Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing nested control systems is to maximize the bandwidth of the inner loop to improve tracking performance, it may not be the most suitable approach when a certain range of impedance parameters has to be rendered. In particular, it turns out that the viable range of stable stiffness and damping values can be strongly affected by the bandwidth of the inner control loops (e.g. a torque loop) as well as by the filtering and sampling frequency. This paper provides an extensive analysis on how these aspects influence the stability region of impedance parameters as well as the passivity of the system. This will be supported by both simulations and experimental data. Moreover, a methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented. The goal of the velocity feedback is to increase (given the constraints to preserve stability) the bandwidth of the torque loop without the need of a complex controller.Comment: 14 pages in Control Theory and Technology (2016

Control strategy for cooperating disparate manipulators

To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator

Atwood ratio dependence of Richtmyer-Meshkov flows under reshock conditions using large-eddy simulations

We study the shock-driven turbulent mixing that occurs when a perturbed planar density interface is impacted by a planar shock wave of moderate strength and subsequently reshocked. The present work is a systematic study of the influence of the relative molecular weights of the gases in the form of the initial Atwood ratio A. We investigate the cases A = ± 0.21, ±0.67 and ±0.87 that correspond to the realistic gas combinations air–CO_2, air–SF_6 and H_2–air. A canonical, three-dimensional numerical experiment, using the large-eddy simulation technique with an explicit subgrid model, reproduces the interaction within a shock tube with an endwall where the incident shock Mach number is ~1.5 and the initial interface perturbation has a fixed dominant wavelength and a fixed amplitude-to-wavelength ratio ~0.1. For positive Atwood configurations, the reshock is followed by secondary waves in the form of alternate expansion and compression waves travelling between the endwall and the mixing zone. These reverberations are shown to intensify turbulent kinetic energy and dissipation across the mixing zone. In contrast, negative Atwood number configurations produce multiple secondary reshocks following the primary reshock, and their effect on the mixing region is less pronounced. As the magnitude of A is increased, the mixing zone tends to evolve less symmetrically. The mixing zone growth rate following the primary reshock approaches a linear evolution prior to the secondary wave interactions. When considering the full range of examined Atwood numbers, measurements of this growth rate do not agree well with predictions of existing analytic reshock models such as the model by Mikaelian (Physica D, vol. 36, 1989, p. 343). Accordingly, we propose an empirical formula and also a semi-analytical, impulsive model based on a diffuse-interface approach to describe the A-dependence of the post-reshock growth rate

Family memories in the home: contrasting physical and digital mementos

We carried out fieldwork to characterise and compare physical and digital mementos in the home. Physical mementos are highly valued, heterogeneous and support different types of recollection. Contrary to expectations, we found physical mementos are not purely representational, and can involve appropriating common objects and more idiosyncratic forms. In contrast, digital mementos were initially perceived as less valuable, although participants later reconsidered this. Digital mementos were somewhat limited in function and expression, largely involving representational photos and videos, and infrequently accessed. We explain these digital limitations and conclude with design guidelines for digital mementos, including better techniques for accessing and integrating these into everyday life, allowing them to acquire the symbolic associations and lasting value that characterise their physical counterparts

Stabilization and control of teleoperation systems with time delays

A control scheme for teleoperation systems with time delay is developed based on the concept of passivity. This control method requires neither detailed knowledge of the manipulator systems nor the mathematical models of the environments, and it is applicable for any time delays. The main contribution of this method is that it is less conservative than the traditional passivity based method. In this method, the passivity controller only operates when the system loses passivity, while in a traditional passivity formulation, the controller works at all times during operation and thus adversely affect the performance of the system.;Using the proposed control scheme, a sub-system is defined that is composed of the communication channel, slave robot and the manipulated environment. This sub system is treated as a one-port network component, and passivity theory is applied to this component to assure stability. The energy flowing into the one-port network, in the form of the control command and the force feedback, is monitored. A passivity regulator is activated to maintain the passivity of the network by modifying the feedback force to the master, and thus adjust the energy exchange between the master and the communication channel.;When this method is applied, only the information at the interface between the master manipulator and the communication channel is collected and observed, there is no need for accurate or detailed knowledge of the structure or timing of the communication channel. The method can make the system lossless regardless of the feedback force, the coordinating force controlling the slave joint motions or the contact force. The approach can stabilize the system regardless of the time delay, discontinuities with environmental contact, or discretization of the physical plant. It will pose no problem when the environmental contact force is directly fed back. The results of this work show that it is advantageous to use the measured environmental force as the feedback, providing superior performance for free motion and more realistic haptic feedback for the operator from the remote environment.;Simulation and experimental results are presented to verify the proposed control scheme

Power take-off simulation for scale model testing of wave energy converters

Small scale testing in controlled environments is a key stage in the development of potential wave energy conversion technology. Furthermore, it is well known that the physical design and operational quality of the power-take off (PTO) used on the small scale model can have vast effects on the tank testing results. Passive mechanical elements such as friction brakes and air dampers or oil filled dashpots are fraught with nonlinear behaviors such as static friction, temperature dependency, and backlash, the effects of which propagate into the wave energy converter (WEC) power production data, causing very high uncertainty in the extrapolation of the tank test results to the meaningful full ocean scale. The lack of quality in PTO simulators is an identified barrier to the development of WECs worldwide. A solution to this problem is to use actively controlled actuators for PTO simulation on small scale model wave energy converters. This can be done using force (or torque)-controlled feedback systems with suitable instrumentation, enabling the PTO to exert any desired time and/or state dependent reaction force. In this paper, two working experimental PTO simulators on two different wave energy converters are described. The first implementation is on a 1:25 scale self-reacting point absorber wave energy converter with optimum reactive control. The real-time control system, described in detail, is implemented in LabVIEW. The second implementation is on a 1:20 scale single body point absorber under model-predictive control, implemented with a real-time controller in MATLAB/Simulink. Details on the physical hardware, software, and feedback control methods, as well as results, are described for each PTO. Lastly, both sets of real-time control code are to be web-hosted, free for download, modified and used by other researchers and WEC developers