HapticV1, PascalFrancis, Corpus, bibRecord, 000432

Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake

Identifieur interne : 000432 ( PascalFrancis/Corpus ); précédent : 000431; suivant : 000433

Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake

Auteurs : Berk Gonenc ; Hakan Gurocak

Source :

Industrial robot [ 0143-991X ] ; 2011.

RBID : Pascal:11-0439391

Descripteurs français

Pascal (Inist)
- Programme commande, Commande position, Commande hybride, Commande logique, Rejet perturbation, Robotique, Commande force, Mécatronique, Actionneur, Moteur courant continu, Servomoteur, Frein, Dépassement, Inertie, Freinage, Décélération, Taux production, Interface utilisateur, Signal entrée, Cinématique, Sensibilité tactile.

English descriptors

KwdEn :
- Actuator, Brake, Braking, Control program, Dc motor, Deceleration, Disturbance rejection, Force control, Hybrid control, Inertia, Input signal, Kinematics, Logic control, Mechatronics, Overshoot, Position control, Production rate, Robotics, Servomotor, Tactile sensitivity, User interface.

Abstract

Purpose - This paper aims to present a hybrid actuator controller to obtain fast and stiff position response without any overshoot by blending input signals of a DC servomotor and a particle brake. Design/methodology/approach - The hybrid actuator controller has a module to estimate instantaneous changes in inertia and a blending algorithm that adjusts input signals to the motor and the brake so that together, as a hybrid actuator, they can achieve a fast, stiff position response without overshoot. The control logic implemented in the controller is derived from the kinematics of the system. For the blending algorithm, two separate cases are explored in which the user has the option to either utilize the full-braking capacity or specify a safe deceleration limit for the system. Findings - The blending algorithm enables the system to operate nearly twice as fast as the motor-only case without any overshoot or oscillations. The controller can reject inertial load changes and significant external disturbances. Originality/value - Such hybrid actuators along with the developed controller can be used in robotics and automation to increase the system accuracy and operational speed resulting in higher production rates. In addition, much stiffer haptic force feedback interfaces for virtual reality applications can be designed with smaller actuators. The blending algorithm provides considerable improvements and uses a physics-based simple and easy-to-implement structure.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A02	`01`			`@0 IDRBAT`
A03		`1`		`@0 Ind. rob.`
A05				`@2 38`
A06				`@2 5`
A08	`01`	`1`	`ENG`	`@1 Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake`
A09	`01`	`1`	`ENG`	`@1 Humanitarian military applications`
A11	`01`	`1`		`@1 GONENC (Berk)`
A11	`02`	`1`		`@1 GUROCAK (Hakan)`
A12	`01`	`1`		`@1 ARKIN (Ronald) @9 limin.`
A14	`01`			`@1 School of Engineering and Computer Science, Washington State University @2 Vancouver, Washington @3 USA @Z 1 aut. @Z 2 aut.`
A15	`01`			`@1 School of Interactive Computing, Georgia Institute of Technology @2 Atlanta, Georgia @3 USA @Z 1 aut.`
A20				`@1 492-499`
A21				`@1 2011`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 18235 @5 354000509127900070`
A44				`@0 0000 @1 © 2011 INIST-CNRS. All rights reserved.`
A45				`@0 1/2 p.`
A47	`01`	`1`		`@0 11-0439391`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Industrial robot`
A66	`01`			`@0 GBR`
