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Adaptive control for force-position feedback with unknown contact mechanism for soft fingertip.

AUGUSTO IVN CARREN BERNAL THESIS DIRECTOR DR. CHIDENTREE TREESATAYAPUN

Keywords

Compliance Intelligent compliant motion control Robotic grasp Robotic manipulation Signal conditioning for multi-sensor

INTRODUCTION

Dexterous manipulation in robotics deals with the study of how robotic manipulator or fingertips cooperate to perform a task. For this, is necessary to determine the force contact, namely, the force is controlled. This force control involves a transient contact condition which occurs at the time the manipulator is restricted by the object.

To deal with the problem when the manipulators make contact with the environment is necessary to consider an intelligent compliant motion control.

Motivation
The robot compliance to manipulate objects and develop tasks that requires force control.

The current robot dynamic models are to complex, the implementation of Fuzzy logic avoids the requirement of the manipulator mathematic model and the contact mechanic.

Scientific methodology

For implementation of the compliant motion control, is proposed a control based on input fuzzy rules emulated network-FREN, beside this control considers an upgrade element and the control of the position command to achieve the stability of the interaction between the manipulator and the environment.

Contact mechanics
Soft materials exhibit nonlinear characteristics, even for infinitesimal deformations. These characteristics can be shown through youngs modulus, which considers the relation stress-strain. For the design of the force contact model is necessary to determine the finger-tips model which will based in the Parallel-distributed model

This model compared to the Hertzian model offers a better solution to the problem of contact between two soft bodies.

Hertz

Kaos

Whereby, when making a comparison between the obtained model given by the control system FREN and Parallel-distributed model will be possible to determine the feasibility of the system.

Ultrasonic
The ultrasonic technic can provide high sensitivity and can be related with the contact from energy transmission

When the sensor contacts with the object is produced a drop in the signal amplitude since the acoustic impedances are similar.

FUZZY RULE EMULATE NETWORK (FREN) CONTROL


Gu
Human knowledge for Manipulator and sensor IF-THEN Rules

Adaptation (k+1)

xd(k)
Desired Force

+ -

e (k)

Controller (FREN)

u(k) Manipulator
and Amplitude detection unit

Force converter unit

x(k+1)
Force at contact

Z.O.H. Delay unit

Control scheme configuration


C. Treesatayapun, Nonlinear discrete-time controller with unknown systems identification based on fuzzy rules emulated network (Applied Soft computing, 2010)

Control FREN design (Fuzzy Rules)

Tesis general objetives

XYZ Robot

Electronics Sensor implementation Positioning control Performance tests

SENSORING SYSTEM AND SIGNAL CONDITION


Force sensor Ultrasonic sensor Intelligent stand-alone ultrasonic device for monitoring

MANIPULATOR CONTROL

XYZ ROBOT

Positioning control Sensor implementation for force and ultrasonic

ULTRASONIC SENSOR
Design a small soft fingertip with ultrasonic sensing to obtain a better precision in the measurements. Implement ultrasonic sensing

ULTRASONIC SENSOR
The implementation of an Intelligent stand-alone ultrasonic device for monitoring, this consist in a reduced equipment of components for a distance monitoring, which consist of three parts:
a)

Connector board with wireless module attached

b)
c)

Signal conditioning board


Output amplification board

FORCE SENSOR
Implementation and signal conditioning the force and torque sensor

Implementation of FREN (fuzzy rule emulated network) CONTROL

Force

To implement the FREN control Performance tests

Manipulator control signal


Ultrasonic signal

CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback

Minimization of the ultrasonic sensor for more accuracy.

CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback

System with 3 Degree of freedom

CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback

INTELLIGENT STAND-ALONE Signal conditioning for force and ULTRASONIC DEVICE FOR ultrasonic sensors PID MONITORING

CONTRIBUTIONS
The implementation of a Intelligent compliant motion control based in the integration between robotic system of 3 degrees of freedom, ultrasonic sensing based on hertzian contact and control FREN based on human knowledge and IFTHEN rules with ultrasonic or force feedback

Signal conditioning for force and ultrasonic sensors

Current work

Current work

Time index k= 230

Time index k= 4000

Current work

Schedule of activities
Ultrasonic sensor??

Thanks