Search results

This paper aims to propose a new linear parameter varying (LPV) controller for the robot tracking control problem. Using the identification of the robot dynamics in different work space points about modeling trajectory based on the least square of error algorithm, an LPV model for the robotic arm is extracted.

Parameter set mapping based on parameter component analysis results in a reduced polytopic LPV model that reduces the complexity of the implementation. An approximation of the required torque is computed based on the reduced LPV models. The state-feedback gain of each zone is computed by solving some linear matrix inequalities (LMIs) to sufficiently decrease the time derivative of a Lyapunov function. A novel smoothing method is used for the proposed controller to switch properly in the borders of the zones.

The polytopic set of the resulting gains creates the smooth switching polytopic LPV (SS-LPV) controller which is applied to the trajectory tracking problem of the six-degree-of-freedom PUMA 560 robotic arm. A sufficient condition ensures that the proposed controller stabilizes the polytopic LPV system against the torque estimation error.

Smoothing of the switching LPV controller is performed by defining some tolerances and creating some quasi-zones in the borders of the main zones leading to the compressed main zones. The proposed torque estimation is not a model-based technique; so the model variation and other disturbances cannot destroy the performance of the suggested controller. The proposed control scheme does not have any considerable computational load, because the control gains are obtained offline by solving some LMIs, and the torque computation is done online by a simple polytopic-based equation.

In this paper, a new SS-LPV controller is addressed for the trajectory tracking problem of robotic arms. Robot workspace is zoned into some main zones in such a way that the number of models in each zone is almost equal. Data obtained from the modeling trajectory is used to design the state-feedback control gain.

Industrial drives require appropriate control systems for reliable and efficient performance. With synchronous reluctance machines (SynRMs) slowly replacing the most commonly used induction, switched reluctance and permanent magnet machines, it is essential that the drive and its control be properly selected for enhanced performance. But the major drawback of synchronous reluctance motor is the presence of high torque ripple as its design is characterized by large number of variables. The solutions to reduce torque ripple include design modifications, choice of proper power electronic inverter and PWM strategy. But little has been explored about the power electronic inverters suited for synchronous reluctance motor drive to minimize torque ripple inherently by obtaining a more sinusoidal voltage. The purpose of this paper is to elaborate on the potential multilevel inverter topologies applicable to SynRM drives used in solar pumping applications.

The most significant field-oriented control using maximum torque per ampere algorithm for maximizing the torque production is used for the control of SynRM. Simulation results carried out using Matlab/Simulink are presented to justify the choice of inverter and its control technique for SynRM.

The five-level inverter drive gives lesser core or iron losses in the SynRMin comparison to the three- and two-level inverters due to lower Id current ripple. The five-level inverter reduces the torque ripple of the SynRM significantly in comparison to the three- and two-level inverter fed SynRM drives. The phase disposition-PWM control method used for the inverter shows the least total harmonic distortion (THD) levels in output voltage compared with the other level shifted PWM techniques.

Among the available topologies, a fitting topology is proposed for use for the SynRM drive to have minimal THD, minimal current and torque ripple. Additionally, this paper presents various modulation techniques available for the selected drive system and reports on a suitable technique based on minimal THD of output voltage and hence minimal torque ripple.

With the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency while solving the safety problems.

The pulleys and tracks are used to form a dynamic sealing chamber to improve the dynamic adsorption effect and motion flexibility of the RWCR. The mapping relationship between the critical minimum adsorption force required for RWCR downward slip, longitudinal tipping and lateral overturning conditions for tipping and the wall inclination angle is calculated using the ultimate force method. The pressure and gas flow rate distribution of the negative pressure chamber under different slit heights of the negative pressure mechanism is analysed by the fluid dynamics software to derive the minimum negative pressure value that the fan needs to provide.

Simulation and test results show that the load capacity of the RWCR can reach up to 6.2 kg on the smooth glass wall, and the maximum load in the case of lateral movement is 4.2 kg, which verifies the rationality and effectiveness of the design.

This paper presents a new design method of a RWCR for different rough wall surfaces and analyses the ultimate force state and hydrodynamic characteristics.

The purpose of this paper is to test and analyze the friction torque of double-row angular contact ball bearings under vacuum or ordinary pressure environment, horizontal or upright installation mode, and different rotational speeds, and to provide theoretical bases for the development of aerospace equipment.

The experiments were carried out to investigate the effects of vacuum or ordinary pressure environment, horizontal or upright installation mode and different rotational speeds on bearing friction torque. To explore the relationship between working conditions and bearing friction torque, firstly, based on the generation source of friction torque, the test principle was determined, a test system was developed and the reliability of data was verified. Secondly, the friction torque of bearing was tested, and the values under various working conditions were obtained. Finally, this paper compared and discussed the test results.

The test results show that the friction torque value of vacuum environment horizontal installation condition is the largest at different rotational speeds, and the rotational speed has the most significant influence on the friction torque.

The friction torque test system of double-row angular contact ball bearing under vacuum environment was designed and built. The influence rules of vacuum or ordinary pressure environment, horizontal or upright installation mode and different rotational speeds on bearing friction torque were obtained.

