Further results on advanced modeling and control of complex mechanical systems
Апстракт
The investigation into the dynamics and control of robotic and complex (bio)mechanical
systems has been an active topic of research for many years. The science of
robotics/adaptronics has grown tremendously over the past twenty years, fueled by rapid
advances in computer and sensor technology, as well as theoretical advances in control
theory. Recently, calculus of general order R has attracted an increased attention of
scientific society where fractional operators are often used for control issues and for
modelling dynamic of complex systems,[1].The modelling complex rigid multibody systems
using symbolic equations can provide many advantages over the more widely-used numerical
methods of modelling these systems.
In this presentation, we propose using procedure for symbolic form computation of the
complete dynamics of (exoskeleton) robotic systems with kinematic chain structures using the
Rodriquez approach, [2]. Dynamic equations are given as Lagrange equations of the se...cond
kind in the covariant form with external generalized forces of the gravity, motor-torque,
viscous and spring. Mathematical model of the proposed NeuroArm robotic system due to a
high gear ratio between the actuators and robot joints, can be reduced to a linear model.
Robust control of general order with no overshoot can be obtained using fractional order
compensator which is designed according to the symmetrical optimum principle, [3].The
effectiveness of the proposed method will be illustrated through the control simulation of
three degrees of freedom robot manipulator. Also, some attention will be devoted to problem
the viscous friction in robotic joints. The calculus of general order and the calculus of
variations are utilized to modelling the viscous friction which is extended to the fractional
derivative of the angular displacement. This model is introduced into dynamic equations via
generalized forces which are derived by using the principle of virtual work.
Also, it is presented the tracking problem of exoskeleton robotic system for rehabilitation
with three DOFs with revolute joints via intelligent control which includes advanced iterative
learning control (ILC), [4]. First, a feedback linearization control technique based on
computed torque method is applied on a given robotic system. Then, the proposed intelligent
ILC algorithm takes the advantages offered by closed-loop control PD type and open-loop
control sgnPDD2 type of ILC. Suggested robust ILC algorithm is applied to the linearized
system to further enhance tracking performance for repetitive tasks and deal with the model
uncertainties. Finally, a simulation example is presented to illustrate the effectiveness of the
proposed robust ILC scheme for a proposed exoskeleton robot arm.
Кључне речи:
Calculus of General Order / Robot Manipulator / Exoskeleton Robotic System / Robust Control / Iterative Learning ControlИзвор:
Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019, 2019, 47-48Издавач:
- Beograd: Matematički institut Srpske akademije nauka i umetnosti
Финансирање / пројекти:
- Развој нових метода и техника за рану дијагностику канцера грлића материце, дебелог црева, усне дупље и меланома на бази дигиталне слике и ексцитационо-емисионих спектара у видљивом и инфрацрвеном домену (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
- Интелигентни системи управљања климатизације у циљу постизања енергетски ефикасних режима у сложеним условима експлоатације (RS-MESTD-Technological Development (TD or TR)-33047)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Mandić, Petar PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6506 AB - The investigation into the dynamics and control of robotic and complex (bio)mechanical systems has been an active topic of research for many years. The science of robotics/adaptronics has grown tremendously over the past twenty years, fueled by rapid advances in computer and sensor technology, as well as theoretical advances in control theory. Recently, calculus of general order R has attracted an increased attention of scientific society where fractional operators are often used for control issues and for modelling dynamic of complex systems,[1].The modelling complex rigid multibody systems using symbolic equations can provide many advantages over the more widely-used numerical methods of modelling these systems. In this presentation, we propose using procedure for symbolic form computation of the complete dynamics of (exoskeleton) robotic systems with kinematic chain structures using the Rodriquez approach, [2]. Dynamic equations are given as Lagrange equations of the second kind in the covariant form with external generalized forces of the gravity, motor-torque, viscous and spring. Mathematical model of the proposed NeuroArm robotic system due to a high gear ratio between the actuators and robot joints, can be reduced to a linear model. Robust control of general order with no overshoot can be obtained using fractional order compensator which is designed according to the symmetrical optimum principle, [3].The effectiveness of the proposed method will be illustrated through the