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  • 1.
    Carvalho Bittencourt, André
    et al.
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Gunnarsson, Svante
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Static Friction in a Robot Joint: Modeling and Identification of Load and Temperature Effects2012Ingår i: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 134, nr 5Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Friction is the result of complex interactions between contacting surfaces in down to a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed.

    In this paper, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of functions of relevant states which are linear and nonlinear in the parameters, and how the identification method described in Golub and Pereyra (1973) can be used to identify them when all states are measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque and temperature. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, considerably improving the prediction performance compared to a standard model.

  • 2.
    Johansson, Lars
    Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Mekanik.
    A note on the computation of the Euler parameters2001Ingår i: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 123, nr 4, s. 719-722Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper is concerned with the integration of the differential equations for the Euler parameters, for the purpose of describing the orientation of a rigid body. This can be done using standard methods, but in some cases, such as in the presence of impulsive forces, the angular velocities are not continuous and methods based on high order continuity are not appropriate. In this paper the use of the closed-form solution for piecewise constant angular velocity as the basis for a computational algorithm is studied. It is seen that if this solution is implemented in a leapfrog manner a method with second-order accuracy is obtained in the smooth case, while this method also makes sense in the discontinuous case.

  • 3.
    Moberg, Stig
    et al.
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Wernholt, Erik
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Hanssen, Sven
    Royal Institute of Technology, Department of Solid Mechanics.
    Brogårdh, Torgny
    ABB AB, Sweden.
    Modeling and Parameter Estimation of Robot Manipulators using Extended Flexible Joint Models2014Ingår i: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 136, nr 3, s. 031005-Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper considers the problem of dynamic modeling and identification of robot manipulators with respect to their elasticities. The so-called flexible joint model, modeling only the torsional gearbox elasticity, is shown to be insufficient for modeling a modern industrial manipulator accurately. The extended flexible joint model, where non-actuated joints are added to model the elasticity of the links and bearings, is used to improve the model accuracy. The unknown elasticity parameters are estimated using a frequency domain gray-box identification method. The conclusion is that the obtained model describes the movements of the motors and the tool mounted on the robot with significantly higher accuracy. Similar elasticity model parameters are obtained when using two different output variables for the identification, the motor position and the tool acceleration.

  • 4.
    Norhirni, M.Z.
    et al.
    Centre of Advanced Manufacturing and Material Processing, University of Malaya, Kuala Lumpur, Malaysia.
    Hamdi, M.
    Centre of Advanced Manufacturing and Material Processing and Department of Engineering Design and Manufacturing, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
    Musa, S. Nurmaya
    Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Produktionsekonomi. Linköpings universitet, Tekniska högskolan. Department of Engineering Design and Manufacturing, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
    Saw, L.H.
    Centre of Advanced Manufacturing and Material Processing and Department of Engineering Design and Manufacturing, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
    Mardi, N.A.
    Centre of Advanced Manufacturing and Material Processing and Department of Engineering Design and Manufacturing, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
    Hilman, N.
    Centre of Advanced Manufacturing and Material Processing and Department of Engineering Design and Manufacturing, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
    Load and Stress Analysis for the Swash Plate of an Axial Piston Pump/Motor2011Ingår i: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 133, nr 6, s. 064505-Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    In an axial piston pump design, the swash plate plays an important role in controlling the displacement of the pump, especially in a closed loop system. In this paper, the axial piston pump is incorporated into the design of a hydraulic regenerative braking system for hybrid vehicles. The pump in this configuration should function in dual mode, as a pump and as a motor. For this to occur, the swash plate should swing in two opposite directions. The swash plate presented in this paper is designed for stability and ease of control. Analytical analysis of torque and forces were conducted using MATLAB software to verify the motion of the swash plate. Furthermore, finite element analysis was also carried out to evaluate the rigidity and stress in the system. The analytical evaluation has shown that as the swash plate angle increases, the required control force and torque increase almost linearly. However, the change of the plate angle was found to have no effect on the force exerted on the X-axis and the torque exerted on the Z-axis.

  • 5.
    Vodder Nielsen, Kraen
    et al.
    MAN Diesel and Turbo, Denmark; Technical University of Denmark, Denmark.
    Blanke, Mogens
    Technical University of Denmark, Denmark; Norwegian University of Science and Technology, Norway.
    Eriksson, Lars
    Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
    Vejlgaard-Laursen, Morten
    MAN Diesel and Turbo, Denmark.
    Control-Oriented Model of Molar Scavenge Oxygen Fraction for Exhaust Recirculation in Large Diesel Engines2017Ingår i: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 139, nr 2, artikel-id 021007Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Exhaust gas recirculation (EGR) systems have been introduced to large marine engines in order to reduce NOx formation. Adequate modeling for control design is one of the bottlenecks to design EGR control that also meets emission requirements during transient loading conditions. This paper therefore focuses on deriving and validating a mean-value model of a large two-stroke crosshead diesel engine with EGR. The model introduces a number of amendments and extensions to previous, complex models and shows in theory and practice that a simplified nonlinear model captures all essential dynamics that is needed for EGR control. Our approach is to isolate and reduce the gas composition part of the more complex models using nonlinear model reduction techniques. The result is a control-oriented model (COM) of the oxygen fraction in the scavenge manifold with three molar flows being inputs to the COM, and it is shown how these flows are estimated from signals that are commonly available. The COM is validated by first comparing the output to a simulation of the full model, then by comparing with measurement series from two engines. The control-oriented nonlinear model is shown to be able to replicate the behavior of the scavenge oxygen fraction well over the entire envelope of load and blower speed range that are relevant for EGR. The simplicity of the new model makes it suitable for observer and control design, which are essential steps to meet the emission requirements for marine diesel engines that take effect from 2016.

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