The peer review history for this article is available at: http://dx.doi.org/10.1108/ILT-08-2023-0259

The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.

A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.

For low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.

This algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.

This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification.

First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified.

Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models.

This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.

The purpose of this paper is to present the influence of inter-turn short circuit faults (ITSF) on electromagnetic vibration in high-voltage line-starting permanent magnet synchronous motor (HVLSPMSMS).

In this paper, the ampere–conductor wave model of HVLSPMSM after ITSF is established. Second, a mathematical model of the magnetic field after ITSF is established, and the influence law of the ITSF on the air-gap magnetic field is analyzed. Further, the mathematical expression of the electromagnetic force density is established based on the Maxwell tensor method. The impact of HVLSPMSM torque ripple frequency, radial electromagnetic force spatial–temporal distribution and rotor unbalanced magnetic tension force by ITSF is revealed. Finally, the electromagnetic–mechanical coupling model of HVLSPMSM is established, and the vibration spectra of the motor with different degrees of ITSF are solved by numerical calculation.

In this study, it is found that the 2np order flux density harmonics and (2 N + 1) p order electromagnetic forces are not generated when ITSF occurs in HVLSPMSM.

By analyzing the multi-harmonics of HVLSPMSM after ITSF, this paper provides a reliable method for troubleshooting from the perspective of vibration and torque fluctuation and rotor unbalanced electromagnetic force.

The purpose of this study is to develop a magnetic resonance imaging (MRI)-safe iron-free electrical actuator for MR-guided surgical interventions.

The paper deals with the design of an MRI compatible electrical actuator. Three-dimensional electromagnetic and thermal analytical models have been developed to design the actuator. These models have been validated through 3D finite element (FE) computations. The analytical models have been inserted in an optimization procedure that uses genetic algorithms to find the optimal parameters of the actuator.

The analytical models are very fast and precise compared to the FE models. The computation time is 0.1 s for the electromagnetic analytical model and 3 min for the FE one. The optimized actuator does not perturb imaging sequence even if supplied with a current 10 times higher than its rated one. Indeed, the actuator’s magnetic field generated in the imaging area does not exceed 1 ppm of the B₀ field generated by the MRI scanner. The actuator can perform up to 25 biopsy cycles without any risk to the actuator or the patient since he maximum temperature rise of the actuator is about 20°C. The actuator is compact and lightweight compared to its pneumatic counterpart.

The MRI compatible actuator uses the B₀ field generated by scanner as inductor. The design procedure uses magneto-thermal coupled models that can be adapted to the design of a variety actuation systems working in MRI environment.

In a dual-robot system, the relative position error is a superposition of errors from each mono-robot, resulting in deteriorated coordination accuracy. This study aims to enhance relative accuracy of the dual-robot system through direct compensation of relative errors. To achieve this, a novel calibration-driven transfer learning method is proposed for relative error prediction in dual-robot systems.

A novel local product of exponential (POE) model with minimal parameters is proposed for error modeling. And a two-step method is presented to identify both geometric and nongeometric parameters for the mono-robots. Using the identified parameters, two calibrated models are established and combined as one dual-robot model, generating error data between the nominal and calibrated models’ outputs. Subsequently, the calibration-driven transfer, involving pretraining a neural network with sufficient generated error data and fine-tuning with a small measured data set, is introduced, enabling knowledge transfer and thereby obtaining a high-precision relative error predictor.

Experimental validation is conducted, and the results demonstrate that the proposed method has reduced the maximum and average relative errors by 45.1% and 30.6% compared with the calibrated model, yielding the values of 0.594 mm and 0.255 mm, respectively.

First, the proposed calibration-driven transfer method innovatively adopts the calibrated model as a data generator to address the issue of real data scarcity. It achieves high-accuracy relative error prediction with only a small measured data set, significantly enhancing error compensation efficiency. Second, the proposed local POE model achieves model minimality without the need for complex redundant parameter partitioning operations, ensuring stability and robustness in parameter identification.

The purpose of this paper is to introduce a novel cross (+) type yoke with hybrid electromagnets and new reluctance modeling to precisely calculate attraction force is given.

The comparison of attraction force and torque analyses between the proposed formulation and the existing formulation in the literature is comparatively presented. For the correctness of the force and torque values calculated in the model created, the system was created in ANSYS Maxwell and its accuracy was proved by making analyses. The maglev carrier system is inherently unstable from the point of view of control engineering. For that, it needs an active controller to eliminate this instability. For the levitation of the carrier system, it is necessary to design a controller in three axes (z, α and β). I-PD controller was designed for the air gap control of the carrier system in three axes and the controller parameters were determined by the canonical method.

While the new formulation proposed in the modeling of the carrier system has a maximum error of 1.03%, the existing formula in the literature has an error of 16.83% in the levitation distance point.

A novel cross-type hybrid carrier system has been proposed in the literature. With the double integral used in modeling the system, it takes a long time to solve symbolically, and it is difficult to simulate dynamic behavior in control validation. To solve this problem, attraction force and inclination torque values are easily characterized by new formulation and besides the simulations are conducted easily. The experimental setup was manufactured and assembled, and the carrier system was successfully levitated, and reference tracking was performed without overshoot.