Contact force and torque estimation for collaborative manipulators based on an adaptive Kalman filter with variable time period.

Contact force and torque sensing approaches enable manipulators to cooperate with humans and to interact appropriately with unexpected collisions. In this thesis, various moving averages are investigated and Weighted Moving Averages and Hull Moving Average are employed to generate a mode-switching moving average to support force sensing. The proposed moving averages with variable time period were used to reduce the effects of measured motor current noise and thus provide improved confidence in joint output torque estimation. The time period of the filter adapts continuously to achieve an optimal trade-off between response time and precision of estimation in real-time. An adaptive Kalman filter that consists of the proposed moving averages and the conventional Kalman filter is proposed. Calibration routines for the adaptive Kalman filter interpret the measured motor current noise and errors in the speed data from the individual joints into. The combination of the proposed adaptive Kalman filter with variable time period and its calibration method facilitates force and torque estimation without direct measurement via force/torque sensors. Contact force/torque sensing and response time assessments from the proposed approach are performed on both the single Universal Robot 5 manipulator and the collaborative UR5 arrangement (dual-arm robot) with differing unexpected end effector loads. The combined force and torque sensing method leads to a reduction of the estimation errors and response time in comparison with the pioneering method (55.2% and 20.8 %, respectively), and the positive performance of the proposed approach is further improved as the payload rises. The proposed method can potentially be applied to any robotic manipulators as long as the motor information (current, joint position, and joint velocities) are available. Consequently the cost of implementation will be significantly lower than methods that require load cells

Advances in Rotating Electric Machines

It is difficult to imagine a modern society without rotating electric machines. Their use has been increasing not only in the traditional fields of application but also in more contemporary fields, including renewable energy conversion systems, electric aircraft, aerospace, electric vehicles, unmanned propulsion systems, robotics, etc. This has contributed to advances in the materials, design methodologies, modeling tools, and manufacturing processes of current electric machines, which are characterized by high compactness, low weight, high power density, high torque density, and high reliability. On the other hand, the growing use of electric machines and drives in more critical applications has pushed forward the research in the area of condition monitoring and fault tolerance, leading to the development of more reliable diagnostic techniques and more fault-tolerant machines. This book presents and disseminates the most recent advances related to the theory, design, modeling, application, control, and condition monitoring of all types of rotating electric machines

Volume 3 – Conference

We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group 8: Pneumatics Group 9 | 11: Mobile applications Group 10: Special domains Group 12: Novel system architectures Group 13 | 15: Actuators & sensors Group 14: Safety & reliabilit

Sliding Mode Control

The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Wireless Sensor Network for Advanced Energy Management Solutions

Eaton has developed an advanced energy management solution that has been deployed to several Industries of the Future (IoF) sites. This demonstrated energy savings and reduced unscheduled downtime through an improved means for performing predictive diagnostics and energy efficiency estimation. Eaton has developed a suite of online, continuous, and inferential algorithms that utilize motor current signature analysis (MCSA) and motor power signature analysis (MPSA) techniques to detect and predict the health condition and energy usage condition of motors and their connect loads. Eaton has also developed a hardware and software platform that provided a means to develop and test these advanced algorithms in the field. Results from lab validation and field trials have demonstrated that the developed advanced algorithms are able to detect motor and load inefficiency and performance degradation. Eaton investigated the performance of Wireless Sensor Networks (WSN) within various industrial facilities to understand concerns about topology and environmental conditions that have precluded broad adoption by the industry to date. A Wireless Link Assessment System (WLAS), was used to validate wireless performance under a variety of conditions. Results demonstrated that wireless networks can provide adequate performance in most facilities when properly specified and deployed. Customers from various IoF expressed interest in applying wireless more broadly for selected applications, but continue to prefer utilizing existing, wired field bus networks for most sensor based applications that will tie into their existing Computerized Motor Maintenance Systems (CMMS). As a result, wireless technology was de-emphasized within the project, and a greater focus placed on energy efficiency/predictive diagnostics. Commercially available wireless networks were only utilized in field test sites to facilitate collection of motor wellness information, and no wireless sensor network products were developed under this project. As an outgrowth of this program, Eaton developed a patented energy-optimizing drive control technology that is complementary to a traditional variable frequency drives (VFD) to enable significant energy savings for motors with variable torque applications, such as fans, pumps, and compressors. This technology provides an estimated energy saving of 2%-10% depending on the loading condition, in addition to the savings obtained from a traditional VFD. The combination of a VFD with the enhanced energy-optimizing controls will provide significant energy savings (10% to 70% depending on the load and duty cycle) for motors that are presently connected with across the line starters. It will also provide a more favorable return on investment (ROI), thus encouraging industries to adopt VFDs for more motors within their facilities. The patented technology is based on nonintrusive algorithms that estimate the instantaneous operating efficiency and motor speed and provide active energy-optimizing control of a motor, using only existing voltage and current sensors. This technology is currently being commercialized by Eaton’s Industrial Controls Division in their next generation motor control products. Due to the common nonintrusive and inferential nature of various algorithms, this same product can also include motor and equipment condition monitoring features, providing the facility owner additional information to improve process uptime and the associated energy savings. Calculations estimated potential energy savings of 261,397GWh/Yr ($15.7B/yr), through retrofitting energy-optimizing VFDs into existing facilities, and incorporating the solution into building equipment sold by original equipment manufacturers (OEMs) and installed by mechanical and electrical contractors. Utilizing MCSA and MPSA for predictive maintenance (PM) of motors and connected equipment reduces process downtime cost and the cost of wasted energy associated with shutting down and restarting the processes. Estimated savings vary depending on the industry segment and equipment criticality per facility/process. Average downtime for an industrial facility is 4-12 hours with a cost/hr of$7500/hr, with large, critical processes reaching $50-100k/hr. Specific downtime costs are not included in this report because of customer confidentiality, but projected savings across the Industries of the Future (IoF) are still expected to be comparable to the original program estimates. Two generations of customer field deployments and evaluation have been completed during the course of this project. Results from these customer sites have been used for identifying the scope and improving the developed energy and wellness algorithms. The field deployments have confirmed that the hardware for sensing and sampling motor currents and voltages are reliable and able to provide an adequate signal-to-noise ratio from the electrical noise present on the motor signals

