Dynamic force sensing for high-speed robot manipulation using Kalman filtering techniques

2003 ◽  
Author(s):  
M. Uchiyama ◽  
K. Kitagaki
Keyword(s):  
Kalman Filtering ◽  
High Speed ◽  
Force Sensing ◽  
Dynamic Force ◽  
Robot Manipulation ◽  
Filtering Techniques

Dynamic Force and Torque Analysis of Spherical Four Link Mechanisms

1983 ◽  
Vol 105 (3) ◽  
pp. 492-497 ◽  
Author(s):  
A. T. Yang ◽  
Sun Zhishang
Keyword(s):  
Dynamic Analysis ◽  
Optimum Design ◽  
Mass Distribution ◽  
High Speed ◽  
Dynamic Force ◽  
Arbitrary Mass ◽  
Link Mechanism ◽  
Torque Analysis ◽  
Analytical Expressions

In this paper we present a dynamic analysis of a general spherical four-link mechanism whose links have arbitrary mass distribution. Results, which are in explicit analytical expressions in terms of inertia-induced forces and moments in links, are useful for optimum design of the mechanism under high-speed operation.

Estimation of Track Irregularity Based on Genetic Algorithm and Unscented Kalman Filtering

2012 ◽  
Author(s):  
Hongmei Shi ◽  
Zujun Yu
Keyword(s):  
Genetic Algorithm ◽  
Kalman Filtering ◽  
High Speed ◽  
Measurement Data ◽  
Estimation Method ◽  
Coupling Model ◽  
Dynamic Responses ◽  
The Real ◽  
True Value ◽  
Track Irregularity

Track irregularity is the main excitation source of wheel-track interaction. Due to the difference of speed, axle load and suspension parameters between track inspection train and the operating trains, the data acquired from the inspection car cannot completely reflect the real status of track irregularity when the operating trains go through the rail. In this paper, an estimation method of track irregularity is proposed using genetic algorithm and Unscented Kalman Filtering. Firstly, a vehicle-track vertical coupling model is established, in which the high-speed vehicle is assumed as a rigid body with two layers of spring and damping system and the track is viewed as an elastic system with three layers. Then, the static track irregularity is estimated by genetic algorithm using the vibration data of vehicle and dynamic track irregularity which are acquired from the inspection car. And the dynamic responses of vehicle and track can be solved if the static track irregularity is known. So combining with vehicle track coupling model of different operating train, the potential dynamic track irregularity is solved by simulation, which the operating train could goes through. To get a better estimation result, Unscented Kalman Filtering (UKF) algorithm is employed to optimize the dynamic responses of rail using measurement data of vehicle vibration. The simulation results show that the estimated static track irregularity and the vibration responses of vehicle track system can go well with the true value. It can be realized to estimate the real rail status when different trains go through the rail by this method.

scholarly journals High-Velocity Shear and Soft Friction at the Nanometer Scale

2021 ◽  
Vol 7 ◽  
Author(s):  
Per-Anders Thorén ◽  
Riccardo Borgani ◽  
Daniel Forchheimer ◽  
David B. Haviland
Keyword(s):  
High Speed ◽  
Surface Deformation ◽  
Soft Materials ◽  
Lateral Force ◽  
Velocity Shear ◽  
Polymer Materials ◽  
Amplitude Dependence ◽  
Dynamic Force ◽  
Stick Slip ◽  
Soft Polymer

We study high-speed friction on soft polymer materials by measuring the amplitude dependence of cyclic lateral forces on the atomic force microscope (AFM) tip as it slides on the surface with fixed contact force. The resulting dynamic force quadrature curves separate the elastic and viscous contributions to the lateral force, revealing a transition from stick-slip to free-sliding motion as the velocity increases. We explain force quadratures and describe how they are measured, and we show results for a variety of soft materials. The results differ substantially from the measurements on hard materials, showing hysteresis in the force quadrature curves that we attribute to the finite relaxation time of viscoelastic surface deformation.

scholarly journals Using dynamic force microscopy with piezoelectric cantilever for indentation and high-speed observation

2017 ◽  
Vol 8 (2) ◽  
pp. 98-106
Author(s):  
Nobuo Satoh ◽  
Masayuki Nakahara ◽  
Kei Kobayashi ◽  
Shunji Watanabe ◽  
Toru Fujii ◽  
...  
Keyword(s):  
High Speed ◽  
Dynamic Force ◽  
Force Microscopy ◽  
Piezoelectric Cantilever
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