Journal ArticleDOI
Improving the position control of a two degrees of freedom robotic sensing antenna using fractional-order controllers
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TLDR
In this paper, a closed-loop control strategy is proposed to drive a flexible link-based sensor, based on combining a feedforward term and a feedback phase-lag compensator of fractional order.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 ...read more
Citations
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Journal ArticleDOI
Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control
TL;DR: A new closed-loop control schema that cancels vibrations and improves the free movements of the antenna is proposed and algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed.
Journal ArticleDOI
Robust position-based impedance control of lightweight single-link flexible robots interacting with the unknown environment via a fractional-order sliding mode controller
TL;DR: A fractional-order sliding mode control scheme equipped with a disturbance observer for robust impedance control of a single-link flexible robot arm when it comes into contact with an unknown environment is presented.
Journal ArticleDOI
Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller:
Farzaneh Hamzeh Nejad,Ali Fayazi,Hossein Ghayoumi Zadeh,Hassan Fatehi Marj,S. Hassan HosseinNia +4 more
TL;DR: An efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm that is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances.
Journal ArticleDOI
Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach
TL;DR: An innovative control system is designed to remove vibrations using the singular perturbation theory combined with the input-state linearization technique, which includes fractional-order controllers that nearly remove unknown sensor offset and sensor ramp disturbances while reducing the high-frequency component of the control signal caused by sensor noise.
Journal ArticleDOI
Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive
Bin Wang,Junqiang Lou +1 more
TL;DR: Experimental results show that coupling dynamic modelling of the flexible manipulator system with harmonic drive match well with the proposed structure, both in the time and frequency domain.
References
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Journal ArticleDOI
Hybrid fuzzy logic control with genetic optimisation for a single-link flexible manipulator
Mohammad S. Alam,M. O. Tokhi +1 more
TL;DR: A genetic algorithm (GA)-based hybrid fuzzy logic control strategy to achieve end-point vibration reduction of a single-link flexible manipulator with satisfactory level of overshoot, rise time, settling time, and steady-state error.
Journal ArticleDOI
Noncollocated passivity-based PD control of a single-link flexible manipulator
Liang-Yih Liu,King Yuan +1 more
TL;DR: It is shown that a non-passive, marginal minimum-phase, truncated transfer function can be rendered passive by using either the root strain feedback or the joint angular acceleration feedback.
From Rat Vibrissae to Biomimetic Technology for Active Touch
TL;DR: In this article, the authors summarized some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviewed the past and ongoing research aimed at replicating some of this functionality in biomimetic robots.
Journal ArticleDOI
Modeling and Control of Linear Two-time Scale Systems: Applied to Single-Link Flexible Manipulator
TL;DR: It is shown that, in spite of the coupling between the dynamic uncertainties and certain dynamics, the designed H∞ controller stabilizes the overall closed-loop system, in the presence of norm-bounded disturbances.
Journal ArticleDOI
Passivity-based control of single-link flexible manipulators using a linear strain feedback
TL;DR: In this article, a passivity-based control of single-link flexible manipulators is proposed, where a linear strain feedback is used to decouple the joint and link dynamics, and the precise joint positioning is simplified to a motor controller.