Motion control of constrained systems considering their actuation-related singular configurations

2001-01-01
In this paper, the constrained motion control of a normally unconstrained mechanical system is investigated. As far as its motion control is concerned, such a system will have a redundancy in its actuators due to the reduction caused in its number of degrees of freedom by the presence of the constraints. Four methods are described in order to determine the actuator and constraint forces. The first three of these methods necessitate using all the actuators and the fourth method is applicable in a case where non-redundant (i.e. minimum) number of actuators is used. In such a case, it is shown that there exist actuation-related singular configurations (ASCs), at which the actuator and constraint forces become unboundedly large, unless some special precaution is taken. The fourth method includes an efficient precaution as well. As a case study, computer simulations are made considering a typical constrained system that consists of two cooperating manipulators. Only the fourth method is applied because it is preferable with its minimal operational complexity and also because its application needs extra care due to the troublesome but interesting phenomenon of ASCs.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING

Suggestions

Control of constrained spatial three-link flexible manipulators
KILIÇASLAN, SİNAN; Özgören, Mustafa Kemal; Ider, S. Kemal (2007-06-29)
This study deals with the force and motion control of a spatial three-link articulated manipulator with flexible second and third links. In order to reduce the complexity of the dynamic equations each link is modelled as if unconnected and the joint connections are expressed as constraint equations. Then the joint forces are eliminated and the number of equations is reduced by substituting the acceleration level constraint equations into the dynamic equations. The dynamic equations are partitioned as pseudo...
Invalid joint arrangements and actuator related singular configurations of a system of two cooperating SCARA manipulators
Ozkan, B; Özgören, Mustafa Kemal (2001-06-01)
In this study, the actuator related singular configurations (ASCs) of a system of two cooperating SCARA manipulators, are investigated. The ASC concept was First developed for planar pairs of cooperating manipulators, and it was shown that these ill-conditions could be different from the kinematic: singularities. (Ozkan B, Ozgoren MK. Torque related singular configurations of a planar system of two coodinated manipulators. In: Proceedings of International Machine Design and Production Conference, Sept. 9-11...
Performance evaluation of piezoelectric sensor/actuator on active vibration control of a smart beam
Şahin, Melin (SAGE Publications, 2011-01-01)
In this paper the performance of a piezoelectric sensor/actuator pair and self-sensing piezoelectric actuator on the investigation of vibration characteristics and active vibration control of a smart beam are presented. The performance of piezoelectric patches on actuation and sensing is evaluated by investigating the vibration characteristics of the smart beam via various excitation mechanisms and transduction systems. For active vibration suppression of the smart beam, robust controllers are designed and ...
Active vibration suppression of a flexible beam via sliding mode and H ∞ control
Itik, Mehmet; Salamci, Metin U.; Demet Ulker, F.; Yaman, Yavuz (2005-12-01)
n this study, sliding mode and H. control techniques are applied to a flexible beam in order to suppress some of the vibration modes. The beam is a clamped-free flexible structure having piezoelectric (PZT) patches as actuators and a laser displacement sensor for measuring the tip point deflection. The beam is modeled in two different ways for each control algorithm. To implement sliding mode control (SMC), Euler-Bernoulli beam model is used and a finite dimensional LTI model is formed by using assumed mode...
Linear Analysis of Zero-Lift Pitching Moment Coefficient and Gravity Effects on Missile Autopilots
Ovec, Naz T.; Erer, Koray S.; Kutay, Ali Türker (2015-03-14)
The most of the studies on disturbance rejection are covered with robust control methods, where this paper suggests a narrowed but a more simplified linear model based technique to assess the robustness of the controllers. In this paper presented, the problems originated from the disturbances are aimed to be obtained as far in advance as possible. The method used in this work reduces the iterative fine tuning time course between the non-linear simulation and the linear model; hence it enhances the authority...
Citation Formats
M. K. Özgören, “Motion control of constrained systems considering their actuation-related singular configurations,” PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, pp. 113–123, 2001, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31329.