Wyniki wyszukiwania - BazTech

1

Stability and transparency of delayed bilateral teleoperation with haptic feedback

Estrada Edgar, Yu Wen, Li Xiaoou

International Journal of Applied Mathematics and Computer Science

|

2019

|

Vol. 29, no. 4

681--692

EN

Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.

2

Sterowanie pozycją i siłą manipulatora mobilnego

Mazur A., Kaczmarek M., Domski W.

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2016

|

z. 195, t. 2

531--540

PL

W pracy zaprezentowano algorytm sterowania nieholonomicznym manipulatorem mobilnym z prostym ograniczeniem holonomicznym w postaci ograniczenia geometrycznego nałożonego na ramię robota. Przedstawiono matematyczny model manipulatora w różnych współrzędnych: uogólnionych, pomocniczych i linearyzujących oraz dynamikę zredukowaną układu. Zaproponowano pozycyjno-siłowy algorytm sterowania zmodyfikowany zarówno w części pozycyjnej, jak i siłowej. Obok rozważań teoretycznych przedstawiono także wyniki symulacyjne.

EN

The paper presents position-force control algorithm for nonholonomic mobile manipulator with simple holonomic constraint defined as geometric constraint on robot's joint. Mathematical model in generalized, auxiliary and linearizing coordinates was presented, as well as constrained dynamics of the robot. Control laws, both for position and force, which are modifications of previously developed ones, were proposed. Theoretical results were illustrated with simulations.

3

Optimization of process parameters of edge robotic deburring with force control

Burghardt A., Szybicki D., Kurc K., Muszyńska M.

International Journal of Applied Mechanics and Engineering

|

2016

|

Vol. 21, no. 4

987--995

EN

The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

4

Problem objętościowego sterowania siłą lub momentem układu elektrohydraulicznego

Stefański T.

Autobusy : technika, eksploatacja, systemy transportowe

|

2016

|

R. 17, nr 12

1354--1361

PL

W pracy przedstawiono wyniki analizy sterowania siłą lub momentem (ciśnieniem) elementu wykonawczego układu elektrohydraulicznego, którego pompę o stałej wydajności geometrycznej napędza silnik indukcyjny (AC) zasilany z falownika napięcia. Uwzględniając, że siła (moment) elementu wykonawczego jest w przybliżeniu proporcjonalna do ciśnienia, dalsze rozważania sprowadzono do sterowania tą wielkością. Sterowanie ciśnieniem realizowano w układzie objętościowym (bez zaworu dławiącego), tj. poprzez zmianę momentu na wale silnika indukcyjnego. Do identyfikacji parametrycznej modelu matematycznego napędu elektrohydraulicznego zastosowano numeryczną metodę optymalizacji statycznej Box’a, natomiast do sterowania momentem silnika AC – metodę polowo-zorientowaną. Sterowanie ciśnieniem za pomocą zmiany momentu silnika indukcyjnego (sterowanie objętościowe) porównano ze sterowaniem dławieniowym, w układzie z proporcjonalnym zaworem regulacyjnym. Analizowano także charakterystyki sprawności napędu dla różnych wartości obciążeń w stanie ustalonym prędkości obrotowej silnika hydraulicznego. Badania laboratoryjne przeprowadzono dla napędu pompy z silnikiem indukcyjnym o mocy 2,6 kW.

EN

The analysis results of force or torque (pressure) control of electrohydraulic system, where a constant displacement pump is powered by inverter-fed induction motor, are presented. Taking into consideration that the force (torque) of the hydraulic actuator is approximately proportional to the pressure, all further considerations were brought to controlling value of pressure. Control of pressure in the volumetric control system (without the throttle valve) is done by changing the torque value on the induction motor shaft. The Box’s numerical method of static optimisation has been applied in parametric identification of the drive system while the field-oriented control method was used to control torque value of AC motor. Laboratory results of pressure control method by induction motor torque control were compared with results of throttling control method with proportional valve. The efficiency characteristics for various values of load at steady-state rotational speed of the hydraulic motor were identified. Laboratory tests for the model of the inverter drive system with AC motor of 2,6 kW were conducted.