C01	`01`		`ENG`	@0 Purpose - This paper aims to present a hybrid actuator controller to obtain fast and stiff position response without any overshoot by blending input signals of a DC servomotor and a particle brake. Design/methodology/approach - The hybrid actuator controller has a module to estimate instantaneous changes in inertia and a blending algorithm that adjusts input signals to the motor and the brake so that together, as a hybrid actuator, they can achieve a fast, stiff position response without overshoot. The control logic implemented in the controller is derived from the kinematics of the system. For the blending algorithm, two separate cases are explored in which the user has the option to either utilize the full-braking capacity or specify a safe deceleration limit for the system. Findings - The blending algorithm enables the system to operate nearly twice as fast as the motor-only case without any overshoot or oscillations. The controller can reject inertial load changes and significant external disturbances. Originality/value - Such hybrid actuators along with the developed controller can be used in robotics and automation to increase the system accuracy and operational speed resulting in higher production rates. In addition, much stiffer haptic force feedback interfaces for virtual reality applications can be designed with smaller actuators. The blending algorithm provides considerable improvements and uses a physics-based simple and easy-to-implement structure.
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C03	`01`	`X`	`ENG`	`@0 Control program @5 06`
C03	`01`	`X`	`SPA`	`@0 Programa mando @5 06`
C03	`02`	`X`	`FRE`	`@0 Commande position @5 07`
C03	`02`	`X`	`ENG`	`@0 Position control @5 07`
C03	`02`	`X`	`SPA`	`@0 Regulación de la posición @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande hybride @5 08`
C03	`03`	`X`	`ENG`	`@0 Hybrid control @5 08`
C03	`03`	`X`	`SPA`	`@0 Control híbrida @5 08`
C03	`04`	`X`	`FRE`	`@0 Commande logique @5 09`
C03	`04`	`X`	`ENG`	`@0 Logic control @5 09`
C03	`04`	`X`	`SPA`	`@0 Control lógico @5 09`
C03	`05`	`X`	`FRE`	`@0 Rejet perturbation @5 10`
C03	`05`	`X`	`ENG`	`@0 Disturbance rejection @5 10`
C03	`05`	`X`	`SPA`	`@0 Recuazamiento pertubación @5 10`
C03	`06`	`X`	`FRE`	`@0 Robotique @5 11`
C03	`06`	`X`	`ENG`	`@0 Robotics @5 11`
C03	`06`	`X`	`SPA`	`@0 Robótica @5 11`
C03	`07`	`X`	`FRE`	`@0 Commande force @5 12`
C03	`07`	`X`	`ENG`	`@0 Force control @5 12`
C03	`07`	`X`	`SPA`	`@0 Control fuerza @5 12`
C03	`08`	`X`	`FRE`	`@0 Mécatronique @5 13`
C03	`08`	`X`	`ENG`	`@0 Mechatronics @5 13`
C03	`08`	`X`	`SPA`	`@0 Mecatrónica @5 13`
C03	`09`	`X`	`FRE`	`@0 Actionneur @5 18`
C03	`09`	`X`	`ENG`	`@0 Actuator @5 18`
C03	`09`	`X`	`SPA`	`@0 Accionador @5 18`
C03	`10`	`X`	`FRE`	`@0 Moteur courant continu @5 19`
C03	`10`	`X`	`ENG`	`@0 Dc motor @5 19`
C03	`10`	`X`	`SPA`	`@0 Motor corriente continua @5 19`
C03	`11`	`X`	`FRE`	`@0 Servomoteur @5 20`
C03	`11`	`X`	`ENG`	`@0 Servomotor @5 20`
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C03	`12`	`X`	`ENG`	`@0 Brake @5 21`
C03	`12`	`X`	`SPA`	`@0 Freno @5 21`
C03	`13`	`X`	`FRE`	`@0 Dépassement @5 22`
C03	`13`	`X`	`ENG`	`@0 Overshoot @5 22`
C03	`13`	`X`	`SPA`	`@0 Rebasamiento @5 22`
C03	`14`	`X`	`FRE`	`@0 Inertie @5 23`
C03	`14`	`X`	`ENG`	`@0 Inertia @5 23`
C03	`14`	`X`	`SPA`	`@0 Inercia @5 23`
C03	`15`	`X`	`FRE`	`@0 Freinage @5 24`
C03	`15`	`X`	`ENG`	`@0 Braking @5 24`
C03	`15`	`X`	`SPA`	`@0 Frenado @5 24`
C03	`16`	`X`	`FRE`	`@0 Décélération @5 25`
C03	`16`	`X`	`ENG`	`@0 Deceleration @5 25`
C03	`16`	`X`	`SPA`	`@0 Desaceleración @5 25`
C03	`17`	`X`	`FRE`	`@0 Taux production @5 26`
C03	`17`	`X`	`ENG`	`@0 Production rate @5 26`
C03	`17`	`X`	`SPA`	`@0 Índice producción @5 26`
C03	`18`	`X`	`FRE`	`@0 Interface utilisateur @5 27`
