FUZZY COORDINATION AND FORCE/POSITION CONTROL OF ROBOTIC MANIPULATOR

It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.

Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty

A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment： i） uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii） stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it environment with complex characteristics. Finally, numerical robot manipulator. also shows robustness of the proposed controller to uncertain simulation verifies results via contact task of a two rigid-links

Hybrid H_2/H_∞ force/position control based on neural networks

A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal tracking. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system’s performance under parameter uncertainties as well as obtaining the H2/H∞tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.

Adaptive hybrid force/position control for an industrial robot： theory and experiments

This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.

A Review of Robotic Force/Position Control

This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.

Synchronization control for electro-hydraulic dual-cylinder system based on force/position switching

If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-

Influence of anodization conditions on deposition of hydroxyapatite on α/β Ti alloys for osseointegration:Atomic force microscopy analysis

Integrating titanium-based implants with the surrounding bone tissue remains challenging.This study aims to explore the impact of different anodization voltages(20−80 V)on the surface topography of two-phase(α/β)Ti alloys and to produce TiO_(2) films with enhanced bone formation abilities.Scanning electron microscopy coupled with energy dispersive spectroscopy(SEM−EDS)and atomic force microscopy(AFM)were applied to investigate the morphological,chemical,and surface topography of the prepared alloys and to confirm the growth of hydroxyapatite(HA)on their surfaces.Results disclosed that the surface roughness of TiO_(2) films formed on Ti−6Al−7Nb alloys was superior to that of Ti−6Al−4V alloys.Ti−6Al−7Nb alloy anodized at 80 V had the highest yields of HA after immersion in simulated body fluid with enhanced HA surface coverage.The developed HA layer had a mean thickness of(128.38±18.13)μm,suggesting its potential use as an orthopedic implantable material due to its promising bone integration and,hence,remarkable stability inside the human body.

Impedance force control for position controlled robotic manipulators under the constraint of unknown environments

A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.

Force and impulse multi-sensor based on flexible gate dielectric field effect transistor

Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.

A Novel Model for Describing Rail Weld Irregularities and Predicting Wheel-Rail Forces Using a Machine Learning Approach

Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.

Acoustic radiation force on a cylindrical composite particle with an elastic thin shell and an internal eccentric liquid column in a plane ultrasonic wave field

A model with three-layer structure is introduced to explore the acoustic radiation force(ARF)on composite particles with an elastic thin shell.Combing acoustic scattering of cylinder and the thin-shell theorem,the ARF expression was derived,and the longitudinal and transverse components of the force and axial torque for an eccentric liquid-filled composite particle was obtained.It was found that many factors,such as medium properties,acoustic parameters,eccentricity,and radius ratio of the inner liquid column,affect the acoustic scattering field of the particle,which in turn changes the forces and torque.The acoustic response varies with the particle structures,so the resonance peaks of the force function and torque shift with the eccentricity and radii ratio of particle.The acoustic response of the particle is enhanced and exhibits higher force values due to the presence of the elastic thin shell and the coupling effect with the eccentricity of the internal liquid column.The decrease of the inner liquid density may suppress the high-order resonance peaks,and internal fluid column has less effects on the change in force on composite particle at ka>3,while limited differences exist at ka<3.The axial torque on particles due to geometric asymmetry is closely related to ka and the eccentricity.The distribution of positive and negative force and torque along the axis ka exhibits that composite particle can be manipulated or separated by ultrasound.Our theoretical analysis can provide support for the acoustic manipulation,sorting,and targeting of inhomogeneous particles.

Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer

An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.

Numerical simulation of applied electromagnetic field and electromagnetic force in all-position welding

All-position welding is an important technology in energy sources, chemical, shipbuilding and other industries. When welding current is larger than 200 A, the molten metal tends to flow down due to the force of gravity. In order to ＂push＂ the molten metal into the weld, a new kind of U-frame excitation model, which could produce electromagnetic force to balance the gravity of the molten pool, was designed. The related parameters of the excitation model were simulated by Maxwell 3D, and the relationships between the parameters and the magnetic induction intensity were analyzed. Finally, the electromagnetic force in the molten pool was calculated, and the appropriate parameters of the U-frame excitation model were determined. The results of the simulation verify the feasibility of the all-position welding excitation model.

Calculation of Contact Forces in Grasping by Space Decomposition

Robotic hands grasp and manipulate objects through the contact forces between the fingers and the objects. The determination of contact forces in grasping is discussed in this paper. To systematically investigate the characteristics of different grasps, the vector space of contact forces is decomposed into four subspaces and their basis is found by an efficient computational method. The vector of contact forces is then formulated into four components: active and passive grasping forces, controllable and uncontrollable internal forces. The dimensions of the subspaces identify uncontrollable internal forces. The contact force is further expressed into an explicit function of the external wrench and the joint torques. The resulting formulation simplifies the computation in the optimization of contact forces and makes the optimal variables controllable. Two numerical cases are given to show the simplicity and validity of the method.

