Synchronous Disturbance Compensation in Active Magnetic Bearings using Bias Current Excitation
Joga D. Setiawan, Ranjan Mukherjee, Michigan State University, Eric H. Maslen, University of Virginia, USA
This paper proposes a new approach for simultaneous compensation of two synchronous periodic disturbances in active magnetic bearings; sensor runout and mass unbalance. Using Lyapunov's method, a novel adaptive algorithm is developed to uniquely determine the harmonic components of both disturbances and guarantee asymptotic stability of the rotor geometric center about the origin. By varying magnetic stiffness through excitation of the bias currents, the system achieves a persistently exciting condition that ensures exponential convergence of estimated parameters to the true values. The algorithm is superior to existing techniques since the identfication process can be performed without changing …
Adaptive Control and Impedance Control for Dual Robotic Arms Manipulating a Common Heavy Load
A. Nagchaudhuri, University of Maryland Eastern Shore, D.P. Garg, Duke University, USA
Impedance control provides a convenient framework for designing control algorithms for robotic applications that involve interaction with the environment. Passive impedance control was utilized in the early days of robotic applications, when the peg-in-hole type of tasks were performed using remote center compliance. Active impedance control using digital measurements of contact forces for deburring and assembly operations have been attempted using single robots. The uncertainty associated with the robot dynamics and the contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots … | 14:50―15:10 | Tracking Performance of an H Position Controller for Current-Fed Induction Motors Under Mechanical Loads Variations
Giuseppe Fusco, Università di Cassino, Italy
This paper describes a systematic procedure to design a position tracking H controller for current-fed induction motors actuating mechanical loads which ensures robustness with respect to load torque disturbances. This feature is very important in many industrial applications; in fact during normal operating conditions if variations of the mechanical load driven by the induction motor appear the tracking performance achievable by the controller can degrade. These variations are seen by the H controller as if they were load torque disturbances. Due to the good disturbance rejection capability exhibited by the robust controller a satisfactory dynamic performance is achieved. A numerical simulation study in which an induction motor drives a one-link robot manipulator shows the tracking … | Proposal of Open-Network-Interface for Industrial Robots (ORiN) and its Experimental Evaluation
Makoto Mizukawa, Shibaura Institute of Technology, Toshihiko Koyama, Toshihiro Inukai, Denso Corp., Akio Noda, Mitsubishi Electric Corporation, Naoyoshi Kanamaru, Nippon Telegraph and Telephone Corp., Yasuhiko Noguchi, Yaskawa Electric Corp., Nobuyuki Otera, Kobe Steel Ltd., Japan
Since 1999, the Japan Robot Association (JARA) has been conducting the standardization activities (ORiN: Open Robot Interface for the Network) in which main subject is the network interface for the robot controller. In the 1999 international robot exhibition, our activities and results were opened and demonstrated to the public. In this demonstration, industrial robots from 13 Japanese domestic robot manufacturers, that had different specifications and structures, were connected each other with communication network using ORiN … applications for production
| 15:10―15:30 | Experimental Evaluation of Evolutionary Predictive Input Shaping Applied to a Flexible Structure
Mario Luca Fravolini, Antonio Ficola, Michele La Cava, Univ. Perugia, Italy
This work reports the results of an experimental study which has been carried out to evaluate the applicability of nonlinear Model Predictive Control for the reduction of vibrations in flexible structures. Reference was made to a clamped flexible beam on the tip of which a controlled pendulum is attached. The control strategy consists of two stages: in the first one a PD controller is employed to ensure the accurate tracking of the pendulum position with respect to a reference shaped signal; in the second one the shaped trajectory is generated by a model based predictive controller. For the online nonlinear constrained optimization a new Evolutionary Algorithm is proposed. The results of some experiments are reported comparing the performance of a pure feedforward scheme with others that employ either … | Internet-Based Remote Sensing and Manipulation in Micro Environment
Carmen K.M. Fung, Wen J. Li, Chinese University of Hong Kong, PRC, Imad Elhajj, Ning Xi, Michigan State University, USA
Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote micro-environments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro-automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidence fluoride (PVDF) sensors that can be …
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