Управление манипулятором подводного робота

This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application of the author's terminal state method (TSM) so that it forms a system of differential equations for the rotation angles of manipulator links around the longitudinal and transverse axes, having only desired TSM-controls in the right parts. The converted model provides simplifications of controls calculation by eliminating the numerical solution of special differential equations, that is needed in the case of using in TSM nonlinear dynamic models in general form. The found TSM-controls are further used in expressions for control actions on joints electric drives obtained on the basis of electric drives dynamic models. Unknown drives parameters as functions of links rotation angles or other unknown factors, are proposed to be determined experimentally. Such two-step procedure allowed to get drive control in the form of algebraic and transcendental expressions. Finally, by applying the developed software, simulation results of the manipulator end effector moving to the specified positions on the edge of the working area are presented. The resulting error (without accounting measurement error) does not exceed 2 centimeters at the 1.2 meters distance by arm reaching maximum of length ability. The work was performed under the Federal program of developing a robotic device for underwater research in shallow depths (up to 10 meters).Рассматривается задача приведения конечного эффектора (центра схвата) антропоморфного манипулятора подводного аппарата в заданное положение за заданное время с помощью метода конечного состояния. На основе полученной кинематической модели антропоморфного манипулятора, построенной на основе подхода Денавита – Хартенберга (DH-модель), сформулирована динамическая модель, учитывающая динамику приводов сочленений. DH-модель использована в терминальном нелинейном критерии, отображающем близость ориентации и положения эффектора к заданным значениям. Динамическая модель приспособлена для эффективного применения авторского метода конечного состояния (МКС) и представляет собой систему дифференциальных уравнений для углов поворота звеньев манипулятора вокруг продольных и поперечных осей, правые части которой содержат только искомые МКС-управления. Такая модель позволила существенно упростить расчет управлений за счет упразднения численного решения дифференциальных уравнений специального вида, необходимых в случае использования в МКС нелинейных динамических моделей общего вида. Найденные МКС-управления далее использованы в выражениях для управляющих воздействий на электроприводы сочленений, полученных на основе динамических моделей электроприводов. Предполагается, что неизвестные параметры приводов, как функции углов поворота звеньев и других неизвестных факторов, могут быть определены экспериментально. Такая двухэтапная процедура позволила получить управление приводами в форме алгебраических и трансцендентных выражений. Наконец, представлены результаты моделирования процессов приведения конечного эффектора манипулятора в заданные положения на границах рабочей области с помощью разработанного программного обеспечения. Полученная при этом погрешность без учета погрешности измерений составила величины, не превышающие двух сантиметров на максимальном вылете руки длиной 1,2 метра. Работа выполнена в рамках федеральной целевой программы по разработке роботизированного аппарата, предназначенного для подводных исследовательских работ на малых глубинах (до 10 метров)

Управление манипулятором подводного робота

Рассматривается задача приведения конечного эффектора (центра схвата) антропоморфного манипулятора подводного аппарата в заданное положение за заданное время с помощью метода конечного состояния. На основе полученной кинематической модели антропоморфного манипулятора, построенной на основе подхода Денавита – Хартенберга (DH-модель), сформулирована динамическая модель, учитывающая динамику приводов сочленений. DH-модель использована в терминальном нелинейном критерии, отображающем близость ориентации и положения эффектора к заданным значениям. Динамическая модель приспособлена для эффективного применения авторского метода конечного состояния (МКС) и представляет собой систему дифференциальных уравнений для углов поворота звеньев манипулятора вокруг продольных и поперечных осей, правые части которой содержат только искомые МКС-управления. Такая модель позволила существенно упростить расчет управлений за счет упразднения численного решения дифференциальных уравнений специального вида, необходимых в случае использования в МКС нелинейных динамических моделей общего вида. Найденные МКС-управления далее использованы в выражениях для управляющих воздействий на электроприводы сочленений, полученных на основе динамических моделей электроприводов. Предполагается, что неизвестные параметры приводов, как функции углов поворота звеньев и других неизвестных факторов, могут быть определены экспериментально. Такая двухэтапная процедура позволила получить управление приводами в форме алгебраических и трансцендентных выражений. Наконец, представлены результаты моделирования процессов приведения конечного эффектора манипулятора в заданные положения на границах рабочей области с помощью разработанного программного обеспечения. Полученная при этом погрешность без учета погрешности измерений составила величины, не превышающие двух сантиметров на максимальном вылете руки длиной 1,2 метра. Работа выполнена в рамках федеральной целевой программы по разработке роботизированного аппарата, предназначенного для подводных исследовательских работ на малых глубинах (до 10 метров)

Robust Model Predictive Control for Linear Parameter Varying Systems along with Exploration of its Application in Medical Mobile Robots

This thesis seeks to develop a robust model predictive controller (MPC) for Linear Parameter Varying (LPV) systems. LPV models based on input-output display are employed. We aim to improve robust MPC methods for LPV systems with an input-output display. This improvement will be examined from two perspectives. First, the system must be stable in conditions of uncertainty (in signal scheduling or due to disturbance) and perform well in both tracking and regulation problems. Secondly, the proposed method should be practical, i.e., it should have a reasonable computational load and not be conservative. Firstly, an interpolation approach is utilized to minimize the conservativeness of the MPC. The controller is calculated as a linear combination of a set of offline predefined control laws. The coefficients of these offline controllers are derived from a real-time optimization problem. The control gains are determined to ensure stability and increase the terminal set. Secondly, in order to test the system's robustness to external disturbances, a free control move was added to the control law. Also, a Recurrent Neural Network (RNN) algorithm is applied for online optimization, showing that this optimization method has better speed and accuracy than traditional algorithms. The proposed controller was compared with two methods (robust MPC and MPC with LPV model based on input-output) in reference tracking and disturbance rejection scenarios. It was shown that the proposed method works well in both parts. However, two other methods could not deal with the disturbance. Thirdly, a support vector machine was introduced to identify the input-output LPV model to estimate the output. The estimated model was compared with the actual nonlinear system outputs, and the identification was shown to be effective. As a consequence, the controller can accurately follow the reference. Finally, an interpolation-based MPC with free control moves is implemented for a wheeled mobile robot in a hospital setting, where an RNN solves the online optimization problem. The controller was compared with a robust MPC and MPC-LPV in reference tracking, disturbance rejection, online computational load, and region of attraction. The results indicate that our proposed method surpasses and can navigate quickly and reliably while avoiding obstacles

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

14th Conference on Dynamical Systems Theory and Applications DSTA 2017 ABSTRACTS

From Preface: This is the fourteen time when the conference “Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 250 persons from 38 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 375 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference proceedings [...]

NASA Tech Briefs, September 1990

Topics covered include: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

NASA Tech Briefs, December 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

15th Conference on Dynamical Systems Theory and Applications DSTA 2019 ABSTRACTS

From Preface: This is the fifteen time when the conference „Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 255 persons from 47 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 338 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference edited books.Technical editor and cover design: Kaźmierczak, MarekCover design: Ogińska, Ewelina; Kaźmierczak, Mare