Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081210
Michael Leuer, J. Böcker
Model Predictive Control (MPC) includes a mathematical plant model. Based on that model, optimal actuating variables for future timesteps are determined in every sampling step. Thus the MPC exhibits a better reference response compared to conventional control. The problem with MPC is the high computational cost and the associated long control cycle time. Thus MPC is unattractive for processes with small time constants as they are common in power converter and drive control systems. In this paper a Direct Model Predictive Control method (DMPC) for nonlinear systems with inherent output saturation is presented. In contrast to other Direct-MPC approaches, a more flexible gate-signal generation method which enables switching during the sampling period is utilized. In addition the switching frequency can be increased while maintaining the same controller cycle time. This results in a reduction of the current ripple. Since this approach is based on a computational efficient optimization algorithm, it provides real-time capability for online-MPC even with process time constants in the millisecond range enabling the use of MPC for control of permanent magnet synchronous motors with interior magnets (IPMSM).
{"title":"Switching strategy for Direct Model Predictive Control in power converter and drive applications with high switching frequency","authors":"Michael Leuer, J. Böcker","doi":"10.1109/ICARA.2015.7081210","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081210","url":null,"abstract":"Model Predictive Control (MPC) includes a mathematical plant model. Based on that model, optimal actuating variables for future timesteps are determined in every sampling step. Thus the MPC exhibits a better reference response compared to conventional control. The problem with MPC is the high computational cost and the associated long control cycle time. Thus MPC is unattractive for processes with small time constants as they are common in power converter and drive control systems. In this paper a Direct Model Predictive Control method (DMPC) for nonlinear systems with inherent output saturation is presented. In contrast to other Direct-MPC approaches, a more flexible gate-signal generation method which enables switching during the sampling period is utilized. In addition the switching frequency can be increased while maintaining the same controller cycle time. This results in a reduction of the current ripple. Since this approach is based on a computational efficient optimization algorithm, it provides real-time capability for online-MPC even with process time constants in the millisecond range enabling the use of MPC for control of permanent magnet synchronous motors with interior magnets (IPMSM).","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123708112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081160
Adrien Jule, B. McCane, A. Knott, S. Mills
Touch is an important sensory pathway for exploring the world, but most robotic systems either have no sense of touch, use simple binary bump switches, or require expensive custom sensors. In this work we investigate the use of low-cost sensors to acquire more discriminative representations of touch sensations. We show that using two pressure sensors in a 3D-printed housing we can determine the location of a touch along a one dimensional axis. Furthermore, we can distinguish between different types of touches by the profile of the sensor response.
{"title":"Discriminative touch from pressure sensors","authors":"Adrien Jule, B. McCane, A. Knott, S. Mills","doi":"10.1109/ICARA.2015.7081160","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081160","url":null,"abstract":"Touch is an important sensory pathway for exploring the world, but most robotic systems either have no sense of touch, use simple binary bump switches, or require expensive custom sensors. In this work we investigate the use of low-cost sensors to acquire more discriminative representations of touch sensations. We show that using two pressure sensors in a 3D-printed housing we can determine the location of a touch along a one dimensional axis. Furthermore, we can distinguish between different types of touches by the profile of the sensor response.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125545237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081152
D. Basu, G. S. Gupta, G. Moretti, X. Gui
In this paper we propose a low cost and computationally inexpensive adaptive transmission power control algorithm for wireless sensors to communicate with the base station or hub. This power control algorithm can be used in scenarios where the transmitting station is not static and the distance between the transmitter and the receiving station changes with time. In addition to that there can be unwanted obstructions in between the transmitter and the receiver. Since the primary reason for drop in received signal strength is distance, it is important to select a set of power levels that will deliver the packets within a threshold error rate while saving energy. This adaptive algorithm does not use received signal strength indicator (RSSI) based beacon or probe packet for channel estimation nor listens for any busy channel before actual packet transmission. The hardware used for evaluating the protocol parameters is nRF24L01+ transceiver module from Nordic Semiconductor Inc. This chip is extremely cheap and the application of the adaptive power control protocol can reduce the overall deployment cost of sensor network. This algorithm is designed to meet the challenge of responding to an unknown and variable radio channel in an energy-efficient manner. The adaptive protocol uses past transmission experience or memory to decide the power level at which the new packet transmission will start. This lightweight protocol can be applied in mobile robots that collect data in real time from sensors and transmit to the base station.