C03	`18`	`X`	`ENG`	`@0 User interface @5 27`
C03	`18`	`X`	`SPA`	`@0 Interfase usuario @5 27`
C03	`19`	`X`	`FRE`	`@0 Signal entrée @5 28`
C03	`19`	`X`	`ENG`	`@0 Input signal @5 28`
C03	`19`	`X`	`SPA`	`@0 Señal entrada @5 28`
C03	`20`	`X`	`FRE`	`@0 Cinématique @5 29`
C03	`20`	`X`	`ENG`	`@0 Kinematics @5 29`
C03	`20`	`X`	`SPA`	`@0 Cinemática @5 29`
C03	`21`	`X`	`FRE`	`@0 Sensibilité tactile @5 41`
C03	`21`	`X`	`ENG`	`@0 Tactile sensitivity @5 41`
C03	`21`	`X`	`SPA`	`@0 Sensibilidad tactil @5 41`
N21				`@1 297`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 11-0439391 INIST
ET :	Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake
AU :	GONENC (Berk); GUROCAK (Hakan); ARKIN (Ronald)
AF :	School of Engineering and Computer Science, Washington State University/Vancouver, Washington/Etats-Unis (1 aut., 2 aut.); School of Interactive Computing, Georgia Institute of Technology/Atlanta, Georgia/Etats-Unis (1 aut.)
DT :	Publication en série; Niveau analytique
SO :	Industrial robot; ISSN 0143-991X; Coden IDRBAT; Royaume-Uni; Da. 2011; Vol. 38; No. 5; Pp. 492-499; Bibl. 1/2 p.
LA :	Anglais
EA :	Purpose - This paper aims to present a hybrid actuator controller to obtain fast and stiff position response without any overshoot by blending input signals of a DC servomotor and a particle brake. Design/methodology/approach - The hybrid actuator controller has a module to estimate instantaneous changes in inertia and a blending algorithm that adjusts input signals to the motor and the brake so that together, as a hybrid actuator, they can achieve a fast, stiff position response without overshoot. The control logic implemented in the controller is derived from the kinematics of the system. For the blending algorithm, two separate cases are explored in which the user has the option to either utilize the full-braking capacity or specify a safe deceleration limit for the system. Findings - The blending algorithm enables the system to operate nearly twice as fast as the motor-only case without any overshoot or oscillations. The controller can reject inertial load changes and significant external disturbances. Originality/value - Such hybrid actuators along with the developed controller can be used in robotics and automation to increase the system accuracy and operational speed resulting in higher production rates. In addition, much stiffer haptic force feedback interfaces for virtual reality applications can be designed with smaller actuators. The blending algorithm provides considerable improvements and uses a physics-based simple and easy-to-implement structure.
CC :	001D12E04; 001B40F10; 001D02D11; 001D02B04
FD :	Programme commande; Commande position; Commande hybride; Commande logique; Rejet perturbation; Robotique; Commande force; Mécatronique; Actionneur; Moteur courant continu; Servomoteur; Frein; Dépassement; Inertie; Freinage; Décélération; Taux production; Interface utilisateur; Signal entrée; Cinématique; Sensibilité tactile
ED :	Control program; Position control; Hybrid control; Logic control; Disturbance rejection; Robotics; Force control; Mechatronics; Actuator; Dc motor; Servomotor; Brake; Overshoot; Inertia; Braking; Deceleration; Production rate; User interface; Input signal; Kinematics; Tactile sensitivity
SD :	Programa mando; Regulación de la posición; Control híbrida; Control lógico; Recuazamiento pertubación; Robótica; Control fuerza; Mecatrónica; Accionador; Motor corriente continua; Servomotor; Freno; Rebasamiento; Inercia; Frenado; Desaceleración; Índice producción; Interfase usuario; Señal entrada; Cinemática; Sensibilidad tactil
LO :	INIST-18235.354000509127900070
ID :	11-0439391

