
Author: Mathieu Grossard Publisher: John Wiley & Sons ISBN: 1118572122 Category : Technology & Engineering Languages : en Pages : 290
Book Description
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.
Author: Adriano A. G. Siqueira Publisher: Springer Science & Business Media ISBN: 0857298984 Category : Technology & Engineering Languages : en Pages : 234
Book Description
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
Author: Fei-Yue Wang Publisher: World Scientific ISBN: 9789812796721 Category : Technology & Engineering Languages : en Pages : 464
Book Description
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. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Author: Adam Spiers Publisher: Springer ISBN: 3319301608 Category : Technology & Engineering Languages : en Pages : 286
Book Description
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.
Author: Majid M. Moghaddam
Author: Majid M. Moghaddam
Author: 
Author: Mark C. Readman
Author: Hyun Min Peck
Author: Mathieu Grossard
Author: Adriano A. G. Siqueira
Author: 
Author: Fei-Yue Wang
Author: John York Hung
Author: Adam Spiers