{"title":"Protocol for improved energy efficiency in wireless sensor networks to support mobile robots","authors":"D. Basu, G. S. Gupta, G. Moretti, X. Gui","doi":"10.1109/ICARA.2015.7081152","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081152","url":null,"abstract":"In this paper we propose a low cost and computationally inexpensive adaptive transmission power control algorithm for wireless sensors to communicate with the base station or hub. This power control algorithm can be used in scenarios where the transmitting station is not static and the distance between the transmitter and the receiving station changes with time. In addition to that there can be unwanted obstructions in between the transmitter and the receiver. Since the primary reason for drop in received signal strength is distance, it is important to select a set of power levels that will deliver the packets within a threshold error rate while saving energy. This adaptive algorithm does not use received signal strength indicator (RSSI) based beacon or probe packet for channel estimation nor listens for any busy channel before actual packet transmission. The hardware used for evaluating the protocol parameters is nRF24L01+ transceiver module from Nordic Semiconductor Inc. This chip is extremely cheap and the application of the adaptive power control protocol can reduce the overall deployment cost of sensor network. This algorithm is designed to meet the challenge of responding to an unknown and variable radio channel in an energy-efficient manner. The adaptive protocol uses past transmission experience or memory to decide the power level at which the new packet transmission will start. This lightweight protocol can be applied in mobile robots that collect data in real time from sensors and transmit to the base station.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116499774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081150
H. Ahn, C. Datta, I. Kuo, Rebecca Q. Stafford, N. Kerse, Kathy Peri, E. Broadbent, B. MacDonald
In this paper, we analyze the use of entertainment services on our healthcare robot system, and find (1) how long robots were used, (2) which entertainment service was most used, (3) which music video category was most preferred, and (4) which music video was most preferred. We developed a healthcare robot system, HealthBot, and deployed several of them in an older care facility, and obtained the usage histories of three kinds of entertainment services: music videos, quotes, and pictures. We report results about the preferences of participants in private and public spaces.
{"title":"Entertainment services of a healthcare robot system for older people in private and public spaces","authors":"H. Ahn, C. Datta, I. Kuo, Rebecca Q. Stafford, N. Kerse, Kathy Peri, E. Broadbent, B. MacDonald","doi":"10.1109/ICARA.2015.7081150","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081150","url":null,"abstract":"In this paper, we analyze the use of entertainment services on our healthcare robot system, and find (1) how long robots were used, (2) which entertainment service was most used, (3) which music video category was most preferred, and (4) which music video was most preferred. We developed a healthcare robot system, HealthBot, and deployed several of them in an older care facility, and obtained the usage histories of three kinds of entertainment services: music videos, quotes, and pictures. We report results about the preferences of participants in private and public spaces.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128016741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081179
Seongha Park, Yongho Kim, E. Matson, Hyeonae Jang, Chan-Won Lee, W. Park
We propose an intuitive interaction system, which is a part of Cooperative Fire Security System using HARMS (CFS2H), to readily deal with fire in a high-rise building. The interaction system is a bridge connecting human, as an operator, to the whole system. Utilizing a natural language processing (NLP) technology using Microsoft Kinect makes the interaction system intuitive and has human-oriented operations. Human-Agent-Robot-Machine-Sensor (HARMS) provides a distributed network so that the systems are able to communicate with a high-level communication protocol. We established a scenario to verify the interaction system along with the system as a whole. The result of the verification left several technical issues and challenges.
