Identification and control of electro-mechanical systems using state-dependent parameter estimation

Janot, Alexandre; Young, Peter C.; Gautier, Maxime

doi:10.1080/00207179.2016.1209565

Cited by 38 publications

(30 citation statements)

References 40 publications

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“…The parameters of SDP models are functionally dependent on measured variables, such as joint angles and velocities in the case of manipulators. Such models have been successfully used for control of a KOMATSU hydraulic excavator [17], while [18] further demonstrates the advantages of the SDP approach, in comparison to IDIM-LS methods.…”

Section: Introductionmentioning

confidence: 92%

“…However, the present article instead focuses on the identification of a relatively straightforward SDP model. In contrast to earlier SDP control of the same device [2], a new model structure is identified, one that provides estimates of the dead-zone and angular velocity saturation, in a similar manner to the friction analysis of Janot et al [18]. This model facilitates use of an Inverse Dead-Zone (IDZ) [21] controller, which is combined with conventional Proportional-Integral-Plus (PIP) methods [22].…”

Section: Introductionmentioning

confidence: 99%

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A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

West

Monk

Montazeri

et al. 2018

2018 UKACC 12th International Conference on Control (CONTROL)

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The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead-zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.

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Section: Introductionmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

West

Monk

Montazeri

et al. 2018

2018 UKACC 12th International Conference on Control (CONTROL)

View full text Add to dashboard Cite

show abstract

“…Identification methods for robotic systems include, for example, maximum likelihood and inverse dynamic identification model with least squares (IDIM-LS) [47]. Refined Instrumental Variable (RIV) algorithms are also used, sometimes in combination with inverse dynamic [48,49] or SDP [2] models. However, in contrast to earlier SDP research for the same device [2], an improved model structure is identified here.…”

Section: Robot Dynamicsmentioning

confidence: 99%

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

et al. 2019

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This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators.To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.

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“…In Janot et al (2017), authors propose a statistical identification procedure named state dependant parameter (SDP) estimation. The method allows to identify and estimate non-linearities in the dynamic system.…”

Section: Model Parameter Estimationmentioning

confidence: 99%

Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling

Gale¹,

Rahmati²,

Gravdahl³

et al. 2017

Front. Robot. AI

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A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input-output training data from several typical motion trajectories is carried out with the aim of predicting the model systematic output error at time (t + 1) from known input reference up till and including time (t). A new partial least squares regression (PLSR) based method, nominal PLSR with interactions was developed and used to handle, unmodelled non-linearities. The performance of the new method is compared with least squares (LS). Different crossvalidation schemes were compared in order to assess the sampling of the state space based on conventional trajectories. The method developed in the paper can be used as fault monitoring mechanism and early warning system for sensor failure. The results show that the suggested methods improves trajectory tracking performance of the robotic manipulator by extending the initial dynamic model of the manipulator.

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Identification and control of electro-mechanical systems using state-dependent parameter estimation

Cited by 38 publications

References 40 publications

A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling

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