Senhao Hou, Xiaoqiang Tang, Wang Yuheng, Dianjun Wang
During the landing and detection missions of the Moon, Mars, and asteroids, due to the complexity and unpredictability of the landing process, it is necessary and critical to carry out simulation tests on the ground to simulate the stress state during the separation of the backshell from the lander. A high-speed cable-driven mechanism adopted. The cable force is different at the end actuator and the drum. There are many factors causing this difference, such as high acceleration, cable stiffness, cable density, cable length. In this paper, the cable force transmission of spacecraft during high-speed separation is studied. The dynamic model of high-speed cable-driven mechanism is established based on Newton principle, then the trial function is introduced, and the second-order partial differential equation is solved by using the method of space discretization. The force relationship of the cable in the process of motion is obtained, and the influencing factors of the cable force are explored. Finally, the correctness of the research content in this paper is verified by numerical simulation and experiment. The results show that the model can accurately simulate the force state of the cable, and it has guiding significance for the active high-speed separation test of spacecraft.
{"title":"Research on Dynamic Characteristics of the High-Speed Cable Force Transmission","authors":"Senhao Hou, Xiaoqiang Tang, Wang Yuheng, Dianjun Wang","doi":"10.1115/IMECE2020-23293","DOIUrl":"https://doi.org/10.1115/IMECE2020-23293","url":null,"abstract":"\u0000 During the landing and detection missions of the Moon, Mars, and asteroids, due to the complexity and unpredictability of the landing process, it is necessary and critical to carry out simulation tests on the ground to simulate the stress state during the separation of the backshell from the lander. A high-speed cable-driven mechanism adopted. The cable force is different at the end actuator and the drum. There are many factors causing this difference, such as high acceleration, cable stiffness, cable density, cable length. In this paper, the cable force transmission of spacecraft during high-speed separation is studied. The dynamic model of high-speed cable-driven mechanism is established based on Newton principle, then the trial function is introduced, and the second-order partial differential equation is solved by using the method of space discretization. The force relationship of the cable in the process of motion is obtained, and the influencing factors of the cable force are explored. Finally, the correctness of the research content in this paper is verified by numerical simulation and experiment. The results show that the model can accurately simulate the force state of the cable, and it has guiding significance for the active high-speed separation test of spacecraft.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"50 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86186258","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}
Dynamics of a two degree-of-freedom suspension mechanism is incorporated into nonlinear control design to facilitate its potential use as a rehabilitation device to aid people with lower-limb injuries. The proposed mechanism is a variation of the standard four-bar linkage with an extra link and two springs. The system dynamic model is first extracted based on the Lagrange’s equations in conservative form. The performance deviations due to the link inertia is demonstrated in open-loop numerical simulations under an impulsive force scenario. Finally, the dynamic model of the suspension mechanism is incorporated into feedback control design based on nonlinear, sliding mode control strategy that can add robustness against modeling uncertainties and external disturbances. The tracking performance of the proposed nonlinear controller is validated in closed-loop numerical simulations to demonstrate possible performance improvements under feedback control.
{"title":"Nonlinear Control Design for a Gravity Compensation Mechanism for Human Lower Limb Rehabilitation","authors":"Z. Ilhan, M. Chew","doi":"10.1115/IMECE2020-24148","DOIUrl":"https://doi.org/10.1115/IMECE2020-24148","url":null,"abstract":"\u0000 Dynamics of a two degree-of-freedom suspension mechanism is incorporated into nonlinear control design to facilitate its potential use as a rehabilitation device to aid people with lower-limb injuries. The proposed mechanism is a variation of the standard four-bar linkage with an extra link and two springs. The system dynamic model is first extracted based on the Lagrange’s equations in conservative form. The performance deviations due to the link inertia is demonstrated in open-loop numerical simulations under an impulsive force scenario. Finally, the dynamic model of the suspension mechanism is incorporated into feedback control design based on nonlinear, sliding mode control strategy that can add robustness against modeling uncertainties and external disturbances. The tracking performance of the proposed nonlinear controller is validated in closed-loop numerical simulations to demonstrate possible performance improvements under feedback control.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"27 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85826397","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}
In this paper, edge coils are added to the commutation algorithm of the coil array. In order to reduce the theoretical modeling error of the edge coil force, a method of edge coil force fitting based on radial basis function (RBF) network is proposed. The obtained attenuation function of edge force can replace the weighting function in the switching algorithm, so it can effectively reduce the current density of the central coils and the heat loss power of the coil array. On this basis, a non-iterative current optimal commutation algorithm is proposed. The algorithm takes the weighted sum of the 2-norm of the coil current and the 2-norm of the difference between the coil current and the saturation current as the optimization objective, and obtains the analytical expression of the instantaneous current by solving the Karush Kuhn Tucker (KKT) equation. The results of simulation show that, compared with the direct decoupling algorithm with weighting function, the proposed commutation algorithm can reduce the heat loss power of the coil array and allow the translator to provide greater acceleration under the same maximum current limitation.