{"title":"An intuitive interaction system for fire safety using a speech recognition technology","authors":"Seongha Park, Yongho Kim, E. Matson, Hyeonae Jang, Chan-Won Lee, W. Park","doi":"10.1109/ICARA.2015.7081179","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081179","url":null,"abstract":"We propose an intuitive interaction system, which is a part of Cooperative Fire Security System using HARMS (CFS2H), to readily deal with fire in a high-rise building. The interaction system is a bridge connecting human, as an operator, to the whole system. Utilizing a natural language processing (NLP) technology using Microsoft Kinect makes the interaction system intuitive and has human-oriented operations. Human-Agent-Robot-Machine-Sensor (HARMS) provides a distributed network so that the systems are able to communicate with a high-level communication protocol. We established a scenario to verify the interaction system along with the system as a whole. The result of the verification left several technical issues and challenges.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115845326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081149
S. Tappe, J. Kotlarski, T. Ortmaier, Michael Dorbaum, A. Mertens, B. Ponick
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
{"title":"The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators","authors":"S. Tappe, J. Kotlarski, T. Ortmaier, Michael Dorbaum, A. Mertens, B. Ponick","doi":"10.1109/ICARA.2015.7081149","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081149","url":null,"abstract":"Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"601 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123197457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081122
V. R. Reddy, Parijat Deshpande, R. Dasgupta
Robot audition systems are expected to support a variety of civilian and rescue applications in hazardous situations. Sensed data can only be interpreted meaningfully when referenced to the location of the sensor, making localization an important area of research. In this paper, we have developed sound source localization system for our Fire Bird VI robot. Localization algorithms like cross correlation (CC), phase transform (PHAT) and maximum-likelihood (ML) are explored to find the direction of arrival (DOA) by estimating the time delay of arrival (TDOA) from the received signals of linear array microphones of Kinect sensor. The sound signals comprising of different sample pings and pause durations ranging from 3 ms to 3 s durations, frequencies varying from 100 Hz to 5 kHz are tested using different microphone pairs of Kinect in different azimuths (DOA) ranging from 0° to 180° across different distances like 1 m, 1.5 m and 2 m. The performance of localization algorithms is evaluated by computing the error between estimated DOA and actual DOA. It is found that PHAT algorithm outperformed others, however some errors are obtained due to inherent reverberation affects may have caused by room. The authors also present practical limitations which result in errors for different azimuths based on distance between microphone pairs and sampling frequency of signals.
{"title":"Robotics audition using Kinect","authors":"V. R. Reddy, Parijat Deshpande, R. Dasgupta","doi":"10.1109/ICARA.2015.7081122","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081122","url":null,"abstract":"Robot audition systems are expected to support a variety of civilian and rescue applications in hazardous situations. Sensed data can only be interpreted meaningfully when referenced to the location of the sensor, making localization an important area of research. In this paper, we have developed sound source localization system for our Fire Bird VI robot. Localization algorithms like cross correlation (CC), phase transform (PHAT) and maximum-likelihood (ML) are explored to find the direction of arrival (DOA) by estimating the time delay of arrival (TDOA) from the received signals of linear array microphones of Kinect sensor. The sound signals comprising of different sample pings and pause durations ranging from 3 ms to 3 s durations, frequencies varying from 100 Hz to 5 kHz are tested using different microphone pairs of Kinect in different azimuths (DOA) ranging from 0° to 180° across different distances like 1 m, 1.5 m and 2 m. The performance of localization algorithms is evaluated by computing the error between estimated DOA and actual DOA. It is found that PHAT algorithm outperformed others, however some errors are obtained due to inherent reverberation affects may have caused by room. The authors also present practical limitations which result in errors for different azimuths based on distance between microphone pairs and sampling frequency of signals.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124848919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081126
Nuno Costa, A. Arsénio
Novel approaches have taken Augmented Reality (AR) beyond traditional body-worn or hand-held displays, leading to the creation of a new branch of AR: Spatial Augmented Reality (SAR) providing additional application areas. SAR is a rapidly emerging field that uses digital projectors to render virtual objects onto 3D objects in the real space. When mounting digital projectors on robots, this collaboration paves the way for unique Human-Robot Interactions (HRI) that otherwise would not be possible. Adding to robots the capability of projecting interactive Augmented Reality content enables new forms of interactions between humans, robots, and virtual objects, enabling new applications. In this work it is investigated the use of SAR techniques on mobile robots for better enabling this to interact in the future with elderly or injured people during rehabilitation, or with children in the pediatric ward of a hospital.
