Comparison of the control-force characteristics of two types of lateral-control system for large airplanes
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CONTROL SURFACES, BALANCED↗
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An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines
Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.
17 WIND ENERGY↗
Simulation study of an automatic trim system for reducing the control forces on a light twin after an engine failure
An automatic trim system for reducing the control forces after an engine failure on a light twin has been investigated on the Langley General Aviation Simulator. The system schedules open-loop trim tab deflections as a function of differential propeller slipstream dynamic pressure and freestream dynamic pressure. The system is described and the airplane-system static and dynamic characteristics are documented. Three NASA research pilots evaluated the effectiveness of the system for takeoff and landing maneuvers. A variety of off-nominal system characteristics were studied. The system was judged to be generally beneficial, providing a 2 to 3 point improvement in pilot rating for the tasks used in the evaluations.
Stewart, E. C.↗
Controlling Force and Depth in Friction Stir Welding
Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).
Adams, Glynn↗
Stability analysis of position and force control problems for robot arms
Stability issues involving the control of a robot arm under the influence of external forces are discussed. Several different scenarios are considered: position control with the external force as an unmodeled disturbance, compliant control for a bounded external force in some subspace, and compliant control for a force due to the interaction with an environment whose dynamical behavior can be modeled. In each of these cases, a stability analysis using the Lyapunov method is presented. An explanation of instability is put forth for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved with the integral force feedback.
Wen, John T.↗
Stability analysis of position and force control problems for robot arms
A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available. An explanation of instability is given for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved via the integral force feedback.
Wen, John T.↗
A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics
This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported.
Robots↗
Robotic Gripper With Force Control And Optical Sensors
Robotic gripper locates, measures, recognizes and manipulates objects in assembly-line setting. Fiber-optic sensors in fingertips help locate and identify object. Gripper grasps object and determines size from finger-position feedback, while grasped under force control. Prototype handles geranium cuttings in commercial greenhouse, basic concept and design modified for other objects (rods or nuts), including sorting to size.
Montgomery, James L.↗
Microprocessor controlled force actuator
The mechanical and electrical design of a prototype force actuator for vibration control of large space structures (LSS) is described. The force actuator is an electromagnetic system that produces a force by reacting against a proof-mass. The actuator has two colocated sensors, a digital microcontroller, and a power amplifier. The total weight of actuator is .998 kg. The actuator has a steady state force output of approximately 2.75 N from approximately 2 Hz to well beyond 1000 Hz.
Zimmerman, D. C.↗
Natural transition from rate to force control of a manipulator
A method for teleoperator control which offers advantages over previous techniques is demonstrated. In the new method, a fundamental variable exchanged between the master and slave is the rate of change in position and force. An inherent capability of the control scheme is demonstrated for transition between control methods based on environmental constraints in a manner natural to the operator. Specifically, rate control of a manipulator makes the transition to force-force control when a force-reflecting hand controller is used with a local force accommodation algorithm running on the remote manipulator. The transition from rate to force occurs when contact is made with the environment.
Harrison, F. W.↗
Integrated Flush Air Data Sensing System Modeling for Planetary Entry Guidance with Direct Force Control
Flush air data sensing (FADS) systems have been previously used at both Earth and Mars to provide onboard estimates of angle of attack, sideslip angle, and dynamic pressure. However, these FADS data were often not used in an in-the-loop sense to inform the onboard guidance and control systems. A method to integrate FADS-derived density and wind estimates with a numerical predictor-corrector guidance algorithm is presented. The method is demonstrated in a high-fidelity simulation of a human-scale Mars entry vehicle that utilizes a hypersonic inflatable aerodynamic decelerator (HIAD) with direct force control. Effects on guidance commands and state uncertainties both with and without FADS system modeling are presented and discussed.
Lugo, Rafael A.↗
Force control of a multi-arm robot system
A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.
Alberts, Thomas E.↗
Impact of inertia, friction, and backlash upon force control in telemanipulation
The mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors.
Duffie, Neil A.↗
Tests of an Attack-Type Airplane in the Ames 40- by 80-Foot Wind Tunnel to Improve the High-Speed Maneuvering Control-Force Characteristics
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AILERON CONTROLS - DOUGLAS A-26B↗
Position and force control of coordinated multiple arms
A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.
Hayati, Samad A.↗
Comparison of force and tactile feedback for grasp force control in telemanipulation
The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed.
Wiker, Steven F.↗
Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation
The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.
Wiker, Steven F.↗
Climate forcing controls on carbon terrestrial fluxes during shale weathering
Climate influences near-surface biogeochemical processes and thereby determines the partitioning of carbon dioxide (CO 2 ) in shale, and yet the controls on carbon (C) weathering fluxes remain poorly constrained. Using a dataset that characterizes biogeochemical responses to climate forcing in shale regolith, we implement a numerical model that describes the effects of water infiltration events, gas exchange, and temperature fluctuations on soil respiration and mineral weathering at a seasonal timescale. Our modeling approach allows us to quantitatively disentangle the controls of transient climate forcing and biogeochemical mechanisms on C partitioning. We find that ~3% of soil CO 2 (1.02 mol C/m 2 /y) is exported to the subsurface during large infiltration events. Here, net atmospheric CO 2 drawdown primarily occurs during spring snowmelt, governs the aqueous C exports (61%), and exceeds the CO 2 flux generated by pyrite and petrogenic organic matter oxidation (~0.2 mol C/m 2 /y). We show that shale CO 2 consumption results from the temporal coupling between soil microbial respiration and carbonate weathering. This coupling is driven by the impacts of hydrologic fluctuations on fresh organic matter availability and CO 2 transport to the weathering front. Diffusion-limited transport of gases under transient hydrological conditions exerts an important control on CO 2 (g) egress patterns and thus must be considered when inferring soil CO 2 drawdown from the gas phase composition. Our findings emphasize the importance of seasonal climate forcing in shaping the net contribution of shale weathering to terrestrial C fluxes and suggest that warmer conditions could reduce the potential for shale weathering to act as a CO 2 sink.
58 GEOSCIENCES↗