Muñoz Arias, Mauricio

English

De moderne maatschappij vraagt naar robotsystemen die complexe taken kunnen uitvoeren onder verschillende omstandigheden. De steeds hogere eisen vanuit de industrie, hogere standaards en toepassingen in opkomende gebieden zoals huishoudelijke toepassingen (domotica) en mobiele robots, vereisen intelligente systemen die snel en nauwkeurig zijn. Dit proefschrift beschrijft de ontwikkeling van nieuwe regelmethoden voor niet-lineaire mechanische systemen volgens de energiegebaseerde benadering. De ontwikkelde regelmethoden bieden een oplossing om te voldoen aan de eis van snelle en nauwkeurige intelligente systemen. De ontwikkelde regelmethoden zijn geschikt voor algemene mechanische systemen, met simulaties en experimenten van een robot-manipulator.Modern society demands robotic systems that are able to perform complex tasks under different circumstances. The rising production requirements of industry, the ever increasing standards, and applications in emerging domains such as household applications (domotics) and mobile robotics, require fast and accurate intelligent systems. This thesis answers the aforementioned requirements by the development of new control methods for nonlinear mechanical systems in an energy-based setting. Our novel control strategies are well suited for general mechanical systems, and we focus our simulations and experimental results on a robotic manipulator

Proceedings - University of Groningen

   University of GroningenEnergy-based control design for mechanical systemsMuñoz Arias, MauricioIMPORTANT NOTE: You are advised to consult the publisher's version (publisher's PDF) if you wish to cite fromit. Please check the document version below.Document VersionPublisher's PDF, also known as Version of recordPublication date:2015Link to publication in University of Groningen/UMCG research databaseCitation for published version (APA):Muñoz Arias, M. (2015). Energy-based control design for mechanical systems: Applications of the port-Hamiltonian approach. University of Groningen.CopyrightOther than for strictly personal use, it is not permitted to download or to forward/distribute the text or part of it without the consent of theauthor(s) and/or copyright holder(s), unless the work is under an open content license (like Creative Commons).The publication may also be distributed here under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license.More information can be found on the University of Groningen website: https://www.rug.nl/library/open-access/self-archiving-pure/taverne-amendment.Take-down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediatelyand investigate your claim.Downloaded from the University of Groningen/UMCG research database (Pure): http://www.rug.nl/research/portal. For technical reasons thenumber of authors shown on this cover page is limited to 10 maximum.Download date: 04-06-2022Stellingenbehorende bij het proefschriftEnergy-based control design for mechanical systemsApplications of the port-Hamiltonian approachvan Mauricio Muñoz Arias1. For standard mechanical systems in the port-Hamiltonian framework, achange of variables can be realized such that the new system includes mea-surement of forces in the new passive output, with structure preservationfor the closed-loop system.This thesis, Chapter 32. In comparison with force feedback in the Euler-Lagrange framework, forcefeedback in the port-Hamiltonian framework has nicely interpretable con-trol strategies, as well as cleaner tuning opportunities that grant a betterperformance.This thesis, Chapter 33. In a noncontact to contact transition, force control is employed to dealwith the steady-state response of the system, while impedance control isused to manage transient behavior of the grasping.This thesis, Chapter 44. The grasping strategy based on a virtual spring with a variable rest-lengthleads to a (co)dissipation term in the impedance grasping controller, whichis needed to obtain a smoother noncontact to contact transition.This thesis, Chapter 45. The port-Hamiltonian framework allows extensions of the dynamics of thesystems. An extended model that interconnects the dynamics of a visionsystem via an adapted momenta, plays a key role in order to asymptoti-cally stabilize the system to a desired position.This thesis, Chapter 56. A rejected paper is not the opposite of an accepted one, but a part of it.Free interpretation of Haruki Murakami’s: “Death is not the opposite oflife, but a part of it”.7. Robotics was developed on Earth. The Mars Exploration Rover Missionhas demonstrated that it was never meant to die here. Free interpretationof Interstellar (film), 2014: “Mankind was born on Earth. It was nevermeant to die here”.8. Living on the edge of your own contradictions asserts your own liberty.9. Taking negative feedback is a waste of time except in control theory.10. Love is observable but not controllable.

Energy-based control design for mechanical systems:Applications of the port-Hamiltonian approach

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Energy-based control design for mechanical systems:Applications of the port-Hamiltonian approach

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Proceedings - University of Groningen