Links to Exploration step

Pascal:11-0439391

Le document en format XML

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<term>Input signal</term>
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<term>Position control</term>
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<term>Commande position</term>
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<term>Commande force</term>
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<front><div type="abstract" xml:lang="en">Purpose - This paper aims to present a hybrid actuator controller to obtain fast and stiff position response without any overshoot by blending input signals of a DC servomotor and a particle brake. Design/methodology/approach - The hybrid actuator controller has a module to estimate instantaneous changes in inertia and a blending algorithm that adjusts input signals to the motor and the brake so that together, as a hybrid actuator, they can achieve a fast, stiff position response without overshoot. The control logic implemented in the controller is derived from the kinematics of the system. For the blending algorithm, two separate cases are explored in which the user has the option to either utilize the full-braking capacity or specify a safe deceleration limit for the system. Findings - The blending algorithm enables the system to operate nearly twice as fast as the motor-only case without any overshoot or oscillations. The controller can reject inertial load changes and significant external disturbances. Originality/value - Such hybrid actuators along with the developed controller can be used in robotics and automation to increase the system accuracy and operational speed resulting in higher production rates. In addition, much stiffer haptic force feedback interfaces for virtual reality applications can be designed with smaller actuators. The blending algorithm provides considerable improvements and uses a physics-based simple and easy-to-implement structure.</div>
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<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robotics</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Robótica</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Commande force</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Force control</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Mécatronique</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Mechatronics</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Mecatrónica</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Actionneur</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Actuator</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Accionador</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Moteur courant continu</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Dc motor</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Motor corriente continua</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Servomoteur</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Servomotor</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Servomotor</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Frein</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Brake</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Freno</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Dépassement</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Overshoot</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Rebasamiento</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Inertie</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Inertia</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Inercia</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Freinage</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Braking</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Frenado</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Décélération</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Deceleration</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Desaceleración</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Taux production</s0>
<s5>26</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Production rate</s0>
<s5>26</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Índice producción</s0>
<s5>26</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>User interface</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Signal entrée</s0>
<s5>28</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Input signal</s0>
<s5>28</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Señal entrada</s0>
<s5>28</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>29</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>29</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>29</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>41</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>41</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>41</s5>
</fC03>
<fN21><s1>297</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 11-0439391 INIST</NO>
<ET>Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake</ET>
<AU>GONENC (Berk); GUROCAK (Hakan); ARKIN (Ronald)</AU>
<AF>School of Engineering and Computer Science, Washington State University/Vancouver, Washington/Etats-Unis (1 aut., 2 aut.); School of Interactive Computing, Georgia Institute of Technology/Atlanta, Georgia/Etats-Unis (1 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Industrial robot; ISSN 0143-991X; Coden IDRBAT; Royaume-Uni; Da. 2011; Vol. 38; No. 5; Pp. 492-499; Bibl. 1/2 p.</SO>
<LA>Anglais</LA>
<EA>Purpose - This paper aims to present a hybrid actuator controller to obtain fast and stiff position response without any overshoot by blending input signals of a DC servomotor and a particle brake. Design/methodology/approach - The hybrid actuator controller has a module to estimate instantaneous changes in inertia and a blending algorithm that adjusts input signals to the motor and the brake so that together, as a hybrid actuator, they can achieve a fast, stiff position response without overshoot. The control logic implemented in the controller is derived from the kinematics of the system. For the blending algorithm, two separate cases are explored in which the user has the option to either utilize the full-braking capacity or specify a safe deceleration limit for the system. Findings - The blending algorithm enables the system to operate nearly twice as fast as the motor-only case without any overshoot or oscillations. The controller can reject inertial load changes and significant external disturbances. Originality/value - Such hybrid actuators along with the developed controller can be used in robotics and automation to increase the system accuracy and operational speed resulting in higher production rates. In addition, much stiffer haptic force feedback interfaces for virtual reality applications can be designed with smaller actuators. The blending algorithm provides considerable improvements and uses a physics-based simple and easy-to-implement structure.</EA>
<CC>001D12E04; 001B40F10; 001D02D11; 001D02B04</CC>
<FD>Programme commande; Commande position; Commande hybride; Commande logique; Rejet perturbation; Robotique; Commande force; Mécatronique; Actionneur; Moteur courant continu; Servomoteur; Frein; Dépassement; Inertie; Freinage; Décélération; Taux production; Interface utilisateur; Signal entrée; Cinématique; Sensibilité tactile</FD>
<ED>Control program; Position control; Hybrid control; Logic control; Disturbance rejection; Robotics; Force control; Mechatronics; Actuator; Dc motor; Servomotor; Brake; Overshoot; Inertia; Braking; Deceleration; Production rate; User interface; Input signal; Kinematics; Tactile sensitivity</ED>
<SD>Programa mando; Regulación de la posición; Control híbrida; Control lógico; Recuazamiento pertubación; Robótica; Control fuerza; Mecatrónica; Accionador; Motor corriente continua; Servomotor; Freno; Rebasamiento; Inercia; Frenado; Desaceleración; Índice producción; Interfase usuario; Señal entrada; Cinemática; Sensibilidad tactil</SD>
<LO>INIST-18235.354000509127900070</LO>
<ID>11-0439391</ID>
</server>
</inist>
</record>

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Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake

Blending algorithm for position control with a hybrid actuator made of DC servomotor and brake

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