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Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes

G. Sartori Natal, A. Chemori, F. Pierrot
2012 2012 IEEE International Conference on Robotics and Automation  
This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations.  ...  change (such as a change of load)), for a pickand-place task with accelerations of 30G (without payload) and 20G (with a payload of 200g).  ...  In [14] , a hybrid position/force adaptive control for redundantly actuated parallel manipulators has been proposed, and an adaptive controller for redundantly actuated parallel manipulator was designed  ... 
doi:10.1109/icra.2012.6224597 dblp:conf/icra/NatalCP12 fatcat:dx4d335oybgi3dals4oelymiw4

Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment

Guilherme Sartori Natal, Ahmed Chemori, Francois Pierrot
2015 IEEE Transactions on Control Systems Technology  
In this paper, three control schemes are proposed and experimentally compared on the R4 redundantly actuated parallel manipulator for applications with very high accelerations.  ...  However, such controller may have losses of performance in case of any operational change (such as different payloads). Therefore, a dual-space adaptive control scheme is proposed.  ...  Liu Hsu (COPPE/UFRJ, Brazil) for his valuable remarks and discussions for the development of the presented stability analysis.  ... 
doi:10.1109/tcst.2014.2377951 fatcat:5hpzjmajqrgv3dp7wl44dgnroq

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

Haiqiang Zhang, Hairong Fang, Dan Zhang, Xueling Luo, Qi Zou
2020 Complexity  
In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom  ...  Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse  ...  an alternative adaptive fuzzy sliding mode control algorithm for a 3-DOF redundantly actuated parallel manipulator. e control algorithm combines the advantages of conventional sliding mode controller  ... 
doi:10.1155/2020/2565316 fatcat:4egjp4pzpbgrznkxsjfgmz6pmy

MATHEMATICAL MODEL OF GENERALIZED COORDINATES OF A WORKING MEMBER OF A MULTI-AXIS MACHINE OF A PARALLEL STRUCTURE WITH AN EXCESS DRIVE
МАТЕМАТИЧНА МОДЕЛЬ УЗАГАЛЬНЕНИХ КООРДИНАТ РОБОЧОГО ОРГАНУ БАГАТОКООРДИНАТНОГО ВЕРСТАТУ ПАРАЛЕЛЬНОЇ СТРУКТУРИ З НАДЛИШКОВИМ ПРИВОДОМ

M. А. Al Ibrahimi Metak, Central Ukrainian National Technical University
2018 Naukovì dopovìdì Nacìonalʹnogo unìversitetu bìoresursiv ì prirodokoristuvannâ Ukraïni  
Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes.  ...  Singularity elimination of Stewart parallel manipulator based on redundant actuation. In Advanced Materials Research (Vol. 143, pp. 308-312). Trans Tech Publications.  ...  calculated in advance, as an array of data with subsequent loading into the controller, which cannot be done in other existing manipulators.  ... 
doi:10.31548/dopovidi2018.04.020 fatcat:r2me2rnacvce5csbh44m4dsize

Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots

P.H. Borgstrom, B.L. Jordan, G.S. Sukhatme, M.A. Batalin, W.J. Kaiser
2009 IEEE Transactions on robotics  
The formulation also contains a parameter that can be used to steer cable tensions toward desired regions of operation.  ...  Index Terms-Cable tension distributions, parallel cable-driven robots, parallel robots, redundant robots.  ...  Other work in the design and control of cable-driven robots includes the Wirepuller-Arm-driven Redundant Parallel (WARP) [7] and FAst Load CONveyance (FALCON) [8] systems.  ... 
doi:10.1109/tro.2009.2032957 fatcat:auwa7mlahfhevbbkqtgxot6sae

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems [article]

Dinesh Rabindran
2014 arXiv   pre-print
For achieving this goal, past work has concentrated on force control algorithms at the system level with limited focus on performance expansion at the actuator level.  ...  Detailed kinematic and dynamic models of this dual actuator are developed.  ...  Dual Actuator Dynamic Model with Load and External Disturbance In this section, we develop a second-order dynamic model of the dual actuator system with a load under external force disturbance.  ... 
arXiv:1402.5461v1 fatcat:xcnz2pjnyvf2fpfsvc7nd7hhjq

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
The jack-type leg can hold heavy load without active control by actuator and lift up it by small power. The proposed mechanism therefore is suitable for carrying the heavy load.  ...  Abstract Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes.  ...  We explain how we use a simulated annealing algorithm for calibrating different parametric sets for different ranges of speeds, with the constriction of avoiding discontinuities, and we present our results  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

Simultaneous ESPI Measurements Using Multiple Wavelengths and a Color Camera [chapter]