{"title":"Edge Coil Force Fitting and Current Optimal Commutation Algorithm for Magnetic Levitation Planar Motor With Moving Magnet","authors":"Haobo Sun, Yu Zhu, Kaiming Yang, Sen Lu","doi":"10.1115/IMECE2020-23534","DOIUrl":"https://doi.org/10.1115/IMECE2020-23534","url":null,"abstract":"\u0000 In this paper, edge coils are added to the commutation algorithm of the coil array. In order to reduce the theoretical modeling error of the edge coil force, a method of edge coil force fitting based on radial basis function (RBF) network is proposed. The obtained attenuation function of edge force can replace the weighting function in the switching algorithm, so it can effectively reduce the current density of the central coils and the heat loss power of the coil array. On this basis, a non-iterative current optimal commutation algorithm is proposed. The algorithm takes the weighted sum of the 2-norm of the coil current and the 2-norm of the difference between the coil current and the saturation current as the optimization objective, and obtains the analytical expression of the instantaneous current by solving the Karush Kuhn Tucker (KKT) equation. The results of simulation show that, compared with the direct decoupling algorithm with weighting function, the proposed commutation algorithm can reduce the heat loss power of the coil array and allow the translator to provide greater acceleration under the same maximum current limitation.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"219 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79810170","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}
This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.
本文介绍了美国哈特福德大学(University of Hartford)辅助机器人团队(ART)自2018年以来设计和制造的移动运输机器人i-Explore的发展情况。i-Explore的主要目标是在室内环境中帮助和携带有严重身体残疾的儿童，特别是在家庭使用中。本文首先描述了以快速反应性和低成本制造为主要技术设计要求的i-Explore的机械设计和制造过程。然后，描述了移动机器人的运动学分析及其在底层本体控制器中的实现。最后，i-Explore在清洁和混乱的工作空间中进行了测试和评估，其半自动运动是为机器人在以人为中心的环境中导航而设计的。
{"title":"Mobile Carrying Platform: i-Explore","authors":"Kiwon Sohn, Aurian Emami, Jaesung Yang","doi":"10.1115/IMECE2020-23106","DOIUrl":"https://doi.org/10.1115/IMECE2020-23106","url":null,"abstract":"\u0000 This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"160 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86734710","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}
Solving nonlinear dynamic optimization (NLDO) and optimal control problems can be quite challenging, but the need for effective methods is ever increasing as more engineered systems become more dynamic and integrated. In this article, we will explore the various uses of linear-quadratic dynamic optimization (LQDO) in the direct transcription-based solution strategies for NLDO. Three general LQDO-based strategies are discussed, including direct incorporation, two-level optimization, and quasi-linearization. Connections are made between a variety of existing approaches, including sequential quadratic programming. The case studies are solved with the various methods using a publicly available, MATLAB-based tool. Results indicate that the LQDO-based strategies can improve existing solvers and be effective solution strategies. However, there are robustness issues and problem derivative requirements that must be considered.
{"title":"On the Uses of Linear-Quadratic Methods in Solving Nonlinear Dynamic Optimization Problems With Direct Transcription","authors":"Daniel R. Herber, Athul K. Sundarrajan","doi":"10.1115/IMECE2020-23885","DOIUrl":"https://doi.org/10.1115/IMECE2020-23885","url":null,"abstract":"\u0000 Solving nonlinear dynamic optimization (NLDO) and optimal control problems can be quite challenging, but the need for effective methods is ever increasing as more engineered systems become more dynamic and integrated. In this article, we will explore the various uses of linear-quadratic dynamic optimization (LQDO) in the direct transcription-based solution strategies for NLDO. Three general LQDO-based strategies are discussed, including direct incorporation, two-level optimization, and quasi-linearization. Connections are made between a variety of existing approaches, including sequential quadratic programming. The case studies are solved with the various methods using a publicly available, MATLAB-based tool. Results indicate that the LQDO-based strategies can improve existing solvers and be effective solution strategies. However, there are robustness issues and problem derivative requirements that must be considered.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"34 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84383039","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}
The present study is focused on examining the flow-field dynamics of a flapping foil with a flexible aft tail as compared to a rigid configuration where tail flexibility is infinite. The flow around the oscillating body is governed by the incompressible Navier-Stokes equations. An in-house Fluid-Structure Interaction solver has been developed following a discrete forcing type Immersed Boundary Method coupled with an inextensible filament structural model. The flapping amplitude is considered as a bifurcation parameter, and as the bifurcation parameter is increased, the periodic wake transitions into the chaotic patterns. The periodic to chaotic transition happens through an intermittency route. However, the elliptic foil with flexible aft tail exhibits chaotic onsets much later compared to the foil with a rigid tail. Time series analysis techniques, such as frequency spectra and recurrence plots, have been used to establish the intermittency and the chaotic dynamics conclusively.
