Showing papers by "Vicente Feliu-Batlle published in 2018"

Direct continuous-time system identification of the purification process of the nimotuzumab, a humanized monoclonal antibody

Abstract: In this paper by applying the direct continuous-time system identification methods an accurate and reliable control oriented model of the conductivity in the polishing phase of the purification process of the nimotuzumab, a monoclonal antibody, is derived A brief introduction to the theoretical aspects of the direct continuous-time system identification methods is presented The complete direct system identification procedure, from the design of the experiment to model validation is developed For this purpose, the CONTSID toolbox is used The model validation results show that the model obtained reproduces with high accuracy the observed data, and therefore it can be used in the design of control systems and/or for prediction purposes

Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism

Abstract: In this paper, we present an experimental study concerning the gravity compensation of flexible link arms based on linear springs. In the field of flexible link robotics, the gravity compensation based on counterweights has been successfully applied in the past, but little effort has been made to examine the potential benefits and difficulties of using spring-based compensation mechanisms. This paper focuses on the modeling and identification of a single link flexible arm compensated with a spring based mechanism. As modeling approach, we followed the lumped-mass methodology to develop a model capable of reproducing the first vibrational frequency of the flexible link arm. Keeping in mind the forces that interact with the flexible link, a combination of sensors is suggested in order to measure and estimate the most important variables of the system. Subsequently, a very simple and reliable identification method based on the time and frequency response of the system is proposed. Finally, the results of the modeling and identification are validated on our experimental platform.

Feedback Linearizing Controller for a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism

Abstract: Despite the benefits that the spring based gravity compensation mechanism has brought to the field of rigid robotic manipulators, there have been no substantial efforts toward transferring these developments to the field of flexible link robotics. In this paper, we present an input state feedback linearization controller for the tip positioning of a flexible link arm with a gravity compensation system based on springs. The controller is implemented into a double loop control scheme, in which the inner loop addresses the motor position control in presence of joint friction, and the outer loop deals with vibration cancellation and the tracking of fourth-order trajectories for the tip position of the flexible arm. Taking into considerations the interacting forces between the flexible link and the gravity compensation mechanism, and also the characteristics of the control law, we propose a sensory system to measure all the relevant signals. The proposed controller is tested on an experimental prototype built in our laboratory.

A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Abstract: This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.