15:30―15:50 Second Order Sliding Manifold Approach for Vibration Reduction via Output Feedback: Experimental Results
Alberto Cavallo, Università del Sannio, Ciro Natale, Giuseppe De Maria, Seconda Università di Napoli, Italy
In this paper a second order sliding manifold control approach is adopted as a technique to effectively reduce the vibrations of a flexible beam. A novel theoretical result for a MIMO output feedback control law is presented to show how the singular perturbation theory can be used to tackle the problem of active vibration control. The theory is supported both by simulations and by the results of a number of experiments performed on a brass beam with piezoelectric patches attached on it and used in self-sensing configuration in order to have a collocated control system. | Sensitivity to Parametric Uncertainty in Robot Impact
Carlos Carreras, Universidad Politécnica de Madrid, Spain, Ian D. Walker, Clemson University, USA
In this paper, we introduce a novel interval-based methodology for evaluating the sensitivity of robot manipulator impacts to variations in manipulator and environmental constraints. The approach is intuitive and straightforward, and simpler to perform than traditional methods. It is illustrated using an example of a three link manipulator.
| 15:50―16:10 | Experiments on Robust Vibration Suppression in Mechatronic Systems Using IIR Digital Filters
D. Economou, National Tech. Univ. Athens, Greece, C. Mavroidis, Rutgers University, USA, I. Antoniadis, National Tech. Univ. Athens, Greece
In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using Infinite Impulse Response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed. | T3C | Actuator Design | Software Design for Manufacturing | T3D | SALA BIANCA | 14:30―15:50 | SALA TURCA | | | CHAIR | George Chiu, USA | Gianantonio Magnani, Italy | CO-CHAIR | Fakhreddine Karray, Canada | Pleated Pneumatic Artificial Muscles: Actuators for Automation and Robotics
Frank Daerden, Dirk Lefeber, Björn Verrelst, Ronald Van Ham, Vrije Universiteit Brussel, Belgium
This contribution reports on a type of pneumatic artificial muscles (PAMs) that was recently developed at the Vrije Universiteit Brussel department of Mechanical Engineering. Its distinguishing feature is its pleated design. Due to this it has a very high contraction force and an equally high travel. The weight of these pleated PAMs is very low: a muscle of only 60 gr can pull up to 3500 N and contract by an amount of 42%. Furthermore dry friction and associated hysteresis typical of many other designs is avoided by the folding-unfolding action. This significantly simplifies position
Control using these actuators. Although the force-displacement characteristics of our actuator are non-linear they can be effectively controlled using basic linear PI … | 14:30―14:50 | Creating Reusable, Hardware Independent Motion Control Applications via IEC 61131-3 and PLCopen Motion Control Profile
Eelco van der Wal, PLCopen, The Netherlands
Motion integration issues have emerged to the forefront, along with maintainability and connectivity to automation solutions. For this standards are needed. PLCopen has generated such a standard. A standard in programming language, to harmonize the access of motion control functionality across platforms. In this way, the generated application program is much more hardware independent, and re-usable across platforms. The provided standard, the PLCopen Motion Control Profile, is based on IEC 61131-3 Function Blocks. With the standardization of the interfaces and the functionality, and implementation on multiple platforms, it provides a programming standard that is widely supported by the industry. The stated goals of this standardization are simplicity, efficiency, consistency, universality, flexibility …
| Modelling and Compensation of Hysteresis for Magnetostrictive Actuators
C. Natale, F. Velardi, Seconda Università di Napoli, C. Visone, Università del Sannio, Italy
The paper proposes the compensation of the hysteretic behaviour of an actuator constituted by a Terfenol-D magnetostrictive material to enhance the performance of a typical control scheme for vibration suppression. Hysteresis is modelled by the application of the classical Preisach model whose dentification procedure is performed by the adoption of fuzzy approximators. This allows to reconstruct analytically either Everett integrals and the Preisach distribution function without any special smoothing of the measured data thanks to the filtering capabilities of the fuzzy interpolators. Moreover the idea of compensator for operators with memory is also described in detail and the concept of pseudo-compensator is introduced … | |
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