{"title":"Delaying the Chaotic Onset in the Flow-Field of Flapping Foil With Flexible Aft Tail","authors":"C. Shah, Dipanjan Majumdar, Sunetra Sarkar","doi":"10.1115/IMECE2020-23868","DOIUrl":"https://doi.org/10.1115/IMECE2020-23868","url":null,"abstract":"\u0000 The present study is focused on examining the flow-field dynamics of a flapping foil with a flexible aft tail as compared to a rigid configuration where tail flexibility is infinite. The flow around the oscillating body is governed by the incompressible Navier-Stokes equations. An in-house Fluid-Structure Interaction solver has been developed following a discrete forcing type Immersed Boundary Method coupled with an inextensible filament structural model. The flapping amplitude is considered as a bifurcation parameter, and as the bifurcation parameter is increased, the periodic wake transitions into the chaotic patterns. The periodic to chaotic transition happens through an intermittency route. However, the elliptic foil with flexible aft tail exhibits chaotic onsets much later compared to the foil with a rigid tail. Time series analysis techniques, such as frequency spectra and recurrence plots, have been used to establish the intermittency and the chaotic dynamics conclusively.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"25 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91195117","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}
M. Ichaoui, G. Ostermeyer, Mathias Tergeist, A. Hohl
Deep drilling operations are primarily used to produce oil, gas, and geothermal heat from reservoirs in the earth’s crust. A drill string built of thread-connected components is used to transfer mechanical energy from a drill rig on the surface to a drill bit at the bottom end. The lowest part of a drill string, which is called bottom-hole assembly (BHA), contains sophisticated sub-assemblies for process and trajectory control, formation evaluation, surface communication, power generation, and system diagnostics. The BHA can experience critical vibrations without indication further up to the string. These vibrations need to be closely monitored for process control, fatigue management, and design feedback. However, the number of sensors is too small to provide reliable indication of loads on all critical components of the drill string. Adding sensors to each component is currently neither economically nor technically viable. This paper presents an application of existing Kalman Filters, merging information from available sensors and dynamic models to obtain state estimates for all components of the BHA. The expected accuracy and limitations are discussed. The results of load extrapolation are confirmed by comparison with measurements proving the concept under inaccurately defined interaction with a downhole environment.
{"title":"Estimation of High-Frequency Vibration Loads in Deep Drilling Systems Using Augmented Kalman Filters","authors":"M. Ichaoui, G. Ostermeyer, Mathias Tergeist, A. Hohl","doi":"10.1115/IMECE2020-23824","DOIUrl":"https://doi.org/10.1115/IMECE2020-23824","url":null,"abstract":"\u0000 Deep drilling operations are primarily used to produce oil, gas, and geothermal heat from reservoirs in the earth’s crust. A drill string built of thread-connected components is used to transfer mechanical energy from a drill rig on the surface to a drill bit at the bottom end. The lowest part of a drill string, which is called bottom-hole assembly (BHA), contains sophisticated sub-assemblies for process and trajectory control, formation evaluation, surface communication, power generation, and system diagnostics.\u0000 The BHA can experience critical vibrations without indication further up to the string. These vibrations need to be closely monitored for process control, fatigue management, and design feedback. However, the number of sensors is too small to provide reliable indication of loads on all critical components of the drill string. Adding sensors to each component is currently neither economically nor technically viable.\u0000 This paper presents an application of existing Kalman Filters, merging information from available sensors and dynamic models to obtain state estimates for all components of the BHA. The expected accuracy and limitations are discussed. The results of load extrapolation are confirmed by comparison with measurements proving the concept under inaccurately defined interaction with a downhole environment.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"801 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85579676","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}
Martin Garcia, Amir Ali Amiri Moghadam, A. Tekes, R. Emert
This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries. The current work can be considered as a proof of concept for 3D printing of a soft parallel robot. The robot consists of two soft pneumatic actuators that are connected to two passive links by mean of flexible hinges. The robot has two degrees of freedom and can be used in planar manipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner to increase the manipulation dexterity. A kinematic model is developed to simulate the motion of robot end-effector. Through application of the kinematic model it has been shown that the robot is capable of following any planar trajectories within its workspace. Also, pseudo-rigid-body model (PRBM) is used to develop a dynamic model of the soft robot to more accurately predict the robot interaction with its environment and also develop advanced control system for robust position control of the robot.
