Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

ASME Letters in Dynamic Systems and Control ◽

10.1115/1.4046684 ◽

2020 ◽

Vol 1 (2) ◽

Author(s):

Michael LiBretto ◽

Yong Han Ahn ◽

Chang Soo Han ◽

Yong K. Cho ◽

Jun Ueda

Keyword(s):

Vibration Suppression ◽

Control Engineer ◽

Redundant Manipulators ◽

Redundant System ◽

Error Feedback ◽

Configuration Optimization ◽

End Point ◽

Specific Configuration ◽

Point Control ◽

Point Stabilization

Abstract This paper presents a method to determine an optimal configuration of a teleoperated excavator to minimize the induced undercarriage oscillation for robust end-point stabilization. Treating the excavator as a kinematically redundant system, where non-unique combinations of the undercarriage position and arm posture can locate the end-point at the same reference. A specific configuration can be chosen to not excite undercarriage oscillation with simple end-point error feedback control without model-based or measurement-based vibration suppression. Robust stability measures based on normalized coprime factorization as well as modal decomposition solve the redundancy of the kinematics. An advantage of this approach is that the control engineer can proceed as if the excavator arm is fixed to rigid ground, which is practically not the case, and apply simple traditional Jacobian-based end-point control.

Download Full-text

Dynamic Systems and Control

Hydraulic Control Systems ◽

10.1002/9781119418528.ch3 ◽

2019 ◽

pp. 81-154

Keyword(s):

Dynamic Systems ◽

Systems And Control ◽

And Control

Download Full-text

Dynamic Systems and Control

10.1007/978-3-030-76124-0_8 ◽

2021 ◽

pp. 403-475

Author(s):

Kostas Triantafyllopoulos

Keyword(s):

Dynamic Systems ◽

Systems And Control ◽

And Control

Download Full-text

Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9069 ◽

2019 ◽

Author(s):

Chi Jin ◽

Anson Maitland ◽

John McPhee

Keyword(s):

Friction Coefficient ◽

Dynamic Systems ◽

Moving Horizon Estimation ◽

Systems And Control ◽

Road Friction ◽

And Control ◽

Road Friction Coefficient

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046395/1074688/Hierarchical-Nonlinear-Moving-Horizon-Estimation

Download Full-text

Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9201 ◽

2019 ◽

Author(s):

Michael T. Benson ◽

Harish Sathishchandra ◽

Garrett M. Clayton ◽

Sean B. Andersson

Keyword(s):

Compressive Sensing ◽

Dynamic Systems ◽

Lidar Data ◽

Systems And Control ◽

And Control

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046574/1075674/Compressive-Sensing-Based-Reconstruction-of

Download Full-text

Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9178 ◽

2019 ◽

Author(s):

Jihun Han ◽

Dominik Karbowski ◽

Namdoo Kim ◽

Aymeric Rousseau

Keyword(s):

Dynamic Systems ◽

Optimal Solutions ◽

Human Driver ◽

Systems And Control ◽

And Control

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046575/1075675/Human-Driver-Modeling-Based-on-Analytical-Optimal

Download Full-text

Lifetime Optimization for a Grid-Friendly DC Fast Charge Station With Second Life Batteries

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9105 ◽

2019 ◽

Author(s):

Matilde D’Arpino ◽

Massimo Cancian

Keyword(s):

Dynamic Systems ◽

Second Life ◽

Fast Charge ◽

Systems And Control ◽

Lifetime Optimization ◽

And Control

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046579/1075680/Lifetime-Optimization-for-a-Grid-Friendly-DC-Fast

Download Full-text

Control-Oriented Physics-Based NOx Emission Model for a Diesel Engine With Exhaust Gas Recirculation

Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control ◽

10.1115/dscc2019-9247 ◽

2019 ◽

Author(s):

Saravanan Duraiarasan ◽

Rasoul Salehi ◽

Anna Stefanopoulou ◽

Siddharth Mahesh ◽

Marc Allain

Keyword(s):

Diesel Engine ◽

Dynamic Systems ◽

Exhaust Gas Recirculation ◽

Nox Emission ◽

Exhaust Gas ◽

Emission Model ◽

Systems And Control ◽

Gas Recirculation ◽

And Control

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046450/1074858/Control-Oriented-Physics-Based-NOX-Emission-Model

Download Full-text

Enhanced Tire Blowout Modeling Using Vertical Load Redistribution and Self-Alignment Torque

Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control ◽

10.1115/dscc2019-8997 ◽

2019 ◽

Author(s):

Ao Li ◽

Yan Chen ◽

Xinyu Du ◽

Wen-Chiao Lin

Keyword(s):

Dynamic Systems ◽

Vertical Load ◽

Load Redistribution ◽

Systems And Control ◽

And Control

Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046314/1074439/Enhanced-Tire-Blowout-Modeling-Using-Vertical-Load

Download Full-text

Goodwin, Prof. Graham Clifford, (born 20 April 1945), Professor of Electrical Engineering, 1983, now Emeritus Laureate Professor, and Director, ARC Centre for Complex Dynamic Systems and Control, 2007–11, now Academic Researcher, University of Newcastle, New South Wales

10.1093/ww/9780199540884.013.44328 ◽

2007 ◽

Keyword(s):

Dynamic Systems ◽

New South ◽

Electrical Engineering ◽

New South Wales ◽

Academic Researcher ◽

Complex Dynamic ◽

Complex Dynamic Systems ◽

South Wales ◽

Systems And Control ◽

And Control

Download Full-text