Strain gauge based control of single-link flexible very lightweight robots robust to payload changes

Feliú, V.; Ramos, Francisco

doi:10.1016/j.mechatronics.2004.11.001

Cited by 45 publications

(31 citation statements)

References 21 publications

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“…TRAIN gauges have been widely used as sensors in robotics [1]- [3] for their mechanical and electrical simplicity, compact form factors and cost effectiveness. They provide relatively high accuracy for measuring small strains.…”

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confidence: 99%

A Soft Strain Sensor Based on Ionic and Metal Liquids

et al. 2013

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Abstract-A novel soft strain sensor capable of withstanding strains of up to 100% is described. The sensor is made of a hyperelastic silicone elastomer that contains embedded microchannels filled with conductive liquids. This is an effort of improving the previously reported soft sensors that uses a single liquid conductor. The proposed sensor employs a hybrid approach involving two liquid conductors: an ionic solution and an eutectic gallium-indium alloy. This hybrid method reduces the sensitivity to noise that may be caused by variations in electrical resistance of the wire interface and undesired stress applied to signal routing areas. The bridge between these two liquids is made conductive by doping the elastomer locally with nickel nanoparticles. The design, fabrication, and characterization of the sensor are presented.Index Terms-Wearable sensors, microfluidics, strain measurement, ionic solution, eutectic gallium indium (eGaIn).

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confidence: 99%

A Soft Strain Sensor Based on Ionic and Metal Liquids

et al. 2013

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“…A robustness comparison between the scheme proposed and a PD controller (see Fig. 4) with which to compensate for the Coulomb effects, which is usually considered to be a robust controller in robotics applications owing its simplicity and good performance (see for example [29][30][31][32][33]), is additionally carried out in order to show the improvements made to the controller designed. The transfer function considered for the PD controller was set at PD(s) = k p + k d s whose À3 s. The gains of the controller can be designed by locating the poles in a reasonable location of the negative real axis.…”

Section: Simulation Resultsmentioning

confidence: 99%

Control of a DC motor using algebraic derivative estimation with real time experiments

2014

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This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodol-ogy only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor's initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the deriva-tive estimation process does not require initial conditions or dependence between the sys-tem input and output, and the algorithm is computed online and in real time. The effectiveness of the proposed controller has been verified by means of computer simula-tions and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

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“…As this controller was originally designed to cancel only the first vibration mode, higher vibration modes caused by distributed mass in the link and/or rotational inertia at the tip are considered as spillover effects, and may destabilize the controlled system. The conditions obtained in the paper presented here allow the use of the controller [15] to be extended to general single link flexible arms (not only to the aforementioned particular case of a very lightweight arm). (2) The conditions previously obtained in (1) guarantee overall stability, and that the first vibration mode is efficiently removed independently of the value of the tip payload mass.…”

Section: Introductionmentioning

confidence: 97%

“…In a previous article [15], we proposed a new, simple control scheme for the tip trajectory tracking of a very lightweight single-link flexible arm in the presence of large tip variations. This was based on two nested control loops, where the outer loop closes a positive feedback of the torque at the base of the link (motorbeam coupling torque).…”

Section: Introductionmentioning

confidence: 99%

“…(1) General conditions are obtained that guarantee the robustness of the controller [15] to spillover effects, in the sense of guaranteeing closed-loop stability. As this controller was originally designed to cancel only the first vibration mode, higher vibration modes caused by distributed mass in the link and/or rotational inertia at the tip are considered as spillover effects, and may destabilize the controlled system.…”

Section: Introductionmentioning

confidence: 99%

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