Torque control of electrorheological fluidic actuators
Identifieur interne : 000B89 ( PascalFrancis/Checkpoint ); précédent : 000B88; suivant : 000B90Torque control of electrorheological fluidic actuators
Auteurs : M. A. Vitrani [France] ; J. Nikitczuk [États-Unis] ; G. Morel [France] ; C. Mavroidis [États-Unis]Source :
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress, electroactively. Using the electrically controlled rheological properties of ERFs, we developed actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feed-forward loop.
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
Pascal:07-0014672Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Torque control of electrorheological fluidic actuators</title><author><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1><s2>92265 Fontenay-aux-Roses</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Fontenay-aux-Roses</settlement></placeName></affiliation></author><author><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1><s2>Boston MA 02115</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Boston MA 02115</wicri:noRegion></affiliation></author><author><name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1><s2>92265 Fontenay-aux-Roses</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Fontenay-aux-Roses</settlement></placeName></affiliation></author><author><name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1><s2>Boston MA 02115</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Boston MA 02115</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">07-0014672</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 07-0014672 INIST</idno><idno type="RBID">Pascal:07-0014672</idno><idno type="wicri:Area/PascalFrancis/Corpus">000C04</idno><idno type="wicri:Area/PascalFrancis/Curation">000891</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000B89</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Torque control of electrorheological fluidic actuators</title><author><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1><s2>92265 Fontenay-aux-Roses</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Fontenay-aux-Roses</settlement></placeName></affiliation></author><author><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1><s2>Boston MA 02115</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Boston MA 02115</wicri:noRegion></affiliation></author><author><name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1><s2>92265 Fontenay-aux-Roses</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Fontenay-aux-Roses</settlement></placeName></affiliation></author><author><name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1><s2>Boston MA 02115</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Boston MA 02115</wicri:noRegion></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term><term>Closed feedback</term><term>Electric field</term><term>Electrorheological fluid</term><term>Feedforward</term><term>Fluidic control</term><term>Human operator</term><term>Integral proportional control</term><term>Modeling</term><term>Non linear control</term><term>Rheology</term><term>Tactile sensitivity</term><term>Torque control</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Commande couple</term><term>Commande fluidique</term><term>Commande boucle fermée</term><term>Commande non linéaire</term><term>Commande proportionnelle intégrale</term><term>Boucle anticipation</term><term>Rhéologie</term><term>Fluide électrorhéologique</term><term>Actionneur</term><term>Sensibilité tactile</term><term>Opérateur humain</term><term>Champ électrique</term><term>Modélisation</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress, electroactively. Using the electrically controlled rheological properties of ERFs, we developed actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feed-forward loop.</div></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Torque control of electrorheological fluidic actuators</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>Proceedings of the 2004 American Control Conference ACC : June 30-July 2, 2004, Boston Massachusetts</s1></fA09><fA11 i1="01" i2="1"><s1>VITRANI (M. A.)</s1></fA11><fA11 i1="02" i2="1"><s1>NIKITCZUK (J.)</s1></fA11><fA11 i1="03" i2="1"><s1>MOREL (G.)</s1></fA11><fA11 i1="04" i2="1"><s1>MAVROIDIS (C.)