Development of an estimated force feedback controller based on hertzian contact and ultrasound

Armendariz, J.; Treesatayapun, Chidentree; Baltazar, Arturo

doi:10.1109/rose.2010.5675269

Cited by 5 publications

(4 citation statements)

References 13 publications

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“…Similar experiments were conducted in [5] by using FREN, and the reported convergence time was around 20 seconds to reach the desired force into stable state. Thus, the proposed force feedback MIFREN controller can reach similar desired forces in less than 8 seconds which is 12 seconds faster.…”

Section: ) Tomato Samplementioning

confidence: 72%

“…As it can be notice, an evident difference between the structures of the force feedback FREN controller reported in [5] and the current force feedback MIFREN is stated in the layer 3. This fuzzy inference layer has the purpose to connect the information coming from the membership functions of both the input ݁ and the input ȟ݁ .…”

Section: Force Feedback Mifren Controllermentioning

confidence: 84%

“…To the case of tactile sensing based on ultrasound, an important benefit of using FREN is the fact that it does not require knowledge of the mathematical model that describes the interaction between the contact force and the ultrasonic energy which is quite difficult to obtain [5,6]. Thus by following IF-THEN rules similar to human sense, the force and the velocity could be controlled.…”

Section: Introductionmentioning

confidence: 99%

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Multi-Input Fuzzy Rules Emulated Networks with a Hertzian Contact Force Sensor

Armendariz

Treesatayapun

Baltazar

2011

2011 10th Mexican International Conference on Artificial Intelligence

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In this paper, the implementation of an adaptive neuro-fuzzy network called Multi-Input Fuzzy Rules Emulated Network (MIFREN) is presented. This network has a simple structure to describe the human knowledge about the robotic manipulator and the sensor in the form of fuzzy IF-THEN rules. MIFREN is implemented as a force feedback controller which used a force sensor based on Hertzian contact and ultrasound. The contact probe exhibits high sensitivity to initial instantaneous contact and provides an estimation of the reaction force. Based on the force signal provided by this probe, the MIFREN's structure can be constructed and integrated directly in the controller without any mathematical model of the system. The experimental results with synthetic elastomer and tomato samples demonstrate the superior performance of MIFREN compared to a well tuned PI controller.

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Section: ) Tomato Samplementioning

confidence: 72%

Section: Force Feedback Mifren Controllermentioning

confidence: 84%

Section: Introductionmentioning

confidence: 99%

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Multi-Input Fuzzy Rules Emulated Networks with a Hertzian Contact Force Sensor

Armendariz

Treesatayapun

Baltazar

2011

2011 10th Mexican International Conference on Artificial Intelligence

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“…Hertzian contact theory is widely applied to deal with issues of elastomer contact [18,19]. On this occasion, we employ Hertzian theory to resolve the contact between threaded rollers and bearing rings.…”

Section: Contact Propertymentioning

confidence: 99%

Friction Torque Analysis and Verification of Planetary Thread Roller Bearing

et al. 2022

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A planetary thread roller bearing (PTRB) is a state-of-the-art component in electromechanical actuators (EMA) due to its high load-bearing capacity and small volume. The study of the PTRB is a leading task in the domain of EMA application. In this study, we propose a mathematical model of PTRB friction torque on its working principle and causes. Specifically, the impact of basic properties of the PTRB on friction torque, i.e., rotating speed and external load, are modeled and analyzed. To verify the variation principle of friction torque, experiments are carried out on an actual PTRB. For the test PTRB, the rotating speed ranges from 200 to 2000 rpm with a reverse load from 2000 to 30,000 N at a constant temperature of 55 °C. Experimental results verify the effectiveness of the mathematical model under conditions of 200–2000 rpm rotating speed and 2000–30,000 N external load, which establish strong evidence for model accuracy and robustness.

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