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This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness.
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This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Two classes of solutions are discussed: adaptive admittance control and adaptive compliance control. In both admittance and compliance control schemes, compensator adaptation is used to ensure a stable and uniform system performance.
The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.
Two adaptive control schemes offer robust solutions to problem of stable control of forces of contact between robotic manipulator and objects in its environment. They are called "adaptive admittance control" and "adaptive compliance control." Both schemes involve use of force-and torque sensors that indicate contact forces. These schemes performed well when tested in computational simulations in which they were used to control seven-degree-of-freedom robot arm in executing contact tasks. Choice between admittance or compliance control is dictated by requirements of the application at hand.
The demands of traditional industrial robotics differ significantly from those of remote, supervised operations in hostile environments, such as operations in space. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. PTWL was tested on a variety of quasi-static and dynamic tasks that may be useful for future space operations. Results demonstrate that PTWL is a powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.
Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.
Abstract Interest in wave energy converters to provide autonomous power to various ocean-bound systems, such as autonomous underwater vehicles, sensor systems, and even aquaculture farms, has grown in recent years. The Monterey Bay Aquarium Research Institute has developed and deployed a small two-body point absorber wave energy device suitable to such needs. This paper provides a description of the system to support future open-source access to the device and further the general development of similar wave energy systems. Additionally, to support future control design and system modification efforts, a set of hydrodynamic models are presented and cross-compared. To test the viability of using a linear frequency-domain admittance model for controller tuning, the linear model is compared against four WEC-Sim models of increasing complexity. The linear frequency-domain model is found to be generally adequate for capturing system dynamics, as the model agreement is good and the degree of nonlinearity introduced in the WEC-Sim models is generally less than 2.5%.
Here, we present two methods to identify the admittance of a 2.3-MVA commercial grid-following inverter through frequency-domain data and time-domain data. In addition to the well-known harmonic injection method to obtain the admittance at frequency points followed by vector fitting, we adopt a step response-based method where the step response data of the converter are collected and their s-domain expressions are obtained. In turn, the s-domain admittance model of the converter is found. The two methods can be used for cross validation. Step responses and frequency-domain responses obtained from the two methods are compared. Results show that the time- domain data-based method leads to an admittance comparable with that from the frequency-domain measurement in the range less than 60 Hz. In addition, two insights are obtained from the frequency-domain admittance measurements. First, when the dq- frame is aligned to the point of common coupling (PCC) voltage, the per unit DQ-domain admittance directly reflects operating conditions. Second, existence of negative-sequence control can be detected via sequence-domain admittances.
We find the admittance Y(ω) of a Josephson junction at or near a topological transition. The dependence of the admittance on frequency and temperature at the critical point is universal and determined by the symmetries of the system. Despite the absence of a spectral gap at the transition, the dissipative response may remain weak at low energies: ReY(ω)∝max(ω,T) 2 . This behavior is strikingly different from the electromagnetic response of a normal metal. Away from the critical point, the scaling functions for the dependence of the admittance on frequency and temperature are controlled by at most two parameters.
Coronae are volcano-tectonic features on Venus which range from 60km to 2600km and are defined by their nearly circular patterns of fractures. Type 1 (regular) coronae are classified as having >50% complete fracture annuli. Previous work has examined the factors controlling the morphology, size, and fracture pattern of coronae, using lithospheric properties, loading signature and geologic characteristics. However, these studies have been limited to Type 2 (topographic) coronae (e.g. coronaes with <50% fracture annuli), and the factors controlling the formation of Type 1 coronae remain poorly understood. In this study, we apply the methodology of to survey the admittance signature for Type 1 coronae to determine the controlling parameters which govern Type 1 coronae formation.
The acoustic response of a semireverberant enclosure with two interacting, velocity-prescribed source distributions was analyzed using standard modal analysis techniques with a view toward a better understanding of active noise control. Different source and enclosure dimensions, source separations, and single-wall admittances were studied over representative frequency bandwidths of 10 Hz with source relative phase as a parameter. Results indicate that power radiated into the enclosure agree qualitatively with the spatial average of the mean square pressure, even though the reverberant field is nondiffuse. Decreases in acoustic power can therefore be used to estimate global noise reduction in a nondiffuse semireverberant environment. As might be expected, parametric studies indicate that maximum power reductions of up to 25 dB can be achieved when secondary and primary sources are compact and closely spaced. Although less success is achieved with increasing frequency and source separation or size, significant suppression of up to 8 dB still occurs over the 1 to 2 Hz bandwidth.
The growing need for classical as well as quantum optical sensing places increasingly stringent requirements upon the desired characteristics of the engendered fields. Specifically, achieving superior field enhancement plays a critical role in applications ranging from chem-bio sensing, Raman and infrared spectroscopies to ion trapping and qubit control in emerging quantum-information science. Due to their low optical losses and ability to exhibit resonant field enhancements, all dielectric multilayers are emerging as an optical material system not only useful to classical photonics and sensing but also of potential to be integrated with quantum materials and quantum sensing. The recently introduced concept of zero-admittance layers [1] within dielectric multilayer materials, enables the creation and control of resonant fields orders of magnitude larger than the exciting field. Here, invoking the zero-admittance concept, we design, fabricate, and characterize an all-dielectric nonabsorbing stack and demonstrate the engendered huge field enhancement. Describing the fields in terms of Bloch surface waves, we connect the surface field to the semiperiodicity in the dielectric domains of the stack. As a specific application of the resonant field, we propose and demonstrate refractive-index sensing for the detection of trace amounts of an analyte. The results include a quantification of the sensitivity of the device with respect to the profile of the exciting field. The experimental results are shown to be in good agreement with theoretical calculations.
A new local oscillator housing was built which seems to have improved laser life. Laser cooling was changed from internal water cooling to the more convenient thermal contact cooling. At the present time, a conclusion can not be made if the 20 percent reduction in power output is the result of poorer cooling or poorer grating alignment. The coupling-starting network was improved from 55 to about 90 percent. It can be adjusted by varying trimmers C sub 1 and C sub 2 to match RF power levels between 10 and 30 W. If the laser admittance changes greatly with laser life rematching will have to be achieved by remote control for space applications. The same holds true if the RF power level has to be changed with a maximum efficiency constraint.
In this article, we study the monitoring and control of long-term voltage stability considering load tap changer (LTC) dynamics. We show that under generic conditions, the LTC dynamics admit a unique stable equilibrium. For the stable equilibrium, we characterize an explicit inner approximation of its largest region of attraction (ROA). Compared to existing results, the computational complexity of the ROA characterization is drastically reduced. We propose a quadratically constrained linear program formulation for the ROA characterization problem. In addition, we formulate a second-order cone program for online voltage stability monitoring and control exploiting the proposed ROA characterization. Finally, we demonstrate the efficacy of the proposed formulations on the ROA characterization and stability monitoring and control using a standard IEEE test system.
Feedback-based optimization algorithms use real-time measurements to update the optimal control for the underlying system which may not be fully identified. Recently, we have developed a distributed feedback-based algorithm [1] that avoids the requirement of fast communication between central computing and local actuator/sensor agents. This paper extends the work by greatly reducing the number of copies of variables involved in the distributed feedback-based algorithm, which results in faster convergence and lower communication requirement. The main idea is to leverage the specific structural properties of the admittance matrix for distribution systems with tree network topology. We also show the effectiveness of the proposed algorithm in simulations.