Guillaume Richoz, Gary S. Schajer
2014 Advancement of Optical Methods in Experimental Mechanics, Volume 3  
The availability of the two surface slopes gives the opportunity for the data to be summed numerically to give the surface displacement shape.  ...  Electronic Speckle Pattern Interferometry (ESPI) is typically done using a single monochromatic light source with a monochrome camera.  ...  Figure 8 - 8 Physical origin of speckle for (a) free-space propagation, (b) an imaging system (adapted from [87] )Light can be thought of as a wave propagating through space.  ... 
doi:10.1007/978-3-319-06986-9_41 fatcat:uc6i66isnbaqxfsg3y2j2qemzi

A multicellular architecture towards low-cost satellite reliability

A. O. Erlank, C. P. Bridges
2015 2015 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)  
With the aim of adapting these techniques for use in man-made systems, an outline for a novel, artificial, multicellular architecture was presented.  ...  The harnessing would be extremely complex and error prone, heavy, and would take up significant amounts of space.  ...  Operating at 5V, they consume significantly more power than the common CubeSat I2C bus. With only four proteins on the cell, the MM power consumption overhead, at 16 %, is also substantial.  ... 
doi:10.1109/ahs.2015.7231152 dblp:conf/ahs/ErlankB15 fatcat:2t6xsssy35h27lsv6v3qrfbpke

Symposia and Oral Abstracts

2007 Integrative and Comparative Biology  
degree of adaptation to a novel environment increases with the amount of existing genetic variation for relevant traits.  ...  Using the MCCR test we found a significant slow-down in net cladogenesis for caenophidians, colubrids and elapines, consistent with hypotheses of adaptive radiation in the early history of these groups  ...  Preliminary results show that, for a given change in load, as muscle length increases the distance shortened during the fast phase is greater.  ... 
doi:10.1093/icb/icm104 fatcat:uqdscbqihbeoxoo2unutfwtmdi

Dependable embedded systems

2008 2008 6th IEEE International Conference on Industrial Informatics  
Titles in the Series cover a focused set of embedded topics relating to traditional computing devices as well as hightech appliances used in newer, personal devices, and related topics.  ...  We would like to thank Arun Subramaniyan, Duo Sun and Segnon Jean Bruno Ahandagbe for their contributions to parts of the works cited in this chapter.  ...  Acknowledgments As the funding agency of this project, the authors express their gratitude to the DFG for the generous funding throughout the project duration under RO-1030/13 within the Priority Program  ... 
doi:10.1109/indin.2008.4618103 fatcat:hal6brsgsjg5rlo3u5xil46pxi

Extraction of spatio-temporal primitives of emotional body expressions

Lars Omlor, Martin A. Giese
2007 Neurocomputing  
Numerical simulations of the model show how manipulations in the input space, mimicking geometric manipulations, affect the behavior of constellation units.  ...  , Goettingen, Germany kolo@chaos.gwdg.de b.porr@elec.gla.ac.uk The motor system must be able to adapt quickly to load changes.  ... 
doi:10.1016/j.neucom.2006.10.100 fatcat:esivhljzsbcihdl5qbp756josu

D5.1 Validation methodology and plans

Risto Tiusanen, Janne Sarsama, Maria Apolonia, Pedro Vinagre, Minna Räikkönen, Eetu Heikkilä, Tero Välisalo, Kalle Raunio, Sami Pasanen
2021 Zenodo  
The evaluation criteria are derived and defined from the project objectives and adapted to the requirements issued by the EU for the demonstr [...]  ...  The methodology covers activities for evaluation of PTO's functional performance, output power quality and reliability performance.  ...  In parallel arrangements, nodes (grey circle) are used to describe the number of functional paths required through the node for the entire system to remain operational.  ... 
doi:10.5281/zenodo.5749404 fatcat:7j46spapjzer3lzqfsvqw23dom

Voronoi polygons and self-consistent technique used to compute the airflow resistivity of randomly placed fibers in glass wool

Viggo Tarnow
2002 Journal of the Acoustical Society of America  
A comparison of algorithms and the development of a new fast convergence and reduced computational load algorithm for multichannel active noise control.  ...  This algorithm can not only provide fast convergence, but for multichannel systems it also provides a significant reduction of the computational load compared to the previously published algorithm with  ...  Results are presented of estimator performance for various aperture lengths using signals with increasing levels of additive noise and signals with closely spaced wave-number components.  ... 
doi:10.1121/1.4809175 fatcat:jqxtrgkn2fcf3a7vzsp2u56akm

Health State Estimation [article]

Nitish Nag
2020 arXiv   pre-print
Given the opportunity that people live with more data about their life today than any other time in history, the challenge rests in interweaving this data with the growing body of knowledge to compute  ...  that arise from biological underpinnings, and 4. how we interact with these utilities in the reality of daily life.  ...  Step 7: Retake measurements to understand how the person's health state has changed, and this updates the personal model perpetually. control systems, actuation mechanisms, understanding of the outside  ... 
arXiv:2003.09312v1 fatcat:sm7vadoyerbf5gmeujvobcqop4
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