Journal of Electrical Engineering and Technology

  • 제13권1호
  • /
  • Pages.418-429
  • /
  • 2018
  • /
  • 1975-0102(pISSN)
  • /
  • 2093-7423(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지
DOI QR코드

DOI QR Code

Torque Sensorless Decentralized Position/Force Control for Constrained Reconfigurable Manipulator via Non-fragile H∞ Dynamic Output Feedback

  • Zhou, Fan (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Dong, Bo (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Li, Yuanchun (Department of Control Science and Engineering, Changchun University of Technology)
  • 투고 : 2016.05.10
  • 심사 : 2017.07.27
  • 발행 : 2018.01.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

키워드

E1EEFQ_2018_v13n1_418_f0001.png 이미지

Fig. 1. Exploded view of a harmonic drive showing thethree components

E1EEFQ_2018_v13n1_418_f0002.png 이미지

Fig. 2. Kinematic representation of a harmonic driveshowing the three ports

E1EEFQ_2018_v13n1_418_f0003.png 이미지

Fig. 3. Typical stiffness and hysteresis curve of a harmonicdrive

E1EEFQ_2018_v13n1_418_f0004.png 이미지

Fig. 4. Configurations for simulation (a) configuration a(b) configuration b

E1EEFQ_2018_v13n1_418_f0005.png 이미지

Fig. 5. The analytic charts of the configurations: (a)Configuration a; (b) Configuration b

E1EEFQ_2018_v13n1_418_f0006.png 이미지

Fig. 6. (a) Position tracking performance of configuration a(b) Position tracking error of configuration a

E1EEFQ_2018_v13n1_418_f0007.png 이미지

Fig. 7. (a) Equivalent torque of configuratio n a: (b)Equivalent torque tracking error of configuration a

E1EEFQ_2018_v13n1_418_f0008.png 이미지

Fig. 8. Force tracking curves and force tracking error ofconfiguration a

E1EEFQ_2018_v13n1_418_f0009.png 이미지

Fig. 9. (a) Position tracking performance of configurationb; (b) Position tracking error of configuration b

E1EEFQ_2018_v13n1_418_f0010.png 이미지

Fig. 10. (a) Equivalent torque of configuration b ; (b)