5

Zrobotyzowane stanowisko z kontrolą siły

Burghardt A., Kurc K., Muszyńska M., Szybicki D.

Modelowanie Inżynierskie

|

2014

|

T. 22, nr 53

30--36

PL

Tematem artykułu jest zrobotyzowane stanowisko służące do zatępiania krawędzi elementów o zmiennym kształcie, z wykorzystaniem systemu automatycznej adaptacji trajektorii narzędzia. Zmienna geometria obrabianego detalu wynika z dokładności wykonania form odlewniczych i zjawiska skurczu. Fakt ten skutkuje koniecznością stosowania ręcznej obróbki, brak możliwości powtarzalnego określenia ścieżki narzędzia. W proponowanym rozwiązaniu wykorzystany zostanie robot z pozycjonerem wyposażony w aktywne narzędzia oraz układ sterowanie siłą interakcji przedmiot-narzędzie. Proponowane rozwiązanie dotyczy analizy układów z kontrolą siły docisku. Propozycja przetestowania aplikacji kontroli siły, która ułatwia interakcje robota z otoczeniem. Bazuje na strategii sterowania, gdzie ruchy robota są dostosowywane do informacji zwrotnych z czujników siły.

EN

The article presents the conception problem solution of robots machining mechanical parts whose shape is randomly changed. Inaccurate shape is the result of cast technology. The author’s propos robot station equipment positioner, force control, active tool. Option Force Control makes the robot possess the capability of quickly and accurately adapting machining to the surface contour and consistency of the materials and component parts to be processed. The proposed solution has been simulated in a virtual environment RobotStudio. Additionally in this approach I proposed the communication system between elements stations and built user library.

6

Neuro-fuzzy control of a robotic manipulator

Gierlak P., Muszyńska M., Żylski W.

International Journal of Applied Mechanics and Engineering

|

2014

|

Vol. 19, no. 3

575--584

EN

In this paper, to solve the problem of control of a robotic manipulator’s movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator’s dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator.

7

Adaptive hybrid position/force control of manipulator

Gierlak P., Żylski W.

International Journal of Applied Mechanics and Engineering

|

2012

|

Vol. 17, no. 3

811-825

EN

The problem of the manipulators hybrid position/force control is not trivial because manipulators are objects with nonlinear and uncertain dynamics, unknown and variable parameters, and which operate in changeable conditions. Therefore the hybrid position/force control problem requires application of advanced control techniques for compensation of manipulator nonlinearities. The adaptive control system enables the manipulator to behave correctly, even if parameters of the mathematical model of the control object are unknown. In this paper, the hybrid position/force controller with an adaptive compensation of nonlinearities for the SCORBOT-ER 4pc robotic manipulator is presented. The control law and adaptive law presented herein guarantee practical stability of the closed-loop control system in the sense of Lyapunov. The results of a numerical simulation are presented.

8

Combined feedforward and feedback control of end milling system

Cus F., Zuperl U., Balic J.

Journal of Achievements in Materials and Manufacturing Engineering

|

2011

|

Vol. 45, nr 1

79--88

EN

Purpose: Purpose of this paper. An intelligent control system is presented that uses a combination of feedforward and feedback for cutting force control in end milling. Design/methodology/approach: The network is trained by the feedback output that is minimized during training and most control action for disturbance rejection is finally performed by the rapid feedforward action of the network. Findings: The feedback controller corrects for errors caused by external disturbances. The feedforward controller is an artificial neural network (ANN) which approximates the inverse dynamics of the machining process. Research limitations/implications: The dynamic architecture of the neural controller is chosen, and the methods for delay time treatment and training network on line are investigated. The controller was designed and tested using a simulator model of the milling process that includes feed drive model and cutting dynamics simulator. Practical implications: An application to cutting force control in end-milling is used to prove the effectiveness of the control scheme and the experiments shows that the dynamic performance of the cutting force control is greatly improved by this neural combined control system. Originality/value: New combined feedforward and feedback control system of end milling system is developed and tested by many experiments. Also a comprehensive user-friendly software package has been developed to monitor the optimal cutting parameters during machining.

