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Decentralized Control of Robot Manipulators
, M.Sc. Thesis Sharif University of Technology ; Namvar, Mehrzad (Supervisor)
Abstract
In this thesis, a decentralized controller for trajectory tracking of robot manipulators is developed. Proposed control scheme use uncalibrated joint torque sensors. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model and reduce the need of dynamic model of links for controlling. In this thesis, we use the special lower triangular structure of this simplified model for decentralized control of manipulator. For the first time a smooth decentralized law is designed which makes both position and velocity tracking errors of robot manipulators globally converge to zero. Against most of previous work in decentralized control of manipulators,...
Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise
, Article Proceedings of the IEEE International Conference on Control Applications, 8 July 2009 through 10 July 2009, Saint Petersburg ; 2009 , Pages 1750-1755 ; 9781424446025 (ISBN) ; Namvar, M ; Sharif University of Technology
Abstract
In this paper, we introduce a new approach to fault detection and isolation for robot manipulators. Our technique is based on using a new simplified Euler-Lagrange (EL) equation that reduces complexity of the proposed fault detection method. The proposed approach isolates the faults and is capable of handling the uncertainty in manipulator gravity vector. It is shown that the effect of uncalibrated torque sensor measurement is asymptotically rejected in the detection process. A simulation example is presented to illustrate the results. © 2009 IEEE
Smooth residual generation for robust isolation of faults in manipulators using joint torque sensors
, Article 58th IEEE Conference on Decision and Control, CDC 2019, 11 December 2019 through 13 December 2019 ; Volume 2019-December , 2019 , Pages 2922-2927 ; 07431546 (ISSN); 9781728113982 (ISBN) ; Namvar, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
Reliability of model-based failure detection and isolation (FDI) methods depends on the amount of uncertainty in a system model. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model that excludes hardly identifiable link dynamics and other nonlinearities. We present a geometric approach to fault detection and isolation (FDI) for robotic manipulators using joint torque sensor in presence of model uncertainty. A systematic procedure is introduced for representing a robotic system model using joint torque sensor being affine with respect to faults and disturbances. The proposed FDI filter has smooth dynamics with freely selectable functions...
Design and evaluation of a novel triaxial isometric trunk muscle strength measurement system
, Article Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine ; Volume 223, Issue 6 , 2009 , Pages 755-766 ; 09544119 (ISSN) ; Farahmand, F ; Meghdari, A ; Vossoughi, G ; Parnianpour, M ; Sharif University of Technology
2009
Abstract
Maximal strength measurements of the trunk have been used to evaluate the maximum functional capacity of muscles and the potential mechanical overload or overuse of the lumbar spine tissues in order to estimate the risk of developing musculoskeletal injuries. A new triaxial isometric trunk strength measurement system was designed and developed in the present study, and its reliability and performance was investigated. The system consisted of three main revolute joints, equipped with torque sensors, which intersect at L5-S1 and adjustment facilities to fit the body anthropometry and to accommodate both symmetric and asymmetric postures in both seated and standing positions. The dynamics of...