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Keywords
Compliance Intelligent compliant motion control Robotic grasp Robotic manipulation Signal conditioning for multi-sensor
INTRODUCTION
Dexterous manipulation in robotics deals with the study of how robotic 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 transient contact condition which occurs at the time the manipulator is restricted by the object.
To deal with the problem when the manipulators make contact with the environment is necessary to consider an intelligent compliant motion control.
Motivation
The robot compliance to manipulate objects and develop tasks that requires force control.
The current robot dynamic models are to complex, the implementation of Fuzzy logic avoids the requirement of the manipulator mathematic model and the contact mechanic.
Scientific methodology
For implementation of the compliant motion control, is proposed a control based on input fuzzy rules emulated network-FREN, beside this control considers an upgrade element and the control of the position command to achieve the stability of the interaction between the manipulator and the environment.
Contact mechanics
Soft materials exhibit nonlinear characteristics, even for infinitesimal deformations. These characteristics can be shown through youngs modulus, which considers the relation stress-strain. For the design of the force contact model is necessary to determine the finger-tips model which will based in the Parallel-distributed model
This model compared to the Hertzian model offers a better solution to the problem of contact between two soft bodies.
Hertz
Kaos
Whereby, when making a comparison between the obtained model given by the control system FREN and Parallel-distributed model will be possible to determine the feasibility of the system.
Ultrasonic
The ultrasonic technic can provide high sensitivity and can be related with the contact from energy transmission
When the sensor contacts with the object is produced a drop in the signal amplitude since the acoustic impedances are similar.
Adaptation (k+1)
xd(k)
Desired Force
+ -
e (k)
Controller (FREN)
u(k) Manipulator
and Amplitude detection unit
x(k+1)
Force at contact
XYZ Robot
Force sensor Ultrasonic sensor Intelligent stand-alone ultrasonic device for monitoring
MANIPULATOR CONTROL
XYZ ROBOT
ULTRASONIC SENSOR
Design a small soft fingertip with ultrasonic sensing to obtain a better precision in the measurements. Implement ultrasonic sensing
ULTRASONIC SENSOR
The implementation of an Intelligent stand-alone ultrasonic device for monitoring, this consist in a reduced equipment of components for a distance monitoring, which consist of three parts:
a)
b)
c)
FORCE SENSOR
Implementation and signal conditioning the force and torque sensor
Force
CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback
CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback
CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback
INTELLIGENT STAND-ALONE Signal conditioning for force and ULTRASONIC DEVICE FOR ultrasonic sensors PID MONITORING
CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback
Current work
Current work
Current work
Schedule of activities
Ultrasonic sensor??
Thanks