{"title":"Development of a 3D Printed Soft Parallel Robot","authors":"Martin Garcia, Amir Ali Amiri Moghadam, A. Tekes, R. Emert","doi":"10.1115/IMECE2020-23138","DOIUrl":"https://doi.org/10.1115/IMECE2020-23138","url":null,"abstract":"\u0000 This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries. The current work can be considered as a proof of concept for 3D printing of a soft parallel robot. The robot consists of two soft pneumatic actuators that are connected to two passive links by mean of flexible hinges. The robot has two degrees of freedom and can be used in planar manipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner to increase the manipulation dexterity. A kinematic model is developed to simulate the motion of robot end-effector. Through application of the kinematic model it has been shown that the robot is capable of following any planar trajectories within its workspace. Also, pseudo-rigid-body model (PRBM) is used to develop a dynamic model of the soft robot to more accurately predict the robot interaction with its environment and also develop advanced control system for robust position control of the robot.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"16 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81415116","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}
The machining vibration of thin-walled parts affects the quality of the products. Thus, this paper proposes a new alternative support fixture system for vibration suppression of thin-walled parts. The system includes two movable supporting heads, which are periodically repositioned along the machining path in the form of alternating support to support the area close to the cutter, so as to improve the rigidity of the actual machining position of the thin-walled part. Around this new system, a dynamic model is established to analyze the workpiece vibration. Takeing as an example simply suppoted thin-plate, the influence of the supporting head’s location, stiffness coefficient and damping coefficient on vibration suppression are numerically analyzed in this paper. The result of the simulation demonstrates the alternative support fixture system is effective in vibration suppression of thin-walled parts.
{"title":"Application of Alternative Support Fixture System in Vibration Suppression of Thin-Walled Parts","authors":"Zenglin Liu, Yu Sun, Yu Wang","doi":"10.1115/IMECE2020-23343","DOIUrl":"https://doi.org/10.1115/IMECE2020-23343","url":null,"abstract":"\u0000 The machining vibration of thin-walled parts affects the quality of the products. Thus, this paper proposes a new alternative support fixture system for vibration suppression of thin-walled parts. The system includes two movable supporting heads, which are periodically repositioned along the machining path in the form of alternating support to support the area close to the cutter, so as to improve the rigidity of the actual machining position of the thin-walled part. Around this new system, a dynamic model is established to analyze the workpiece vibration. Takeing as an example simply suppoted thin-plate, the influence of the supporting head’s location, stiffness coefficient and damping coefficient on vibration suppression are numerically analyzed in this paper. The result of the simulation demonstrates the alternative support fixture system is effective in vibration suppression of thin-walled parts.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74123258","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}
In this paper, an adaptive iterative learning control (AILC) method combined with sliding mode technique is proposed to improve the force control performance for repeating tasks of fluidic muscle (FM) driven parallel manipulators. Different from the traditional iterative learning control method, the proposed AILC is to learn the controller time-varying parameters rather than to learn the control signals. Since the AILC is sensitive to non-repetitive disturbances, the sliding mode technique is introduced to enhance the robustness. Since no model information involved in the controller design, the proposed method is a complete data-driven method. Hence, the difficulty of obtaining accurate model is avoided. Simulation studies are performed on a two degrees of freedom FM driven parallel manipulator. Simulation results demonstrate that the proposed method can achieve high force tracking performance and robustness.
{"title":"Adaptive Iterative Learning Control of Fluidic Muscle Driven Parallel Manipulators for Force Control With Sliding Mode Technique","authors":"Zhang Xinxin, Min Li, Huafeng Ding","doi":"10.1115/IMECE2020-24466","DOIUrl":"https://doi.org/10.1115/IMECE2020-24466","url":null,"abstract":"\u0000 In this paper, an adaptive iterative learning control (AILC) method combined with sliding mode technique is proposed to improve the force control performance for repeating tasks of fluidic muscle (FM) driven parallel manipulators. Different from the traditional iterative learning control method, the proposed AILC is to learn the controller time-varying parameters rather than to learn the control signals. Since the AILC is sensitive to non-repetitive disturbances, the sliding mode technique is introduced to enhance the robustness. Since no model information involved in the controller design, the proposed method is a complete data-driven method. Hence, the difficulty of obtaining accurate model is avoided. Simulation studies are performed on a two degrees of freedom FM driven parallel manipulator. Simulation results demonstrate that the proposed method can achieve high force tracking performance and robustness.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":"97 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84617603","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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