Generalised proportional integral torque control for single-link flexible manipulators

Becedas, Jonathan; Payo, Ismael; Feliú, V.

doi:10.1049/iet-cta.2008.0458

Cited by 24 publications

(25 citation statements)

References 18 publications

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“…The exact instant at which the contact is produced (given by the instant at which the above-mentioned wire closes the electrical circuit) is shown in both figures as vertical discontinuous lines, and the estimation provided by the condition

r_{m}^{f} (t) > ε^{'}

proposed in [14] is also marked by a red point. Since the smaller the threshold is the faster the estimation of the contact instant would be, a threshold as small as possible has been chosen.…”

Section: Resultsmentioning

confidence: 99%

“…Some of them close a feedback loop using the measurements of strain gauges placed close to the robot joints. Among the references cited in this paper that feedback this signal, we mention that: [13] implements

P I D

controllers with low pass filters; [14] implements

G P I

controllers; [23] implements

P I

controllers; and [15] P controllers. All of these controllers have zero relative degree, which means that high frequency unmodeled dynamics and noises are not damped.…”

Section: Discussionmentioning

confidence: 99%

“…Compared to the previous contact detection mechanisms, the proposed Algorithm (17) presents several advantages when applied to our sensing antenna device: Experiments reported in [13] showed that the delay in the contact estimation of that method was about 300 ms, much larger than the 7 ms provided by the proposed method.The experiments carried out here with the estimator that is based on the magnitude of the residue of the coupling torque (

r_{m}^{f} (t) > ε^{'}

), proposed in [14], yielded delays in the contact instant estimation more than three-times larger than with the estimator proposed here: about 20 ms.…”

Section: Discussionmentioning

confidence: 99%

“…In [13], a force control scheme for a single link flexible robot was proposed, which was activated by an impact detection mechanism. Control laws that switch between them as a function of a collision detection mechanism were proposed in [14] for a single link flexible arm. A hybrid position-force control of a sensing antenna that slides on a surface recognizing an object by carrying out a repetitive control was proposed in [16].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

Feliu-Batlle

Feliu-Talegón²,

Castillo-Berrio

2017

Sensors

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Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations.

show abstract

r_{m}^{f} (t) > ε^{'}

proposed in [14] is also marked by a red point. Since the smaller the threshold is the faster the estimation of the contact instant would be, a threshold as small as possible has been chosen.…”

Section: Resultsmentioning

confidence: 99%

P I D

controllers with low pass filters; [14] implements

G P I

controllers; [23] implements

P I

controllers; and [15] P controllers. All of these controllers have zero relative degree, which means that high frequency unmodeled dynamics and noises are not damped.…”

Section: Discussionmentioning

confidence: 99%

r_{m}^{f} (t) > ε^{'}

), proposed in [14], yielded delays in the contact instant estimation more than three-times larger than with the estimator proposed here: about 20 ms.…”

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

Feliu-Batlle

Feliu-Talegón²,

Castillo-Berrio

2017

Sensors

View full text Add to dashboard Cite

show abstract

“…Multiple simultaneous specification filtering is proposed via an integrated sensing and filtering approach in [8]. A generalized PI torque control for SLFM with constrained motion in the elastic environment is presented in [9]. Linear quadratic control, output feedback probability density control were employed to dampen flexible modes.…”

Section: Introductionmentioning

confidence: 99%

Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

Shitole

Sumathi

2015

IEEE/ASME Trans. Mechatron.

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An estimation method based on sliding discrete Fourier transform (SDFT) integrated with phase-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate first vibration mode and harmonics that appear in tip deflection. Instantaneous change in tip deflection due to payload conditions is tracked by adaptive sampling frequency control. State-space model, estimated amplitudes and frequencies of tip deflection including harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of online vibration mode estimation method in presence of noise and offset. Index Terms-Phase-locked loop (PLL), single-link flexible manipulator (SLFM), sliding discrete Fourier transform, vibration mode estimation.

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Tip position control of flexible single‐link manipulators in the frequency domain without model reduction

Mohsenipour,

Liu

2024

Intl J Robust & Nonlinear

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This article develops the fundamentals of the tip position control of flexible single‐link robotic manipulators in the frequency domain without approximating the model. Analytic transfer functions of the hub angle and tip position are derived without any model order reduction. Conditions for the stability of the transfer functions are presented by considering the payload mass change as an uncertain parameter. Using the D‐decomposition method, a simple procedure is introduced to design an output feedback controller which guarantees the stability and a desired tracking performance. The introduced design method leads to less conservatism comparing with design methods established upon model reduction. The controller structure includes two proportional‐derivative and integral loops and needs only two measurements of joint angle and tip position which are easily implementable. A numerical example is provided to demonstrate the merit of the achieved results.

show abstract

Generalised proportional integral torque control for single-link flexible manipulators

Cited by 24 publications

References 18 publications

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

Tip position control of flexible single‐link manipulators in the frequency domain without model reduction

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