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Abstract

This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.
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Authors and Affiliations

Elżbieta Roszkowska
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Abstract

This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD¸, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD¸ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
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Authors and Affiliations

Valeria Avilés
1
Oscar F. Avilés
1
Jorge Aponte
1
Oscar I. Caldas
1
Mauricio F. Mauledoux
1

  1. Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia
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Abstract

The paper presents results of studies on linear synchronous motors controlled in CNC feed axes through an intelligent digital servodrive. The research includes a conceptual design of an open servodrive control system and identification of dynamic models of a test stand with an open CNC system. Advantages of robust control over the classic one are discussed. A hybrid predictive approach to robust control of milling machine X-Y table velocity is proposed and results of simulation tests are presented. Was prepared during the work for the Ministry of Science and Higher Education grant number N N502 336936, (acronym for this project is M.A.R.I.N.E. multivariable hybryd ModulAR motIon coNtrollEr), while its main purpose is the development of new rob ust position/velocity model-based control system, as well as to introduce the measurement of the actual state into the switching algorithm between the locally synthesized controllers. Such switching increases the overall robustness of the machine tool feed-drive module. The paper is the extended version of material proposed in [10].

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Authors and Affiliations

Krzysztof Pietrusewicz
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Abstract

Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.

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Bibliography

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Authors and Affiliations

Meera C S
1
Mukul Kumar Gupta
1
Santhakumar Mohan
2

  1. Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies (UPES), Dehradun (UK), India.
  2. Discipline of Mechanical Engineering, Indian Institute of Technology Palakkad, Palakkad (Kerala), India.

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