{"title":"Augmented Reality behind the wheel - Human Interactive Assistance by Mobile Robots","authors":"Nuno Costa, A. Arsénio","doi":"10.1109/ICARA.2015.7081126","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081126","url":null,"abstract":"Novel approaches have taken Augmented Reality (AR) beyond traditional body-worn or hand-held displays, leading to the creation of a new branch of AR: Spatial Augmented Reality (SAR) providing additional application areas. SAR is a rapidly emerging field that uses digital projectors to render virtual objects onto 3D objects in the real space. When mounting digital projectors on robots, this collaboration paves the way for unique Human-Robot Interactions (HRI) that otherwise would not be possible. Adding to robots the capability of projecting interactive Augmented Reality content enables new forms of interactions between humans, robots, and virtual objects, enabling new applications. In this work it is investigated the use of SAR techniques on mobile robots for better enabling this to interact in the future with elderly or injured people during rehabilitation, or with children in the pediatric ward of a hospital.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127098548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081208
F. A. Bender, M. Sonntag, O. Sawodny
Hydraulic excavators play a crucial role on worldwide construction sites. Efficient operation of these machines therefore contributes to a quick completion of the construction task. In particular, optimized control strategies can lead to improvements with regard to machine performance, fuel consumption, and pollutant emissions. In this work, a nonlinear model of a hydraulic excavator is considered. It is shown that a simplified nonlinear model with Hammerstein structure can accurately represent the underlying dynamics for the purpose of control. Based on this model, a nonlinear model predictive control approach including an optimization algorithm is developed in order to have the excavator perform a task given through target positions of the four motion axes. Simulation results based on an application of the developed controller to a complex physical model of the excavator indicate good tracking performance and fast execution of the task.
{"title":"Nonlinear model predictive control of a hydraulic excavator using Hammerstein models","authors":"F. A. Bender, M. Sonntag, O. Sawodny","doi":"10.1109/ICARA.2015.7081208","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081208","url":null,"abstract":"Hydraulic excavators play a crucial role on worldwide construction sites. Efficient operation of these machines therefore contributes to a quick completion of the construction task. In particular, optimized control strategies can lead to improvements with regard to machine performance, fuel consumption, and pollutant emissions. In this work, a nonlinear model of a hydraulic excavator is considered. It is shown that a simplified nonlinear model with Hammerstein structure can accurately represent the underlying dynamics for the purpose of control. Based on this model, a nonlinear model predictive control approach including an optimization algorithm is developed in order to have the excavator perform a task given through target positions of the four motion axes. Simulation results based on an application of the developed controller to a complex physical model of the excavator indicate good tracking performance and fast execution of the task.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124370947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081203
J. Pradipta, K. L. Knierim, O. Sawodny
Force distribution is one of the advantage of a redundant parallel manipulator configuration, making the utilization of less powerful actuators feasible. In this contribution, a force trajectory for a redundant actuator in a seven-cylinder pneumatically-actuated Stewart platform is derived analytically using the inverse dynamic model to maximize the benefit of the additional actuator. A feed-forward scheme is proposed with a requirement of good position tracking control. An input/output linearization is applied for the redundant actuator force control design with good force tracking capability. The designed force trajectory generator is implemented in a full-size pneumatically-actuated Stewart platform, and the results show an improvement in form of force reduction on the six outer cylinders and better utilization of the redundant cylinder force capacity.
{"title":"Force trajectory generation for the redundant actuator in a pneumatically actuated Stewart platform","authors":"J. Pradipta, K. L. Knierim, O. Sawodny","doi":"10.1109/ICARA.2015.7081203","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081203","url":null,"abstract":"Force distribution is one of the advantage of a redundant parallel manipulator configuration, making the utilization of less powerful actuators feasible. In this contribution, a force trajectory for a redundant actuator in a seven-cylinder pneumatically-actuated Stewart platform is derived analytically using the inverse dynamic model to maximize the benefit of the additional actuator. A feed-forward scheme is proposed with a requirement of good position tracking control. An input/output linearization is applied for the redundant actuator force control design with good force tracking capability. The designed force trajectory generator is implemented in a full-size pneumatically-actuated Stewart platform, and the results show an improvement in form of force reduction on the six outer cylinders and better utilization of the redundant cylinder force capacity.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"481 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122188884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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