375 research outputs found
Vibration Free Flexible Object Handling with a Robot Manipulator Using Learning Control
Many industries extensively use flexible materials. Effective approaches for
handling flexible objects with a robot manipulator must address residual
vibrations. Existing solutions rely on complex models, use additional
instrumentation for sensing the vibrations, or do not exploit the repetitive
nature of most industrial tasks. This paper develops an iterative learning
control approach that jointly learns model parameters and residual dynamics
using only the interoceptive sensors of the robot. The learned model is
subsequently utilized to design optimal (PTP) trajectories that accounts for
residual vibration, nonlinear kinematics of the manipulator and joint limits.
We experimentally show that the proposed approach reduces the residual
vibrations by an order of magnitude compared with optimal vibration suppression
using the analytical model and threefold compared with the available
state-of-the-art method. These results demonstrate that effective handling of a
flexible object does not require neither complex models nor additional
instrumentation.Comment: Have been submitted to IFAC World Congres
Optimal input design for flat systems using B-splines
This paper deals with optimal design of input signals for
linear, controllable systems, by means of their flat
output. The flat output is parametrized by a polynomial
spline and a linear problem is formulated in which both the
spline coefficients and the knot locations are found
simultaneously. Conservative constraints on the spline
coefficients ensure that semi-infinite bounds are never
violated and numerical results show that the amount of
conservatism is little.status: publishe
Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving
This work evaluates and analyzes the combination of imitation learning (IL)
and differentiable model predictive control (MPC) for the application of
human-like autonomous driving. We combine MPC with a hierarchical
learning-based policy, and measure its performance in open-loop and closed-loop
with metrics related to safety, comfort and similarity to human driving
characteristics. We also demonstrate the value of augmenting open-loop
behavioral cloning with closed-loop training for a more robust learning,
approximating the policy gradient through time with the state space model used
by the MPC. We perform experimental evaluations on a lane keeping control
system, learned from demonstrations collected on a fixed-base driving
simulator, and show that our imitative policies approach the human driving
style preferences.Comment: This work has been submitted to IFAC for possible publication. arXiv
admin note: text overlap with arXiv:2206.1234
A pair of piezo-based rotating inertial actuators for active structural acoustic control of rotating machinery
Experimental study on active structural acoustic control of rotating machinery using rotating piezo-based inertial actuators
info:eu-repo/semantics/publishe
Active structural acoustic control of rotating machinery using piezo-based rotating inertial actuators
DYNAMIC BALANCING OF FOUR-BAR LINKAGES: A CONVEX OPTIMIZATION FRAMEWORK FOR EFFICIENTLY OBTAINING GLOBALLY OPTIMAL COUNTERWEIGHTS
This paper focusses on reducing the dynamic reactions (shaking force, shaking moment and driving torque) of plane, crank-rocker four-bars through counterweight addition. Determining the mass parameters of the counterweights constitutes an optimization problem, which is classically considered to be nonlinear and hence difficult to solve. A first contribution of this paper is the proof that this optimization problem can be reformulated as a convex program, that is, a nonlinear optimization problem that still has a unique (and hence guaranteed global) optimum, which can be found with great efficiency. Because of the unique features of this formulation, it becomes possible to investigate (and by the guarantee of obtaining a global optimum, in fact prove) the ultimate limits of dynamic balancing, in a reasonable amount of time. When applied to a particular example, this results in design charts, which clearly illustrate (i) the tradeoff between minimizing the different dynamic reactions, and (ii) the fact that adding counterweights is effective, but at the cost of a significant amount of added mass. These design charts constitute a second contribution of the present work
- …