Multiple mode control of a compact wrist with application to door opening

Zhang, Hongwei; Liu, Yugang; Liu, Guangjun

doi:10.1016/j.mechatronics.2012.10.005

Cited by 7 publications

(6 citation statements)

References 19 publications

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“…In general, the dynamic model of a door handle is equivalent to the torsion spring model [19], and the dynamic model is as shown in (8):…”

Section: Dynamic Model and Parameter Identification Methods A Dymentioning

confidence: 99%

“…Ahmad and Liu [6] and Ahmad et al [7] proposed a new method that utilizes the multiple working modes of the MRR modules to prevent the occurrence of large internal forces that arise because of positioning errors or an imprecise modeling of the robot or its environment during a door-opening operation. Zhang et al [8] presented the active and passive mode control system of a two DOF compact wrist. The algorithm verified whether the wrist could move freely without generating an excessive internal force during door-opening experiments.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Modeling and Experimental Validation of Door-Opening Process by a Mobile Manipulator

Gao¹,

Ma²,

Ding³

et al. 2019

IEEE Access

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Door-opening is a critical problem for robots used for rescue purposes in nuclear power plants (NPPs). A force and torque (F/T) sensor is not used in the rescue task for door-opening in the NPPs environment. It is, therefore, necessary to study the dynamic model of door-opening. The NPPs door and a door handle dynamic model are significant to the mechanical design, simulation, and dynamic feed-forward control of an NPP robot. To obtain the accurate force data of door-opening, a method based on a gravity compensation algorithm combined with a transformation of the contact force of the end effector is proposed. This paper analyzes the structural features and dynamics model of a fire door and a door handle. Methods for identifying the model parameters are also developed by combining a Nelder-Mead simplex search with the least-squares algorithm. The extensive door-opening experiments were carried out in this paper, and the results validate the fidelity of the derived dynamic models of the door and the door handle. INDEX TERMS Door-opening dynamic model, parameter identification, mobile manipulator.

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“…In general, the dynamic model of a door handle is equivalent to the torsion spring model [19], and the dynamic model is as shown in (8):…”

Section: Dynamic Model and Parameter Identification Methods A Dymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Experimental Validation of Door-Opening Process by a Mobile Manipulator

Gao¹,

Ma²,

Ding³

et al. 2019

IEEE Access

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show abstract

“…The control law used to implement the passive mode control is described in details in [30]. In the passive mode control, the external torque applied to the test-joint, which can be measured by the F/T sensor or estimated based on the proposed torque estimation method, is controlled to be around zero.…”

Section: Passive Mode Controlmentioning

confidence: 99%

Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements

2015

Self Cite

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Joint torque sensory feedback is an effective technique for achieving high-performance robot force and motion control. However, most robots are not equipped with joint torque sensors, and it is difficult to add them without changing the joint's mechanical structure. A method for estimating joint torque that exploits the existing structural elasticity of robotic joints with harmonic drive transmission is proposed in this paper. In the presented joint torque estimation method, motor-side and link-side position measurements along with a proposed harmonic drive compliance model, are used to realize stiff and sensitive joint torque estimation, without the need for adding an additional elastic body and using strain gauges to measure the joint torque. The proposed method has been experimentally studied and its performance is compared with measurements of a commercial torque sensor. The results have attested the effectiveness of the proposed torque estimation method.

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“…By selectively switching the joints of the MRR to work in passive mode during the door-opening operation, the controller design was significantly simplified. Zhang et al [14] presented a multiple mode control system of a two-degree-of-freedom (DOFs) compact wrist that can work in active mode with position or torque control, or in passive mode with wristenvironment interactive force compensation. They verified in their door-opening experiments that the wrist could move freely without generating excessive internal force.…”

Section: Introductionmentioning

confidence: 99%

Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

Gao

Ding

et al. 2018

Mathematical Problems in Engineering

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As a substitute for humans, the mobile manipulator has become increasingly vital for on-site rescues at Nuclear Power Plants (NPPs) in recent years. The high energy efficiency of the mobile manipulator when executing specific rescue tasks is of great importance for the mobile manipulator. This paper focuses on the energy consumption of a robot executing the door-opening task, in a scenario mimicking an NPP rescue. We present an energy consumption optimization scheme to determine the optimal base position and joint motion of the manipulator. We developed a two-step procedure to solve the optimization problem, taking the quadric terms of the joint torques as the objective function. Firstly, the rotational motion of the door is parameterized by using piecewise fifth-order polynomials, and the parameters of the polynomials are optimized by minimizing the joint torques at the specified base position using the Quasi-Newton method. Second, the global optimal movement of the manipulator for executing the door-opening task is acquired by means of searching a grid for feasible base positions. Comprehensive door-opening experiments using a mobile manipulator platform were conducted. The effectiveness of the proposed method has been demonstrated by the results of physical experiments.

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Multiple mode control of a compact wrist with application to door opening

Cited by 7 publications

References 19 publications

Dynamic Modeling and Experimental Validation of Door-Opening Process by a Mobile Manipulator

Dynamic Modeling and Experimental Validation of Door-Opening Process by a Mobile Manipulator

Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements

Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

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