E1EEFQ_2018_v13n1_418_f0011.png 이미지

Fig. 11. Force tracking curves and force tracking error of

참고문헌

  1. M. Biglarbegian, W. Melek, and J.M. Mendel, "Design of novel interval type-2 fuzzy controllers for modular and reconfigurable robots: theory and experiments," IEEE Transactions on Industrial Electronics, vol. 58, no. 4, pp. 1371-1384, April 2011. https://doi.org/10.1109/TIE.2010.2049718
  2. G. Antonelli, F. Arrichiello, F. Caccavale, and A. Marino, "Decentralized time-varying formation control for multi-robot systems," International Journal of Robotics Research, vol. 33, no. 7, pp. 1029-1043, May 2014. https://doi.org/10.1177/0278364913519149
  3. Y. Liu, and G. Liu, "Interaction analysis and online tip-over avoidance for a reconfigurable tracked mobile modular manipulator negotiating slopes," IEEE/ASME Transactions on Mechatronics, vol. 15, no. 4, pp. 623-635, Aug. 2010. https://doi.org/10.1109/TMECH.2009.2031174
  4. G. Liu, S. Abdul, and A.A Goldenberg, "Distributed control of modular and reconfigurable robot with torque sensing," Robotica, vol. 26, no. 1, pp. 75-84, January 2008.
  5. J. Wang, and Y. Li, "Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback," Intelligent Robotics and Applications, vol. 6424, no. 6, pp. 214-225, Nov. 2010.
  6. Z. Kappassov, J.A. Corrales, and V. Perdereau, "Tactile sensing in dexterous robot hands - Review," Robotics and Autonomous Systems, vol. 74, no. PA, pp. 195-220, 2015. https://doi.org/10.1016/j.robot.2015.07.015
  7. S.M.M. Rahman, and R. Ikeura, "Weight-predictionbased predictive optimal position and force controls of a power assist robotic system for object manipulation," IEEE Transactions on Industrial Electronics, vol. 63, no. 9, pp. 5964-5975, May 2016. https://doi.org/10.1109/TIE.2016.2561879
  8. Q. Xu, "Robust impedance control of a compliant microgripper for high-speed position/force regulation," IEEE Transactions on Industrial Electronics. Vol. 62, no. 2, pp. 1201-1209, Feb. 2015. https://doi.org/10.1109/TIE.2014.2352605
  9. Z. Li, X. Cao, Y. Tang, R. Li, and W. Ye, "Bilateral teleoperation of holonomic constrained robotic systems with time-varying delays," IEEE Transactions on Instrumentation and Measure, vol. 62, no. 4, pp. 752- 765, April 2013. https://doi.org/10.1109/TIM.2013.2246906
  10. C. Lee, and W. Wang, "Robust adaptive position and force controller design of robot manipulator using fuzzy neural networks," Nonlinear Dynamic, vol. 85, no. 1, pp. 343-354, March 2016. https://doi.org/10.1007/s11071-016-2689-1
  11. D. Heck, A. Saccon, N. Wouw, and H. Nijmeijer, "Guaranteeing stable tracking of hybrid positionforce trajectories for a robot manipulator interacting with a stiff environment," Automatica, vol. 63, pp. 235-247, 2016 https://doi.org/10.1016/j.automatica.2015.10.029
  12. H.P. Singh, and N. Sukavanam, "Stability analysis of robust adaptive hybrid position/force controller for robot manipulators using neural network with uncertainties," Neural Computing and Applications, Vol. 22, no. 7-8, pp. 1745-1755, June 2013.
  13. S. Bellakehal, N. Andreff, Y. Mezouar, and M. Tadjine, "Vision/force control of parallel robots," Mechanism and Machine Theory, vol. 46, no. 10, pp. 1376-1395, 2011. https://doi.org/10.1016/j.mechmachtheory.2011.05.010
  14. Q. Xu, "Adaptive discrete-time sliding mode impedance control of a piezoelectric microgripper," IEEE Transactions on Robotics, vol. 19, no. 3, pp. 663-673, June 2013.
  15. M.C. Yip, and D.B. Camarillo, "Model-less hybrid position/force control: a minimalist approach for continuum manipulators in unknown, constrained environments," IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 844-851, Feb. 2016. https://doi.org/10.1109/LRA.2016.2526062
  16. A. Albu-Schaffer, C. Ott, and G. Hirzinger, "A unified passivity-based control framework for position, torque and impedance control of flexible joint robots," Int Journal Robot Res, vol. 26, no. 1, 23-39, January 2007. https://doi.org/10.1177/0278364907073776
  17. G. Liu, Y. Liu, and A.A. Goldenberg, "Design, analysis, and control of a spring-assisted modular and reconfigurable robot," IEEE/ASME Trans Mechatronics, vol. 16, no. 4, pp. 695-706, August 2011. https://doi.org/10.1109/TMECH.2010.2050895