</s1></fA11><fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1><s2>92265 Fontenay-aux-Roses</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></fA14><fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1><s2>Boston MA 02115</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></fA14><fA18 i1="01" i2="1"><s1>American Automatic Control Council</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA18 i1="02" i2="1"><s1>American Institute of Aeronautics and Astronautics</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA18 i1="03" i2="1"><s1>International Federation of Automatic Control</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA20><s1>5072-5077</s1></fA20><fA21><s1>2004</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>American Automatic Control Council</s1><s2>Evanston IL</s2></fA25><fA25 i1="02"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-8335-4</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>American Control Conference</s1><s2>22</s2><s3>Boston MA USA</s3><s4>2004</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 38918</s2><s5>354000153488588580</s5></fA43><fA44><s0>0000</s0><s1>© 2007 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>14 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>07-0014672</s0></fA47><fA60><s1>C</s1></fA60><fA61><s0>A</s0></fA61><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress, electroactively. Using the electrically controlled rheological properties of ERFs, we developed actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feed-forward loop.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Commande couple</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Torque control</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Mando de par</s0><s5>06</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Commande fluidique</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Fluidic control</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Mando fluídico</s0><s5>07</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Commande boucle fermée</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Closed feedback</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Bucle realimentación cerrada</s0><s5>08</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Commande non linéaire</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="ENG"><s0>Non linear control</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="SPA"><s0>Control no lineal</s0><s5>09</s5></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Commande proportionnelle intégrale</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Integral proportional control</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Control PI</s0><s5>10</s5></fC03><fC03 i1="06" i2="X" l="FRE"><s0>Boucle anticipation</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="ENG"><s0>Feedforward</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="SPA"><s0>Ciclo anticipación</s0><s5>11</s5></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Rhéologie</s0><s5>18</s5></fC03><fC03 i1="07" i2="X" l="ENG"><s0>Rheology</s0><s5>18</s5></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Reología</s0><s5>18</s5></fC03><fC03 i1="08" i2="X" l="FRE"><s0>Fluide électrorhéologique</s0><s5>19</s5></fC03><fC03 i1="08" i2="X" l="ENG"><s0>Electrorheological fluid</s0><s5>19</s5></fC03><fC03 i1="08" i2="X" l="SPA"><s0>Fluido electroreologico</s0><s5>19</s5></fC03><fC03 i1="09" i2="X" l="FRE"><s0>Actionneur</s0><s5>20</s5></fC03><fC03 i1="09" i2="X" l="ENG"><s0>Actuator</s0><s5>20</s5></fC03><fC03 i1="09" i2="X" l="SPA"><s0>Accionador</s0><s5>20</s5></fC03><fC03 i1="10" i2="X" l="FRE"><s0>Sensibilité tactile</s0><s5>21</s5></fC03><fC03 i1="10" i2="X" l="ENG"><s0>Tactile sensitivity</s0><s5>21</s5></fC03><fC03 i1="10" i2="X" l="SPA"><s0>Sensibilidad tactil</s0><s5>21</s5></fC03><fC03 i1="11" i2="X" l="FRE"><s0>Opérateur humain</s0><s5>22</s5></fC03><fC03 i1="11" i2="X" l="ENG"><s0>Human operator</s0><s5>22</s5></fC03><fC03 i1="11" i2="X" l="SPA"><s0>Operador humano</s0><s5>22</s5></fC03><fC03 i1="12" i2="X" l="FRE"><s0>Champ électrique</s0><s5>28</s5></fC03><fC03 i1="12" i2="X" l="ENG"><s0>Electric field</s0><s5>28</s5></fC03><fC03 i1="12" i2="X" l="SPA"><s0>Campo eléctrico</s0><s5>28</s5></fC03><fC03 i1="13" i2="X" l="FRE"><s0>Modélisation</s0><s5>29</s5></fC03><fC03 i1="13" i2="X" l="ENG"><s0>Modeling</s0><s5>29</s5></fC03><fC03 i1="13" i2="X" l="SPA"><s0>Modelización</s0><s5>29</s5></fC03><fN21><s1>008</s1></fN21><fN44 i1="01"><s1>OTO</s1></fN44><fN82><s1>OTO</s1></fN82></pA></standard></inist><affiliations><list><country><li>France</li><li>États-Unis</li></country><region><li>Île-de-France</li></region><settlement><li>Fontenay-aux-Roses</li></settlement></list><tree><country name="France"><region name="Île-de-France"><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name></region><name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name></country><country name="États-Unis"><noRegion><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name></noRegion><name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000B89 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000B89 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PascalFrancis
|étape= Checkpoint
|type= RBID
|clé= Pascal:07-0014672
|texte= Torque control of electrorheological fluidic actuators
}}
| This area was generated with Dilib version V0.6.23. |  |