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RISS 인기검색어
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- 저자 : Gholamreza Vossoughi (검색결과 4 건)
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Mahdi Salehi,Gholamreza Vossoughi 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.5
In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.
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Robust Shape Control of Two SMA Actuators Attached to a Flexible Beam Based on DK Iteration
Farshid Alambeigi,Ali Zamani,Gholamreza Vossoughi,Mohammad Reza Zakerzadeh 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
There has been great demand for shape memory alloy (SMA) wires as actuators for shape control of flexible structures. The experimental setup of this study consists of a flexible beam actuated by two active SMA actuators. The input applied to the SMA actuator in this setup is electrical current while the output is the strain or position. To control strain of the actuator, the SMA wire is heated resistively in order to reach the desired temperature calculated by inverse of the phenomenological model. In heating the SMA wire resistively, the controllable quantity is the heat input to the wire via an applied current. In controller design, changes of physical properties of SMA wires and the surrounding air due to temperature change must be taken into consideration. This adds uncertainty to the presented model. Furthermore, both wires must approach the desired temperature while maintaining the same temperature history. Moreover, a suitable shape control requires overdamped response. A 2-DOF robust controller is designed in this study in order to achieve all the above requirements. The robust controller by the DK iteration method is designed after modeling of the system uncertainties. Required simulations are performed for evaluation of the controller. Obtained results show the ability of controller against time variant uncertainties.
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Mohammad Khodabakhsh,Mehdi Sadeghpour,Soroosh Hassanpour,Gholamreza Vossoughi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. This mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg"s actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. Then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has been done in the whole workspace without any singularity. Studying several situations of the platform shows that the ranges of the magnitudes of the forces and torques of the active actuators in this mechanism are reasonable, and typical actuators can support them.
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Real-time Velocity Optimization of a Group of Autonomous Members via Ant Colony Optimization (ACO)
Ramin Vatankhah,Shahram Etemadi,Aria Alasty,Mehrdad Boroushaki,Gholamreza Vossoughi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, the agent velocity in robotic swarm was determined by using Ant Colony optimization (ACO) algorithm to maximize the swarm center velocity. First briefly we present an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and an agent. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. It is also considered that field of view of all members is limited, i.e. even the agent accesses its local information. Ant colony algorithm is a mathematical model of ants" behaviour in finding the shortest path between nest and food. The agent velocity in robotic swarm was determined by using ACO to maximize the swarm center velocity. The results show the high ability of this evolutionary algorithm in solving complicated dynamic optimization problems.
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