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Concave Wall Surface Tracking for Aerial Manipulator Using Contact Force Estimation Algorithm
Seon-il Lee,Hyeongseok Kim,Uikyum Kim,Hyeonbeom Lee 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
This paper presents a control algorithm of a contact-based inspection for an Unmanned Aerial Vehicle (UAV) manipulator without using a force sensor. The conventional contact-based operation methods for a ground-based manipulator require a force sensor, but the force measurement is noisy on uneven surfaces. The noisy measurement can cause an unstable flight of the UAV when using direct force measurement as an input. To resolve this issue, we design a contact-force estimation algorithm of a UAV and desired trajectory generation algorithm. Contact-force is estimated by using the dynamics of a UAV and IMU sensor. In addition, to track the concave wall safely, we propose a heading-angle alignment algorithm. Through the Gazebo simulation, we show that the proposed method is effective compared to the force-sensor-based existing method.
Integrative Tracking Control Strategy for Robotic Excavation
Niraj Reginald,Jaho Seo,Moohyun Cha 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.10
Automated excavation is hard to achieve due to several inherent problems such as resistive force acting against the bucket, non-homogenous dynamics of various excavation media, and nonlinearities of the excavator’s hydraulics system. To deal with this issue, this paper provides an integrative control strategy for successful autonomous excavation that considers the mutually associated factors, i.e., position, contour, and force control. For the position tracking, a non-linear PI controller was designed to track the position of individual actuators of the excavator and thereby control the bucket tip’s position. In addition, the contour control technique was applied to achieve an optimal excavation path to minimize contour errors. Finally, to compensate for the ground resistive force during digging tasks, a force impedance controller was designed along with the time-delayed control that reducesthe effect of dynamic uncertainties. Experimental results with a modified mini-wheeled excavator show that the developed integrative tracking control strategy can provide a comprehensive solution to improving the tracking performance for autonomous excavation that can simultaneously deal with the critical components of position, contour, and force control.
A Soft Robotics Nonlinear Hybrid Position/Force Control for Tendon Driven Catheters
Minou Kouh Soltani,Sohrab Khanmohammadi,Farzan Ghalichi,Farrokh Janabi-Sharifi 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operatedby interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. Toconduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position controlon the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constantforce to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinearmodel predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distalshaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stabilityproof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping ofthe cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated,and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with theRMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in realapplications including in vitro and clinical cardiac ablation.
A Teleoperation System for Micro Positioning with Haptic Feedback
Reza Seifabadi,Seyed Mehdi Rezaei,Saeed Shiry Ghidary,Mohammad Zareinejad 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.4
This paper presents the research work on a 1 Degree of Freedom (DOF) macro-micro teleoperation system which enables human operator to perform complex task in micro environment such as cell insertion with the capability of haptic feedback. To reach submicron resolution, a nano-motion piezo actuator was used as the slave robot and a servo DC motor was used as the master robot. Force sensors were implemented at both ends for haptic feedback and a microscope equipped with camera was employed for real-time visual feedback. The hysteresis nonlinearity of the piezo motor was modeled using LuGre friction model and compensated for. A Sliding Mode Based Impedance Controller (SMBIC) was designed at the slave side to ensure position tracking while an impedance force controller was designed at the master side to ascertain tracking of the force. Control parameters were chosen based on Llewellyn stability criteria such that the entire system stays stable against parameter uncertainties and constant time delay. The experimental results demonstrated capability of the proposed control frameworks in desirable tracking of the position and force signals while the entire system remained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.
A Design of Adaptive Controller for Transportation System with Dynamic Friction
Jin Woo Lee,Jeon Hyun Seo,Seung Hoon Han,Kwon Soon Lee 한국항해항만학회 2006 한국항해항만학회 학술대회논문집 Vol.1 No.-
In this paper, we propose an adaptive control algorithm to improve the position accuracy and reduce the nonlinear friction effects for linear motion servo system. Especially, the considered system includes not only the variation of the mass of the mover but also the friction change by the normal force. To adapt to these problems, we designed the controller with the mass estimator and the compensator by observing the variation of normal force. Finally, the numerical simulation results are presented in order to show the effectiveness of the proposed method to improve the position accuracy compared to other control methods.
You Wu,Xia Liu,Yong Yang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
A position and force tracking control based on force estimation is proposed for bilateral teleoperation systems with time-varying delays. A time-delay state observer is employed to estimate the system state variables affected by the delays. To estimate the interaction forces effectively, a force estimation algorithm with adaptive law is designed. Based on the estimated states and forces, a P+D controller is designed to simultaneously guarantee the position and force tracking of the system. The stability and tracking performance of the closed-loop system are proved via Lyapunov functions, and the feasibility of the proposed control is verified by both simulations and experiments. The proposed control can improve the position and force tracking performance of bilateral teleoperation systems under time-varying delays. Meanwhile, it neither requires force measurement nor the bound of the derivative of the time-varying delays to be within one.
Jang Ji Seong The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.5
In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.
마스터-슬레이브 조작기의 위치추종-힘반영을 위한 제한 구조 슬라이딩모드 제어
강민식(Min Sig Kang) Korean Society for Precision Engineering 2010 한국정밀공학회지 Vol.27 No.12
In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.
마스터-슬레이브 조작기에서 제한된 힘반영제어기 구조를 고려한 Tendon 설계
강민식(Kang, Min-Sig),윤우현(Yoon, Woo-Hyun) 한국소음진동공학회 2009 한국소음진동공학회 논문집 Vol.19 No.10
In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.