Daniel Feliu-Talegon

Bio: Daniel Feliu-Talegon is an academic researcher from University of Seville. The author has contributed to research in topics: Computer science & Robot. The author has an hindex of 6, co-authored 18 publications receiving 90 citations. Previous affiliations of Daniel Feliu-Talegon include University of Castilla–La Mancha.

Stable force control and contact transition of a single link flexible robot using a fractional-order controller.

Abstract: The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate with humans. Robot control is difficult in these cases because: (1) bouncing between free and constrained motion appears that may cause instability, (2) switching between free motion (position) controller and constrained motion (force) controller is required being the switching instants difficult to know and (3) robot control must be robust since the mechanical impedance of the environment is unknown. Robots with flexible links may alleviate these drawbacks. Previous research on flexible robots proved stability of a PD controller that fed back the motor position when contacting an unknown environment, but force control was not achieved. This paper proposes a control system that combines a fractional-order D tip position controller with a feedforward force control. It attains higher stability robustness and higher phase margin than a PD controller, which is the integer-order controller of similar complexity. This controller outperforms previous controllers: (1) it achieves force control with nearly zero steady state error, (2) this control is robust to uncertainties in the environment and motor friction, (3) it guarantees stability (like others) but it also guarantees a higher value of the phase margin, i.e., a higher damping, and a more efficient vibration cancellation, and (4) it effectively removes bouncing. Experimental results prove the effectiveness of this new controller.

Improving the position control of a two degrees of freedom robotic sensing antenna using fractional-order controllers

Abstract: Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well as for surface and object recognition. These devices, called sensing antennae, perform an active sensing strategy in which a servomotor system moves the link back and forth until it hits an object. At this instant, information of the motor angles combined with force and torque measurements allow calculating the positions of the hitting points, which are valuable information about the object surface. In order to move the antenna fast and accurately, this article proposes a new closed-loop control for driving this flexible link-based sensor. The control strategy is based on combining a feedforward term and a feedback phase-lag compensator of fractional order. We demonstrate that some drawbacks of the control of these sensing devices like the apparition of spillover effects when a very fast positioning of the antenna tip is desired, and actuator saturation caused by high-frequency sensor ...

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

Abstract: 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.

Control Aware of Limitations of Manipulators With Claw for Aerial Robots Imitating Bird's Skeleton

Abstract: Winged animals such as birds, flying mammals or insects have lightweight limbs which allow them to perform different tasks. Although in robotics there are some examples of winged robots (called ornithopters), it has not been yet studied how to add them some manipulation-like capabilities, similarly to the anatomy of animals limbs. Adding those capabilities to ornithopters will outperform multirotor platforms giving the possibility to perch in unaccessible places, grasp objects and perform some kind of manipulation while being in proximity to humans. The special manipulator imitates the anatomy of the birds, having a kinematic chain with actuated joints except the first passive one that resembles the claw of a bird with a grasping force. This work analyzes in depth these ornithopter-like manipulators and proposes a nonlinear controller aware of the limitation in the grasping force of the claw, modeled as static friction. The solution is based on a methodology to control constrained-nonlinear systems via diffeomorphisms providing an explicit controller with low torques demand to meet aerial requirements. It is verified on a realistic simulator with 5DOF links—claw, low/upp-er leg, body, neck and beak–, and experimentally validated in a simpler 3DOF prototype.

Review on the use of piezoelectric materials for active vibration, noise, and flow control

Abstract: Considering the number of applications, and the quantity of research conducted over the past few decades, it wouldn't be an overstatement to label the piezoelectric materials as the cream of the crop of the smart materials. Among the various smart materials, the piezoelectric materials have emerged as the most researched material for practical applications. They owe it to a few key factors like low cost, large frequency bandwidth of operation, availability in many forms, and the simplicity offered in handling and implementation. For piezoelectric materials, from an application standpoint, the area of active control of vibration, noise, and flow, stands, alongside energy harvesting, as the most researched field. Over the past three decades, several authors have used piezoelectric materials as sensors and actuators, to (i) actively control structural vibrations, noise and aeroelastic flutter, (ii) actively reduce buffeting, and (iii) regulate the separation of flows. These studies are spread over several engineering disciplines-starting from large space structures, to civil structures, to helicopters and airplanes, to computer hard disk drives. This review is an attempt to concise the progress made in all these fields by exclusively highlighting the application of the piezoelectric material. The research carried out in the past five years, in the areas of modeling, and optimal positioning of piezoelectric actuators/sensors, for active vibration control, are covered. Along with this, investigations into different control algorithms, for the piezoelectric based active vibration control, are also reviewed. Studies reporting the use of piezoelectric modal filtering and self sensing actuators, for active vibration control, are also surveyed. Additionally, research on semi-active vibration control techniques like the synchronized switched damping (on elements like resistor, inductor, voltage source, negative capacitor) has also been covered

Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators.

Abstract: This work proposes a model-free robust control for cable-driven manipulators with disturbance. To achieve accurate, singularity-free and fast dynamical control performance, we design a new NFTSM surface utilizing a new continuous TSM-type switch element. By replacing the integral power with fractional one for the error dynamics, the designed TSM-type switch element can effectively enhance the dynamical performance of the NFTSM surface. Time-delay estimation (TDE) technique is applied to cancel out complicated nonlinear dynamics guaranteeing an excellent model-free scheme. Thanks to the designed NFTSM surface, adopted reaching law and TDE, our control can provide good comprehensive control performance effectively. Stability and comparisons of control precision and convergence speed have been theoretically analyzed. Finally, comparative experiments were conducted to prove the superiorities of our control.

A Review of Flexible Wearable Antenna Sensors: Design, Fabrication Methods, and Applications

Abstract: This review paper summarizes various approaches developed in the literature for antenna sensors with an emphasis on flexible solutions. The survey helps to recognize the limitations and advantages of this technology. Furthermore, it offers an overview of the main points for the development and design of flexible antenna sensors from the selection of the materials to the framing of the antenna including the different scenario applications. With regard to wearable antenna sensors deployment, a review of the textile materials that have been employed is also presented. Several examples related to human body applications of flexible antenna sensors such as the detection of NaCl and sugar solutions, blood and bodily variables such as temperature, strain, and finger postures are also presented. Future investigation directions and research challenges are proposed.