9

Control of a servo-pneumatic experimental RIG

Neugebauer R., Quellmalz J., Schönherr R., Schlegel H.

Archive of Mechanical Engineering

|

2011

|

Vol. LVIII, nr 2

195-207

EN

The paper presents the control concept for an experimental rig with closed-loop controlled pneumatic axis. The objective is the convenient execution of diverse control technologic experiments using free implementable control structures. Since two actuators can be mechanically linked to one another, one is force controlled to generate defined disturbances. Furthermore, a particular simulation model, which can be integrated in the controllers' user program, is pointed out including non-linear effects. Finally, selected experiments are discussed.

PL

W artykule przedstawiono koncepcję sterowania w urządzeniu eksperymentalnym z osią sterowaną pneumatycznie w zamkniętej pętli. Celem była dogodna realizacja eksperymentów technicznych, w których swobodnie implementowano różne struktury sterowania. Ponieważ dwa siłowniki mogą być mechanicznie powiązane ze sobą, jeden z nich jest sterowany siłą w celu generowania zakłóceń. Ponadto, wskazano szczególny model symulacyjny uwzględniający efekty nieliniowe, który może być zintegrowany z programem sterownika tworzonym przez użytkownika. W części końcowej przedyskutowano wyniki wybranych eksperymentów.

10

Adaptive self-learning controller design for feedrate maximisation of machining process

Cus F., Zuperl U., Kiker E., Milfelner M.

Journal of Achievements in Materials and Manufacturing Engineering

|

2008

|

Vol. 31, nr 2

469-476

EN

Purpose: Of this paper: The purpose of this paper is to built an adaptive control system which controlling the cutting force and maintaining constant roughness of the surface being milled by digital adaptation of cutting parameters. Design/methodology/approach: The paper discusses the use of combining the methods of neural networks, fuzzy logic and PSO evolutionary strategy (Particle Swarm Optimization) in modeling and adaptively controlling the process of end milling. An overall approach of hybrid modeling of cutting process (ANfis-system), used for working out the CNC milling simulator has been prepared. The basic control design is based on the control scheme (UNKS) consisting of two neural identificators of the process dynamics and primary regulator. Findings: The research has shown that neural control scheme has significant advantages over conventional controllers. The experimental results show that not only does the milling system with the design controller have high robustness, and global stability but also the machining efficiency of the milling system with the adaptive controller is much higher than for traditional CNC milling system. Experiments have confirmed efficiency of the adaptive control system, which is reflected in improved surface quality and decreased tool wear. Research limitations/implications: The proposed architecture for on-line determining of optimal cutting conditions is applied to ball-end milling in this paper, but it is obvious that the system can be extended to other machines to improve cutting efficiency. In this way the system compensates all disturbances during the cutting process: tool wear, non-homogeneity of the workpiece material, vibrations, chatter etc. Practical implications: The results of experiments demonstrate the ability of the proposed system to effectively regulate peak cutting forces for cutting conditions commonly encountered in end milling operations. Applicability of methodology of adaptive adjustment of cutting parameters is experimentally demonstrated and tested on a 4-axis CNC milling machine Heller. The high accuracy of results within a wide range of machining parameters indicates that the system can be practically applied in industry. Originality/value: By the hybrid process modeling and feed-forward neural control scheme (UNKS) the combined system for off-line optimization and adaptive adjustment of cutting parameters is built.

11

Robust force/position control based on mechatronic solution

Osypiuk R., Tarasiejski L., Domek S.

