Post on 03-Jun-2018
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Adaptive control for force-positionfeedback with unknown contact
mechanism for soft fingertip.AUGUSTO IVN CARREN BERNAL
THESIS DIRECTOR DR. CHIDENTREE TREESATAYAPUN
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Keywords
Compliance
Intelligent compliant motion control
Robotic grasp
Robotic manipulation
Signal conditioning for multi-sensor
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INTRODUCTION
Dexterous manipulation in robotics deals with the study of howrobotic manipulator or fingertips cooperate to perform a task.For this, is necessary to determine the force contact, namely,
the force is controlled. This force control involves a transientcontact condition which occurs at the time the manipulator isrestricted by the object.
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To deal with the problem when the manipulators make contact witthe environment is necessary to consider an intelligent compliamotion control.
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Motivation
The robot compliance to manipulate objects and develop tasks that r
force control.The current robot dynamic models are to complex, the implementatiologic avoids the requirement of the manipulator mathematic model acontact mechanic.
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Scientific methodology
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For implementation of the compliant motion control, is propobased on input fuzzy rules emulated network-FREN, besid
considers an upgrade element and the control of the positionachieve the stability of the interaction between the manipuenvironment.
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Contact mechanics
Soft materials exhibit nonlinear characteristics, even fo
deformations. These characteristics can be shown thromodulus, which considers the relation stress-strain.
For the design of the force contact model is necessary to dfinger-tips model which will based in the Parallel-distributed m
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This model compared to the Hertzian model offers a bto the problem of contact between two soft bodies.
Whereby, when making a comparison between tmodel given by the control system FREN and Paralmodel will be possible to determine the feasibility of th
Hertz Kaos
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The ultrasonic technic can provide high sensitivity and can be relatthe contact from energy transmission
Ultrasonic
When the sensor contathe object is producedin the signal amplitud
the acoustic impedansimilar.
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Manipulator
and Amplitude
detection unit
Controller
(FREN)xd(k)
Desired Force
u(k)e(k)+
-
Z.O.H.
Delay unit
Human knowledge for
Manipulator and sensor
Gu
Adaptation
(k+1)
IF-THEN Rules
Force
converter
unit
FUZZY RULE EMULATE NETWORK (FREN)CONTROL
C. Treesatayapun, Nonlinear discrete-time controller withunknown systems identification based on fuzzy rules emulated
network (Applied Soft computing, 2010)
Control scheme configuration
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Control FREN design(Fuzzy Rules)
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Tesis general objetives
XYZ Robot Electronics
Sensor implementation
Positioning control
Performance tests
SENSORING SYSTEM AND SIGNAL CONDITION Force sensor
Ultrasonic sensor
Intelligent stand-alone ultrasonic device for monitoring
MANIPULATOR CONTROL
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XYZ ROBOT
Positioning control
Sensor implementation forforce and ultrasonic
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ULTRASONIC SENSOR
Design a small soft fingertip withultrasonic sensing to obtain abetter precision in themeasurements.
Implement ultrasonic sensing
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ULTRASONIC SENSOR
The implementation of an Intelligentstand-alone ultrasonic device formonitoring, this consist in a reducedequipment of components for adistance monitoring, which consist of
three parts:a) Connector board with wireless
module attached
b) Signal conditioning board
c) Output amplification board
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FORCE SENSOR
Implementation and signal conditioningthe force and torque sensor
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Implementation ofFREN (fuzzy rule
emulatednetwork) CONTROL
To implement the FRENcontrol
Performance tests
Force
Ultrasonicsignal
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The implementation of a Intelligent compliant motion control bintegration between robotic system of 3 degrees of freedom, ultras
based on hertzian contact and control FREN based on human knowlTHEN rules with ultrasonic or force feedback
CONTRIBUTIONS
Minimization of the ultrasonic
sensor for more accuracy.
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System with 3 Degree of
freedom
CONTRIBUTIONSThe implementation of a Intelligent compliant motion control bintegration between robotic system of 3 degrees of freedom, ultras
based on hertzian contact and control FREN based on human knowlTHEN rules with ultrasonic or force feedback
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Signal conditioning for force and
ultrasonic sensors PID
CONTRIBUTIONS
INTELLIGENT STAND-ALONE
ULTRASONIC DEVICE FORMONITORING
The implementation of a Intelligent compliant motion control bintegration between robotic system of 3 degrees of freedom, ultras
based on hertzian contact and control FREN based on human knowlTHEN rules with ultrasonic or force feedback
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Signal conditioning for force and
ultrasonic sensors
CONTRIBUTIONSThe implementation of a Intelligent compliant motion control bintegration between robotic system of 3 degrees of freedom, ultras
based on hertzian contact and control FREN based on human knowlTHEN rules with ultrasonic or force feedback
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Current work
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Current work
Time index k= 4000
Time index k= 230
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Current work
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Schedule of activitiesUltrasonic sensor??
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Thanks