Laser photochromic dye activation technique for the measurement of liquid free surface velocity on curved surfaces

Homescu, D.; Désévaux, Philippe

doi:10.1016/s0143-8166(03)00064-2

Cited by 3 publications

(2 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Laser sensors have usually been used to measure and track a curved surface in the studies of trajectory-tracking control of robotic arms (Homescu and Desevaux, 2004; Gonzalez-Galvan et al , 2008). Currently, in much of the literature, the end-effector pose is adjusted in real-time to complete the trajectory-tracking based on the geometric surface models and measurements from six-axis force sensors (Wang et al , 2014).…”

Section: Introductionmentioning

confidence: 99%

Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors

Lin

Wang

Yang

et al. 2018

View full text Add to dashboard Cite

Purpose This paper aims to propose a dynamic trajectory-tracking control method for robotic transcranial magnetic stimulation (TMS), based on force sensors, which follows the dynamic movement of the patient’s head during treatment. Design/methodology/approach First, end-effector gravity compensation methods based on kinematics and back-propagation (BP) neural networks are presented and compared. Second, a dynamic trajectory-tracking method is tested using force/position hybrid control. Finally, an adaptive proportional-derivative (PD) controller is adopted to make pose corrections. All the methods are designed for robotic TMS systems. Findings The gravity compensation method, based on BP neural networks for end-effectors, is proposed due to the different zero drifts in different sensors’ postures, modeling errors in the kinematics and the effects of other uncertain factors on the accuracy of gravity compensation. Results indicate that accuracy is improved using this method and the computing load is significantly reduced. The pose correction of the robotic manipulator can be achieved using an adaptive PD hybrid force/position controller. Originality/value A BP neural network-based gravity compensation method is developed and compared with traditional kinematic methods. The adaptive PD control strategy is designed to make the necessary pose corrections more effectively. The proposed methods are verified on a robotic TMS system. Experimental results indicate that the system is effective and flexible for the dynamic trajectory-tracking control of manipulator applications.

show abstract

Section: Introductionmentioning

confidence: 99%

Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors

Lin

Wang

Yang

et al. 2018

View full text Add to dashboard Cite

show abstract

“…The curved surface contour tracking based on six-axis wrist force sensor is the very familiar typical compliant motion. Currently, most of them adopt laser sensor to complete measuring and tracking to the curved surface [14][15][16]. Ding et al [17] have researched one kind of contacting curved surface measure robot system and solved the question of curved surface pattern measure.…”

Section: Introductionmentioning

confidence: 99%

Research on Robot Surface Tracking Motion Based on Force Control of Six-Axis Wrist Force Sensor

Wang

Liu

Cui

et al. 2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

In order to reduce the environmental contact force and make the operation task completed successfully, the robot is frequently required with force perception and active compliance control. Based on the six-axis wrist force sensor measuring, a robot model of surface tracking motion is proposed, and its force control algorithm and experiment are studied. The measurement principle of the six-axis wrist force sensor and the inadequacy of the sensor measuring the six-dimensional force online are introduced firstly. The surface tracking motion model and its coordinate system are established. On this basis, the relationship between the pose adjustment of surface tracking motion and the measuring results of the six-axis wrist force sensor is deduced. At last, the experimental study of the surface tracking robot system that applied the force control algorithm is conducted. The experiment shows that the robot can adjust the current position and orientation in real time according to the six-axis wrist force sensor measuring, which demonstrates the feasibility of the surface tracking motion model and the correctness of the force control algorithm.

show abstract

Measurement of liquid sheet using laser tagging method by photochromic dye

Rosli

Amagai

2014

Exp Fluids

View full text Add to dashboard Cite

Laser photochromic dye activation technique for the measurement of liquid free surface velocity on curved surfaces

Cited by 3 publications

References 13 publications

Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors

Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors

Research on Robot Surface Tracking Motion Based on Force Control of Six-Axis Wrist Force Sensor

Measurement of liquid sheet using laser tagging method by photochromic dye

Contact Info

Product

Resources

About