Advances in Manufacturing Science and Technology

|

2007

|

Vol. 31, nr 3

27-43

EN

Application of a mechatronic system to improve the effectiveness of the position/force control for industrial manipulators is discussed in the paper. Owing to high stiffness of the kinematic chain and variable environment stiffness, there is a need to employ advanced control systems in order to provide stable force control. The concept proposed and presented in the paper is meant for use with a 6DOF platform, however preliminary tests have been performed on a 1DOF system.

PL

Dokonano analizy zastosowania mechatronicznego systemu w celu poprawy efektywności sterowania położeniem i siłą dla manipulatorów przemysłowych. Duża sztywność łańcucha kinematycznego oraz zmienna sztywność otoczenia powodują konieczność stosowania zaawansowanych systemów dla zapewnienia stabilnego przebiegu procesu regulacji siły. Proponowano i omówiono hipotezę z użyciem platformy 6DOF. Wstępny eksperyment praktyczny wykonano dla systemu z jednym stopniem swobody.

12

Adaptive controller design for feedrate maximization of machining process

Cus F., Zuperl U., Kiker E., Milfelner M.

Journal of Achievements in Materials and Manufacturing Engineering

|

2006

|

Vol. 17, nr 1-2

237--240

EN

Purpose: An adaptive control system is built which controlling the cutting force and maintaining constant roughness of the surface being milled by digital adaptation of cutting parameters. Design/methodology/approach: The paper discusses the use of combining the methods of neural networks, fuzzy logic and PSO evolutionary strategy (Particle Swarm Optimization) in modeling and adaptively controlling the process of end milling. An overall approach of hybrid modeling of cutting process (ANfis-system), used for working out the CNC milling simulator has been prepared. The basic control design is based on the control scheme (UNKS) consisting of two neural identificators of the process dynamics and primary regulator. Findings: The experimental results show that not only does the milling system with the design controller have high robustness, and global stability but also the machining efficiency of the milling system with the adaptive controller is much higher than for traditional CNC milling system. Experiments have confirmed efficiency of the adaptive control system, which is reflected in improved surface quality and decreased tool wear. Research limitations/implications: The proposed architecture for on-line determining of optimal cutting conditions is applied to ball-end milling in this paper, but it is obvious that the system can be extended to other machines to improve cutting efficiency. Practical implications: The results of experiments demonstrate the ability of the proposed system to effectively regulate peak cutting forces for cutting conditions commonly encountered in end milling operations. The high accuracy of results within a wide range of machining parameters indicates that the system can be practically applied in industry. Originality/value: By the hybrid process modeling and feed-forward neural control scheme (UNKS) the combined system for off-line optimization and adaptive adjustment of cutting parameters is built.

13

Coordinated active rear steering and variable torque distribution control for vehicle stability enhancement

He Junjie, Crolla D.A., Levesley M.C., Manning W.J.

Systems Science

|

2003

|

Vol. 29, nr 1

119-133

EN

This paper investigates the coordination of Active Rear Steering (ARS) and Variable Torque Distribution (VTD) control to improve the overall vehicle stability and controllability, especially under extreme driving situations. Both ARS and VTD are able to influence the vehicle lateral dynamics to some extent within different effective regimes. The steerability and stability controller, ARS, is mainly designed to tune the vehicle handling at low to mid-range lateral acceleration level; while the stability controller, VTD, uses the differential driving torques between left and right driving wheels to produce a relatively large stabilising yaw moment when the vehicle states (sideslip angle and sideslip angle velocity) exceed the predefined stable region. The effect of the simultaneous use of ARS and VTD on the vehicle stability is studied through an open loop limit handling simulation test based on a eight degrees of freedom vehicle model. In addition, the adaptiveness of the proposed control system to the road surface friction variation is investigated as well. Computer simulation results confirm both the overall improvements in vehicle stability and the effectiveness of the proposed combined control system.