Minimum energy driving a flexible link hammer using neural networks

Hitaka, Yasunobu; Izumi, Teruyuki

doi:10.1109/iros.1995.525903

Cited by 3 publications

(8 citation statements)

References 7 publications

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“…From (31), the relation between the incremental changes in joint velocities and the external impulse is already known, therefore…”

Section: Figure 17 Force/torque Model Of a Serial Chain Robot [57]mentioning

confidence: 99%

“…Joint torque sensor data would be needed to evaluate internal impulse on the joints. Instead, encoder measurements of joint velocities are compared against predicted changes in joint velocity for joint 2 and 3 using equation (31). This also allows the evaluation of the effectiveness of the passive working mode.…”

Section: Hammering Experimentsmentioning

confidence: 99%

“…As mentioned earlier, the lack of internal joint torque sensing means that it is not possible to do the sort of comparisons and verifications of internal impulse model as with the external impulse model. However, one important portion of the model can be seen in (31) and ( 41) which includes changes in joint velocities due to impact. Because the encoder measurements are available, they can be compared against model predictions.…”

Section: Internal Impulse and Passive Modementioning

confidence: 99%

“…Before concluding, an analysis of the joint velocities for the same tests and simulation as in Figure 26 is conducted. The internal joint model assumes that the joint fully restrains the impact loads, but for a freely moving joint, it is assumed to almost instantaneously reach a finite velocity according to (31). For a given value of , the simulation provides maximum values for joint velocities since free and frictionless joints, even with friction compensation, do not exist.…”

Section: Internal Impulse and Passive Modementioning

confidence: 99%

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A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

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“…From (31), the relation between the incremental changes in joint velocities and the external impulse is already known, therefore…”

Section: Figure 17 Force/torque Model Of a Serial Chain Robot [57]mentioning

confidence: 99%

Section: Hammering Experimentsmentioning

confidence: 99%

Section: Internal Impulse and Passive Modementioning

confidence: 99%

Section: Internal Impulse and Passive Modementioning

confidence: 99%

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A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

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“…Hitaka et al tried to minimize driving energy of a flexible link robot in a hammering task [1]. In this case, however, even the robot has only one joint, to find optimal driving patterns could be done by only a numerical calculation or a reinforcement learning due to complex dynamics.…”

Section: B Resonance In Roboticsmentioning

confidence: 99%

Resonance-based task space controller for multi-joint robot with adjustable equilibrium angle of elastic element

Uemura

Kawamura

2010

2010 IEEE International Conference on Robotics and Automation

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This paper proposes a task space trajectory tracking controller based on resonance for multi-joint robots. This controller generates desired motions, which are specified in the task space, while adjusting stiffness of mechanical elastic elements installed in each joint of the robots. This controller also adjusts equilibrium angles of the elastic elements. These parameter adjustments minimize actuator torque. Advantages of the proposed controller are to work without using exact parameter values of the controlled systems nor huge numerical calculations. We mathematically discuss stability of the controlled systems. Simulation results demonstrate the effectiveness of the proposed controller.

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A Multiple Working Mode Approach to Hammering with a Modular Reconfigurable Robot

Romanyuk

Soleymanpour

Liu

2019

2019 IEEE International Conference on Mechatronics and Automation (ICMA)

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Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach. iv ACKNOWLEDGEMENTS I would like to thank everyone in the Systems and Controls Lab for their support and curiosity. A thank you is to my supervisor, Dr. Guangjun Liu, who scouted me very early in my undergraduate studies without whom I could not finish at such a pace. Dr. Liu's willingness to let me take control of the work and bring it where I wanted is a special quality that I really appreciate. A special thanks also to Taras Pankov who offered many hours of his time to teach and train me. Thank you to the committee and staff at the Department of Aerospace Engineering who have provided exceptional support to my studies.My family continually supported me throughout my studies to whom I am infinitely grateful for their trust and patience with me. v

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Minimum energy driving a flexible link hammer using neural networks

Cited by 3 publications

References 7 publications

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Resonance-based task space controller for multi-joint robot with adjustable equilibrium angle of elastic element

A Multiple Working Mode Approach to Hammering with a Modular Reconfigurable Robot

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