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
Control de una antena sensora mediante la técnica de Input Shaping no lineal
TL;DR: In this article, a new open loop control for driving a flexible link based sensor is proposed, which is based on an (IS) Input Shaping technique, in order to reduce link vibrations.
Book ChapterDOI
Improving the Motion of a Sensing Antenna by Using an Input Shaping Technique
TL;DR: An open loop control for driving a flexible-link based sensor is proposed based on an (IS) Input Shaping technique in order to reduce link vibrations and includes two algebraic controllers to deal with precise motor positioning, as well as minimize the high non-linear motor friction.