Biologically-inspired Motion Control for Kinematic Redundancy Resolution and Self-sensing Exploitation for Energy Conservation in Electromagnetic Devices

Redundant Manipulator;Jacobian Transpose Controller;Under-actuation;Minimum Attention;Electromagnetic Devices;Energy Conservation;Self Sensing;Generalized Likelihood Ratio Test;Mechanical Engineering

Babakeshizadeh, Vahid

University of Waterloo

关键词: Redundant Manipulator;    Jacobian Transpose Controller;    Under-actuation;    Minimum Attention;    Electromagnetic Devices;    Energy Conservation;    Self Sensing;    Generalized Likelihood Ratio Test;    Mechanical Engineering;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/8123/5/Babakeshizadeh_Vahid.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

This thesis investigates particular topics in advanced motion control of two distinctmechanical systems: human-like motion control of redundant robot manipulatorsand advanced sensing and control for energy-efficient operation of electromagneticdevices.Control of robot manipulators for human-like motions has been one of challengingtopics in robot control for over half a century. The first part of this thesisconsiders methods that exploits robot manipulators’ degrees of freedom for suchpurposes. Jacobian transpose control law is investigated as one of the well-knowncontrollers and sufficient conditions for its universal convergence are derived byusing concepts of ;;stability on a manifold” and ;;transferability to a sub-manifold”.Firstly, a modification on this method is proposed to enhance the rectilinear trajectoryof the robot end-effector. Secondly, an abridged Jacobian controller isproposed that exploits passive control of joints to reduce the attended degrees offreedom of the system. Finally, the application of minimally-attended controllerfor human-like motion is introduced.Electromagnetic (EM) access control systems are one of growing electronic systemswhich are used in applications where conventional mechanical locks may notguarantee the expected safety of the peripheral doors of buildings. In the secondpart of this thesis, an intelligent EM unit is introduced which recruits the selfsensingcapability of the original EM block for detection purposes. The proposedEM device optimizes its energy consumption through a control strategy whichregulates the supply to the system upon detection of any eminent disturbance.Therefore, it draws a very small current when the full power is not needed. Theperformance of the proposed control strategy was evaluated based on a standardsafety requirement for EM locking mechanisms. For a particular EM model, theproposed method is verified to realize a 75% reduction in the power consumption.