Avance de Tesis Augusto - VER_5

8/12/2019 Avance de Tesis Augusto - VER_5

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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



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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



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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



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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

Avance de Tesis Augusto - VER_5

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