Optimal Impedance Control with TSK-Type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot

Irawan, Addie; Nonami, Kenzo; Daud, Mohd Razali

doi:10.1007/978-4-431-54276-6_15

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…The system's behaviors comprising both speed and deceleration in picking towards modelling of environmental stiffness, as well as the grasping force on an unchanged environmental stiffness and position were hereby studied. Situations of varying environmental stiffness and dynamically adjustable positions were also conditioned [20][21][22][23]. Notably, such changeable and uncertain circumstances were seemingly unadaptable by the traditional impedance control [7].…”

Section: Introductionmentioning

confidence: 99%

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Irawan

Azahar

Pebrianti

2022

Journal of Robotics and Control

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Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.

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Section: Introductionmentioning

confidence: 99%

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Irawan

Azahar

Pebrianti

2022

Journal of Robotics and Control

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“…MIT Cheetah robot [13] also used the same approached and able to establish a stable running gait. On the other hand, COMET IV [14] a hydraulic hexapod used forcebased impedance control to select best step for each of its legs during locomotion on uneven terrain. Similar to the Weaver, electric drive hexapod from CSIRO [15] used the same method to actively leveling its leg while on uneven terrain as well as on the inclination surface.…”

Section: Introductionmentioning

confidence: 99%

Impedance Control Approach on Leg Motion Speed Variation on Soft Surface Interaction

Lezaini¹,

Irawan²,

Razali³

2018

IJET

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This article presents the leg speed variation control using impedance control approach on soft surface displacement motion. One of the challenging fields of designing a legged robot that can be equipped with adaptation ability is it dynamic control which majorly involved in interaction with the environment. Numerous researchers have been widely implemented impedance control as dynamic interaction but less emphasized in adapting soft terrain. Most of the impedance control implementation on the legged robot on rough terrain emphasized on position changes, and it may not practical for legged robot navigate on the soft terrain. Soft terrain contains different ground stiffness and medium viscosities. Thus, this study has taken the initiative to propose a speed variation control on a robot's leg by using a forcebased impedance control approach to increase the leg energy exchanges specifically on foot placement. The proposed control was validated in actual robot's leg, and performances show that the energy in the leg increases as the velocity of leg motion increase due to increase in force feedback while maintaining the shape of the leg motion.

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“…FLC is one the intelligent control that is suitable to be implemented in real-time system, and is commonly integrated with PID elements. As for example, PD-FLC is capable of rejecting the noise signal with minimum control tuning, such as reported in [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control

2017

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This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a closeloop control for the each axis of the fork-lift's movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.

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Optimal Impedance Control with TSK-Type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot

Cited by 6 publications

References 12 publications

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Impedance Control Approach on Leg Motion Speed Variation on Soft Surface Interaction

Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control

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