Joint Dynamics and Adaptive Feedforward Control of Lightweight Industrial Robots

The use of lightweight strain-wave transmissions in collaborative industrial robots leads to structural compliance and a complex nonlinear behavior of the robot joints. Furthermore, wear and temperature changes lead to variations in the joint dynamics behavior over time. The immediate negative consequences are related to the performance of motion and force control, safety, and lead-through programming.This thesis introduces and investigates new methods to further increase the performance of collaborative industrial robots subject to complex nonlinear and time-varying joint dynamics behavior. Within this context, the techniques of mathematical modeling, system identification, and adaptive estimation and control are applied. The methods are experimentally validated using the collaborative industrial robots by Universal Robots.Mathematically, the robot and joint dynamics are considered as two coupled subsystems. The robot dynamics are derived and linearly parametrized to facilitate identification of the inertial parameters. Calibrating these parameters leads to improvements in torque prediction accuracy of 16.5 %-28.5 % depending on the motion.The joint dynamics are thoroughly analyzed and characterized. Based on a series of experiments, a comprehensive model of the robot joint is established taking into account the complex nonlinear dynamics of the strain-wave transmission, that is the nonlinear compliance, hysteresis, kinematic error, and friction. The steady-state friction is considered to depend on angular velocity, load torque, and temperature. The dynamic friction characteristics are described by an Extended Generalized Maxwell-Slip (E-GMS) model which describes in a combined framework; hysteresis characteristics that depend on angular position and Coulomb friction that depend on load torque. E-GMS model-based feedforward control improves the torque prediction accuracy by a factor 2.1 and improve the tracking error by a factor 1.5.An E-GMS model-based adaptive feedforward controller is developed to address the issue of friction changing with wear and temperature. The adaptive control strategy leads to improvements in torque prediction of 84 % and tracking error of 20 %

Microgrids/Nanogrids Implementation, Planning, and Operation

Today’s power system is facing the challenges of increasing global demand for electricity, high-reliability requirements, the need for clean energy and environmental protection, and planning restrictions. To move towards a green and smart electric power system, centralized generation facilities are being transformed into smaller and more distributed ones. As a result, the microgrid concept is emerging, where a microgrid can operate as a single controllable system and can be viewed as a group of distributed energy loads and resources, which can include many renewable energy sources and energy storage systems. The energy management of a large number of distributed energy resources is required for the reliable operation of the microgrid. Microgrids and nanogrids can allow for better integration of distributed energy storage capacity and renewable energy sources into the power grid, therefore increasing its efficiency and resilience to natural and technical disruptive events. Microgrid networking with optimal energy management will lead to a sort of smart grid with numerous benefits such as reduced cost and enhanced reliability and resiliency. They include small-scale renewable energy harvesters and fixed energy storage units typically installed in commercial and residential buildings. In this challenging context, the objective of this book is to address and disseminate state-of-the-art research and development results on the implementation, planning, and operation of microgrids/nanogrids, where energy management is one of the core issues