Force control including contact process using acceleration-sensor-based instantaneous state observer for high-stiffness gear drive

Yabuki, Akinori; Ohishi, Kiyoshi; Miyazaki, Toshimasa; Yokokura, Yuki

doi:10.1109/isie.2016.7744966

Cited by 6 publications

(3 citation statements)

References 14 publications

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“…Similar approach was suggested in an article [18], in which two mentioned additional elements were added formally to a conservative Lagrangian, whereas, in another article [5], adding these elements was justified mathematically. In addition, a method presented in [5] allows to analyse dynamical systems of not only lumped parameters, but also to analyse unspecified processes in the complicated dynamical systems of both lumped [22] and distributed parameters [1,2].…”

Section: Mathematical Model Of Elastic Long Shaft Of Distributed Paramentioning

confidence: 99%

Mathematical Modelling of Oscillatory Processes in Transmission of Movement of an Electric Drive with Non-Linear Long Elastic Elements

Chaban¹,

Perzyński²

2021

Communications

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Mathematical model of transmission of movement of an electric drive system that includes long elastic elements, including the non-linear relation between tensors of strength and deformation is presented in this article. Mentioned type of transmission is applied in the tasks related to special-purpose transport. A method that is based on integral modification of variational HamiltonOstrogradsky principle was applied for the presented model. Results of the computer simulation of oscillatory processes in transmission of movement of an electromechanical system are presented in the article.

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Section: Mathematical Model Of Elastic Long Shaft Of Distributed Paramentioning

confidence: 99%

Mathematical Modelling of Oscillatory Processes in Transmission of Movement of an Electric Drive with Non-Linear Long Elastic Elements

Chaban¹,

Perzyński²

2021

Communications

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“…In Equation (11), state information is represented by motor position ( q ), velocity (q˙), and acceleration (q¨) and is usually obtained through the following two approaches.Control commands: These calculate trajectories offline in advance and generate continuous and smooth signals [12,22]; however, they cannot reflect the real state of systems when excessively large errors occur.Sensor feedback: This facilitates obtaining real-time state information but requires additional high-resolution sensors, such as accelerometers [23] and high-speed communication systems.This study employed only low-resolution position sensors, and thus approach (b) was not feasible. Moreover, in approach (a), the low-gain controller possessed large errors on differences between sensor feedback and command.…”

Section: Simplified Robot Dynamic Compensatormentioning

confidence: 99%

“…Sensor feedback: This facilitates obtaining real-time state information but requires additional high-resolution sensors, such as accelerometers [23] and high-speed communication systems.…”

Section: Simplified Robot Dynamic Compensatormentioning

confidence: 99%

A Sensorless and Low-Gain Brushless DC Motor Controller Using a Simplified Dynamic Force Compensator for Robot Arm Application

Yen

Tang²,

Lin³

et al. 2019

Sensors

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Robot arms used for service applications require safe human–machine interactions; therefore, the control gain of such robot arms must be minimized to limit the force output during operation, which slows the response of the control system. To improve cost efficiency, low-resolution sensors can be used to reduce cost because the robot arms do not require high precision of position sensing. However, low-resolution sensors slow the response of closed-loop control systems, leading to low accuracy. Focusing on safety and cost reduction, this study proposed a low-gain, sensorless Brushless DC motor control architecture, which performed position and torque control using only Hall-effect sensors and a current sensor. Low-pass filters were added in servo controllers to solve the sensing problems of undersampling and noise. To improve the control system’s excessively slow response, we added a dynamic force compensator in the current controllers, simplified the system model, and conducted tuning experiments to expedite the calculation of dynamic force. These approaches achieved real-time current compensation, and accelerated control response and accuracy. Finally, a seven-axis robot arm was used in our experiments and analyses to verify the effectiveness of the simplified dynamic force compensators. Specifically, these experiments examined whether the sensorless drivers and compensators could achieve the required response and accuracy while reducing the control system’s cost.

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Switching Controller-less Approach and Contact Controls Based on Force Impulse Regulator

Kawai

Yokokura

Ohishi

et al. 2020

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Force control including contact process using acceleration-sensor-based instantaneous state observer for high-stiffness gear drive

Cited by 6 publications

References 14 publications

Mathematical Modelling of Oscillatory Processes in Transmission of Movement of an Electric Drive with Non-Linear Long Elastic Elements

Mathematical Modelling of Oscillatory Processes in Transmission of Movement of an Electric Drive with Non-Linear Long Elastic Elements

A Sensorless and Low-Gain Brushless DC Motor Controller Using a Simplified Dynamic Force Compensator for Robot Arm Application

Switching Controller-less Approach and Contact Controls Based on Force Impulse Regulator

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