A QFT controller design implementation for a worm gear driven manipulator joint

May, D.; Jayasuriya, Suhada

doi:10.1109/acc.1994.751809

Cited by 2 publications

(3 citation statements)

References 2 publications

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“…For instance, the model in [1] contains implicit variables in the dynamic equations and thus can not be directly used for controller design. The classical and the QFT controllers respectively proposed in [2] and [3] are linear controllers. They may not have sufficient robustness to deal with variations of the system parameters caused by the speed-dependent nature of the co efficient of friction.…”

Section: Introductionmentioning

confidence: 99%

“…Reference [4] showed that the dynamics of a cantilevered manipulator driven through a worm-gear are switched between two sets of nonlinear differential equations. These two sets of nonlinear equations are linearized around a nominal trajectory and are then used as the plant model for designing a classical lead-lag controller [2] and a QFT controller [3].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and robust control of worm-gear driven systems

Yeh

IEEE International Conference on Mechatronics, 2005. ICM '05.

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This paper investigates modeling and control issues associated with worm-gear driven systems. In the modeling part, both static and dynamic analyses are conducted to investigate the characteristics of the worm-gear. The static analysis reveals not only the non-backdrivability but also the dependency of break-in torques ou the loading torque, direction of motion as well as crucial system parameters. The dynamic analysis generates four linear equations of motion, of which , at any particular instant, only one applies. The applicable equation at any given instant depends on the direction of motion and the relative magnitude between the input torque and the loading torque. In the control part, a sliding controner is designed based on the modeling results.The controner can provide robustness against variations of system parameters caused by the speed-dependent nature of the coefficient of friction. Because the dependency of the dynamic equation on the operating condition may render the controller ill-defined in some scenarios, a lemma is proved and can be used to select proper control parameters to guarantee the well-definedness of the controller.. The proposed control scheme is applied to a worm-gear driven positioning platform.Experimental results indicate the proposed control system achieves 20% of the tracking error of a conventional PID control.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and robust control of worm-gear driven systems

Yeh

IEEE International Conference on Mechatronics, 2005. ICM '05.

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“…This friction model consists of implicit parameters in the dynamic equations, although these parameters cannot be directly applied in the controller design. Then, velocity lead–lag and quantitative feedback controllers were proposed in May et al, 26,27 respectively. These are linear controllers and may not be robust enough to deal with the system’s uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

Shoaib,

Kim,

Park

et al. 2023

Advances in Mechanical Engineering

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This paper presents the control of a rescue robot driven by the worm-wheel gear transmission. In the modeling process, the load-dependent friction of the worm-wheel gear is considered, and the governing equations for static and dynamic analyses are formulated. Especially we examine the dependency of break-in joint torques on the loading torque and directionality of motion. The friction parameters of the worm-wheel gear of a physical rescue robot are identified through experimental investigation. A friction compensation controller is then designed based on the modeling results and experimental operating conditions. And the designed controller is applied to a dual-arm rescue robot to validate its effectiveness.

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A QFT controller design implementation for a worm gear driven manipulator joint

Cited by 2 publications

References 2 publications

Modeling and robust control of worm-gear driven systems

Modeling and robust control of worm-gear driven systems

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

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