  18. M. Fumagalli, S. Ivaldi, M. Randazzo, L. Natale, G.Metta, G. Sandini and F. Nori, "Force feedback exploiting tactile and proximal force/torque sensing," Autonomous Robots, vol. 33, no. 4, pp. 381-398, April 2012. https://doi.org/10.1007/s10514-012-9291-2
  19. S. Islam, and P.X. Liu, "PD output feedback control design for industrial robotic manipulators," IEEE/ ASME Transactions on Mechatronics, vol. 16, no. 1, pp. 187-197, Feb. 2011. https://doi.org/10.1109/TMECH.2009.2038374
  20. L. Wen, T.M. Wang, G.H. Wu, and J.H. Liang, "Hydrodynamic investigation of a self-propelled robotic fish based on a force-feedback control method," Bioinspiration and Biomimetics, vol. 7, no. 3, pp. 385- 390, May 2012.
  21. K. Kalsi, J. Lian, and S.H. Zak, "Decentralized dynamic output feedback control of nonlinear interconnected systems," IEEE Transactions on Automatic Control, vol.55, no.8, pp.1964-1970, August 2010. https://doi.org/10.1109/TAC.2010.2050715
  22. X. M. Zhang, and Q. L. Han, "Event-triggered dynamic output feedback control for networked control systems," Iet Control Theory and Applications, vol. 8, no. 4, pp. 226-234, June 2014. https://doi.org/10.1049/iet-cta.2013.0253
  23. Y. Chen, H. Zou, R. Lu, and A. Xue, "Finite-time stability and dynamic output feedback stabilization of stochastic systems," Circuits, Systems, and Signal Processing, vol. 33, no. 1, pp. 53-69, January 2014. https://doi.org/10.1007/s00034-013-9631-2
  24. X.H. Chang, and G.H. Yang "Nonfragile filtering of continuous-time fuzzy systems," IEEE Transactions on Signal Processing, vol. 59, no. 4, pp. 1528-1538, April 2011. https://doi.org/10.1109/TSP.2010.2103068
  25. K. Sivaranjani, R. Rakkiyappan, S. Lakshmanan, C.P. Lim, "Robust non-fragile control for offshore steel jacket platform with nonlinear perturbations," Nonlinear Dynamics, vol. 81, no. 4, pp. 2043-2057, September 2015. https://doi.org/10.1007/s11071-015-2124-z
  26. H. Zhang, S. Ahmad, and G. Liu, "Modeling of torsional compliance and hysteresis behaviors in harmonic drives," IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 178-185, Feb. 2015. https://doi.org/10.1109/TMECH.2014.2311382
  27. H. D. Technologies, "CSD and SHD ultra-flat component sets and gearheads," Harmonic Drive Technologies, Peabody, MA, USA, 2012.
  28. G. Leena, and G. Ray, "A set of decentralized PID controllers for an n-link robot manipulator," Sadhana, vol. 37, no. 3, pp. 405-423, June 2012. https://doi.org/10.1007/s12046-012-0082-4
  29. M.C. Zhu, and Y.C. Li, "Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators," International Journal of Robust and Nonlinear Control, vol. 20, no. 4, pp. 472-488, March 2010. https://doi.org/10.1002/rnc.1444
  30. B. Zhao, and Y. Li, "Local joint information based active fault tolerant control for reconfigurable manipulator," Nonlinear Dynamics, vol. 77, no. 3, pp. 859-876, August 2014. https://doi.org/10.1007/s11071-014-1347-8
  31. Y. Tang, M. Tomizuka, and G. Guerrero, "Decentralized robust control of mechanical systems," IEEE Transactions on Automatic Control, vol. 45, no. 4, pp. 771-775, April 2000. https://doi.org/10.1109/9.847120
  32. D. Ichalal, J. Ragot, and D. Maquin, "New fault tolerant control strategies for nonlinear Takagi- Sugeno systems," Int. J. Appl. Math. Comput. Sci, vol. 22, no. 1, pp. 197-210, March 2012.
  33. X. Chang, and G.H. Yang, "Non-fragile $H_{\infty}$ filter design for discrete-time fuzzy systems with multiplicative gain variations," Information Sciences, vol. 266, pp. 171-185, May 2014. https://doi.org/10.1016/j.ins.2013.08.052
  34. L. Li, and Y. Jia, "Non-fragile dynamic output feedback control for linear systems with time-varying delay," Iet Control Theory and Applications, vol. 3, no. 8, pp. 995-1005, August 2009. https://doi.org/10.1049/iet-cta.2008.0008
  35. L.S. Bai, Z.H. Tian, and S.J. Shi, "Robust fault detection for a class of nonlinear time-delay system," Journal of the Franklin Institute, vol. 344, no. 6, pp. 873-888, September 2007. https://doi.org/10.1016/j.jfranklin.2006.11.004
  36. J. Lofberg YALMIP, "A toolbox for modeling and optimization in MATLAB," Optimization, pp. 284- 289, 2004.