Tooth Position and Deformation of Flexspline Assembled with Cam in Harmonic Drive Based on Force Analysis

Deformation of the flexspline is the basis of analyzing tooth trajectory and designing tooth profile.Considering the tooth influence on the position of equivalent neutral layer,a piecewise method for calculating the deformation of flexspline assembled with a cam wave generator is presented in this paper.Firstly,a mechanic model of a ring of uniform thickness in contact with a rigid cam is established.The displacements of the ring inside and outside an unknown wrapping angle are determined by the geometric constraints of the cam profile and the equilibrium rela-tionship,respectively.Meanwhile,the wrapping angle is solved according to the boundary conditions.The assembly forces are derived to investigate the circumferential elongation and strain.Then,considering the tooth effects on the neutral layer of flexspline,the tooth is positioned on the equivalent neutral layer,which is the non-elongation layer within one gear pitch but offset from the geometric mid-layer.The equivalent neutral layer is positioned by the empirical formula of the offset ratio,which is summarized by the orthogonal simulation on finite element models of racks.Finally,finite element models of a ring-shaped and a cup-shaped flexspline assembled with elliptical cam are established to verify the effectiveness and accuracy of the piecewise method.The results show that,compared with the geometric method,the tooth positioning deviation calculated by the piecewise method can be reduced by about 70%with a more accurate deformation description from the geometric condition and mechanic condition inside and outside the wrapping angle.

Changes in Barents Sea ice Edge Positions in the Last 440 years: A Review of Possible Driving Forces

This is the first report of the Barents Sea Ice Edge (BIE) project. The BIE position has varied between latitude 76°N and above 82°N during the last 440 years. During the period 10,000 to 6000 years ago, Arctic climate was significantly warmer than today. We review various oceanic and atmospheric factors that may have an effect on the BIE position. The Gulf Stream beat with respect to alternations in flow intensity and N-S distribution plays a central role for the changes in climate and BIE position during the last millennium. This occurred in combination with external forcing from total solar irradiation, Earth’s shielding strength, Earth’s geomagnetic field intensity, Earth’s rotation, jet stream changes;all factors of which are ultimately driven by the planetary beat on the Sun, the Earth and the Earth-Moon system. During the last 20 years, we see signs of changes and shifts that may signal the end of the late 20th century warm period. The BIE position is likely to start advancing southward in next decade.

A Sputtering Deposition of Al Enhances the Output Reproducibility in a Conducting Rubber Force Sensor

Compressive force sensors or pressure sensors are indispensable to tactile sensors in humanoid robots. It is investigated that low-cost electro-conducting rubber sheets are applied to the force sensor, of which the biggest problem is its poor reproducibility. It was found that the aluminum deposition by a vacuum evaporation method shows excellent characteristics but suffers deterioration by a radiation heating effect. The aluminum electrode was deposited by a sputtering method, known to have an advantage of a low-temperature method, and the reproducibility of the output was improved.

Three-dimensional acoustic radiation force of a eukaryotic cell arbitrarily positioned in a Gaussian beam

Expressions are derived for calculating the three-dimensional acoustic radiation force(ARF)on a multilayer microsphere positioned arbitrarily in a Gaussian beam.A theoretical model of a three-layer microsphere with a cell membrane,cytoplasm,and nucleus is established to study how particle geometry and position affect the three-dimensional ARF,and its results agree well with finite-element numerical results.The microsphere can be moved relative to the beam axis by changing its structure and position in the beam,and the axial ARF increases with increasing outer-shell thickness and core size.This study offers a theoretical foundation for selecting suitable parameters for manipulating a three-layer microsphere in a Gaussian beam.

Residual force enhancement due to active muscle lengthening allows similar reductions in neuromuscular activation during position-and force-control tasks

Background:Residual torque enhancement(rTE)is the increase in torque observed during the isometric steady state following active muscle lengthening when compared with a fixed-end isometric contraction at the same muscle length and level of neuromuscular activation.In the rTE state,owing to an elevated contribution of passive force to total force production,less active force is required,and there is a subsequent reduction in activation.In vivo studies of rTE reporting an activation reduction are often performed using a dynamometer,where participants contract against a rigid restraint,resisting a torque motor.rTE has yet to be investigated during a position task,which involves the displacement of an inertial load with positional control.Methods:A total of 12 participants(6 males,6 females;age=22.8±1.1 years,height=174.7±8.6 cm,mass=82.1±37.7 kg;mean±SD)completed torque-and position-matching tasks at 60%maximum voluntary contraction for a fixed-end isometric contraction and an isometric contraction following active lengthening of the ankle dorsiflexors.Results:There were no significant differences in activation between torque-and position-matching tasks(p=0.743),with^27%activation reduction following active lengthening for both task types(p<0.001).Conclusion:These results indicate that rTE is a feature of voluntary,position-controlled contractions.These findings support and extend previous findings of isometric torque-control conditions to position-controlled contractions that represent different tasks of daily living.