Desensitized Jerk Limited-Time Optimal Control of Multi-Input Systems

Muenchhof, Marco; Singh, Tarunraj

doi:10.2514/2.4933

Cited by 11 publications

(5 citation statements)

References 10 publications

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“…This concept is used to calculate impact forces [37,38]. Moreover, the jerk is employed in vibration control [39,40], minimum energy consumption, and trajectory optimization of cars, hard drives, cranes, and spatial and flexible arm robots [35,41].…”

Section: Utilization Index (I U )mentioning

confidence: 99%

Alternative definitions of energy for power meters in non-sinusoidal systems

Ponce-Silva

Moreno-Basaldua

2015

International Journal of Electrical Power & Energy Systems

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Section: Utilization Index (I U )mentioning

confidence: 99%

Alternative definitions of energy for power meters in non-sinusoidal systems

Ponce-Silva

Moreno-Basaldua

2015

International Journal of Electrical Power & Energy Systems

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“…It is known to cause vibration and is a measure of impact levels that can excite unmodelled dynamics. This effect is more evident in delicate or flexible structures (Muenchhof andSingh, 2002, Barre et. al, 2005).…”

Section: Introductionmentioning

confidence: 98%

Bell Shaped Impedance Control to Minimize Jerk While Capturing Delicate Moving Objects

Nagendran¹,

Richardson²,

Crowther³

2007

Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics

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Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk causes wear on the manipulator over time and can also damage the object being captured. This paper uses a curve that asymptotes to zero gradient at +/-infinity to develop an impedance controller, to decelerate an object to a halt after it has been coupled with the end effector. It is found that this impedance control method minimizes the jerk that occurs during capture, and eliminates the jerk spikes that are existent when using spring dampers, springs or constant force to decelerate an object.

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“…High levels of jerk have the potential to cause damage to both the manipulator and the object being captured. This effect is more evident in delicate or flexible structures [12,13]. The significance of jerk is that it adversely affects the efficiency of the control algorithms resulting in an increase in joint position errors [14].…”

Section: Introductionmentioning

confidence: 99%

Dynamic capture of free-moving objects

Nagendran

Crowther

Richardson

2011

Proceedings of the Institution of Mechanical Engineers, Part I:

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A new stiffness control method is proposed for robotic systems to capture free-moving objects with minimum jerk. A bell-shaped stiffness curve is shown to minimize the jerk that occurs during capture tasks. The results verify that the method can be used to successfully decelerate objects over a predefined distance, while keeping the jerk experienced during the capture within limits. Shortcomings with the method are identified from the results, and an adaptive control scheme is proposed. An adaptive controller is designed to actively interact with the object to estimate the kinetic energy during the capture and scale the amount of force being applied accordingly. Simulation results confirm that the adaptive control scheme overcomes the shortcomings in previous methods.

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Desensitized Jerk Limited-Time Optimal Control of Multi-Input Systems

Cited by 11 publications

References 10 publications

Alternative definitions of energy for power meters in non-sinusoidal systems

Alternative definitions of energy for power meters in non-sinusoidal systems

Bell Shaped Impedance Control to Minimize Jerk While Capturing Delicate Moving Objects

Dynamic capture of free-moving objects

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