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Realization of Force Generation Exploiting an Oscillatory Motion of a Robotic Arm

Last-modified: 2012-08-20 (Mon) 00:29:30 (1945d)
Top / Realization of Force Generation Exploiting an Oscillatory Motion of a Robotic Arm

Abstract from my paper

In this study, the effect of exploiting an oscillatory motion of a manipulator on large force generation is demonstrated using simulations. Firstly, a natural frequency approximation method is devised, and a preferable posture of the manipulator is selected based on the approximation. The preferable posture is a posture in which the natural frequency of the manipulator is low. Since, in general, high frequency vibration is considered to be an undesirable phenomenon for mechanical systems, the manipulator should be operated in the preferable posture. Secondly, a method to oscillate the manipulator is proposed, and its performance is investigated using simulations. The method capitalizes on the oscillatory motion of the manipulator for efficient large force generation. Specifically, the method uses Van der Pol (VDP) oscillator to exploit an oscillatory motion of the manipulator. A force reference signal, which is a command to make the manipulator oscillate, is produced by the VDP oscillator. Due to the entrainment property of the VDP oscillator, the force reference signal can synchronize with the motion of the manipulator. The efficient large force generation is attained by the synchronization. Thirdly, a force control system that enables you to obtain the desired amount of force is designed based on the force generation method. By adjusting the natural frequency of the VDP oscillator, the purpose of the force control system is realized. Finally, a theoretical proof of the entrainment property of the VDP oscillator coupled with a linear mechanical system is established with an averaging method, and simulations exemplify the validity of the proof.

Inspiration

I've gotten inspiration for this study from Tacoma bridge collapse due to wind-induced resonance.

Simulation Result

vdp_1.jpg

Related Papers

  1. Kobayashi, J., Large Force Generation and Control Method of Manipulator Exploiting its Oscillatory Motion Using Van der Pol Oscillator, International Journal of Control, Automation, and Systems (accepted)
  2. Kobayashi, J., Entrainment property analysis of van der pol oscillator driving a spring-mass system for large force generation by averaging method, IEEE International Conference on Robotics, Automation and Mechatronics (accepted)
  3. Kobayashi, J., Weeding Manipulator Exploiting Its Oscillatory Motion for Force Generation: Parameter Optimization of VDP Oscillator using Real-Coded Genetic Algorithm, Proc. of the 2009 IEEE International Conference on Robotics and Biomimetics, pp. 1387-1392, 2009
  4. Kobayashi, J., Weeding Manipulator Exploiting Its Oscillatory Motion for Force Generation: Verification of the Effectiveness by Simulations using Open Dynamics Engine, Proc. of the 2008 IEEE International Conference on Robotics and Biomimetics, pp. 1285-1290, 2009
  5. Kobayashi, J., Ohkawa, F., Force Control System with Nonlinear Oscillator for Manipulator in Oscillatory Motion, Proc. of the 2007 IEEE International Conference on Robotics and Biomimetics, pp. 2166-2171, 2007
  6. Kobayashi, J., Ohkawa, F., Efficient Oscillation Method with Nonlinear Oscillator for Large Force Generation of Manipulator Exploiting Oscillatory Motion, Proc. of the 2006 IEEE International Conference on Robotics and Biomimetics, pp. 351-356, 2006
  7. Kobayashi, J., Ohkawa, F., Large Force Generation Method Exploiting Oscillatory Motion of Manipulator Driven by Van Der Pol Oscillator, Proc. of the 32nd Annual Conference of the IEEE Industrial Electronics Society, pp.4113-4118, 2006
  8. Kobayashi, J., Ohkawa, F., Natural Frequency Analysis of Spring-Manipulator System for Force Generation Utilizing Mechanical Resonance, Proc. of International Conference on Control, Automation, and Systems, pp.1651-1656, 2005

Attach file: filevdp_1.jpg 1037 download [Information]