control simulation of three degrees of freedom robot manipulator. Also, some attention will be devoted to problem the viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized to modelling the viscous friction which is extended to the fractional derivative of the angular displacement. This model is introduced into dynamic equations via generalized forces which are derived by using the principle of virtual work. Also, it is presented the tracking problem of exoskeleton robotic system for rehabilitation with three DOFs with revolute joints via intelligent control which includes advanced iterative learning control (ILC), [4]. First, a feedback linearization control technique based on computed torque method is applied on a given robotic system. Then, the proposed intelligent ILC algorithm takes the advantages offered by closed-loop control PD type and open-loop control sgnPDD2 type of ILC. Suggested robust ILC algorithm is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. Finally, a simulation example is presented to illustrate the effectiveness of the proposed robust ILC scheme for a proposed exoskeleton robot arm. PB - Beograd: Matematički institut Srpske akademije nauka i umetnosti C3 - Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019 T1 - Further results on advanced modeling and control of complex mechanical systems EP - 48 SP - 47 UR - https://hdl.handle.net/21.15107/rcub_machinery_6506 ER -
@conference{ author = "Lazarević, Mihailo and Mandić, Petar", year = "2019", abstract = "The investigation into the dynamics and control of robotic and complex (bio)mechanical systems has been an active topic of research for many years. The science of robotics/adaptronics has grown tremendously over the past twenty years, fueled by rapid advances in computer and sensor technology, as well as theoretical advances in control theory. Recently, calculus of general order R has attracted an increased attention of scientific society where fractional operators are often used for control issues and for modelling dynamic of complex systems,[1].The modelling complex rigid multibody systems using symbolic equations can provide many advantages over the more widely-used numerical methods of modelling these systems. In this presentation, we propose using procedure for symbolic form computation of the complete dynamics of (exoskeleton) robotic systems with kinematic chain structures using the Rodriquez approach, [2]. Dynamic equations are given as Lagrange equations of the second kind in the covariant form with external generalized forces of the gravity, motor-torque, viscous and spring. Mathematical model of the proposed NeuroArm robotic system due to a high gear ratio between the actuators and robot joints, can be reduced to a linear model. Robust control of general order with no overshoot can be obtained using fractional order compensator which is designed according to the symmetrical optimum principle, [3].The effectiveness of the proposed method will be illustrated through the control simulation of three degrees of freedom robot manipulator. Also, some attention will be devoted to problem the viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized to modelling the viscous friction which is extended to the fractional derivative of the angular displacement. This model is introduced into dynamic equations via generalized forces which are derived by using the principle of virtual work. Also, it is presented the tracking problem of exoskeleton robotic system for rehabilitation with three DOFs with revolute joints via intelligent control which includes advanced iterative learning control (ILC), [4]. First, a feedback linearization control technique based on computed torque method is applied on a given robotic system. Then, the proposed intelligent ILC algorithm takes the advantages offered by closed-loop control PD type and open-loop control sgnPDD2 type of ILC. Suggested robust ILC algorithm is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. Finally, a simulation example is presented to illustrate the effectiveness of the proposed robust ILC scheme for a proposed exoskeleton robot arm.", publisher = "Beograd: Matematički institut Srpske akademije nauka i umetnosti", journal = "Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019", title = "Further results on advanced modeling and control of complex mechanical systems", pages = "48-47", url = "https://hdl.handle.net/21.15107/rcub_machinery_6506" }
Lazarević, M.,& Mandić, P.. (2019). Further results on advanced modeling and control of complex mechanical systems. in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019 Beograd: Matematički institut Srpske akademije nauka i umetnosti., 47-48. https://hdl.handle.net/21.15107/rcub_machinery_6506
Lazarević M, Mandić P. Further results on advanced modeling and control of complex mechanical systems. in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019. 2019;:47-48. https://hdl.handle.net/21.15107/rcub_machinery_6506 .
Lazarević, Mihailo, Mandić, Petar, "Further results on advanced modeling and control of complex mechanical systems" in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019 (2019):47-48, https://hdl.handle.net/21.15107/rcub_machinery_6506 .