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104 results on '"Mattila, Jouni"'

8. Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling.

Author

Lampinen, Santeri, Koivumaki, Janne, Zhu, Wen-Hong, and Mattila, Jouni

Subjects
REMOTE control, DEGREES of freedom, NONLINEAR dynamical systems
Abstract

This study designs a high-precision bilateral teleoperation control for a dissimilar master–slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in two degrees of freedom (DOFs). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept. [ABSTRACT FROM AUTHOR]

Published
2022
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21. Decentralized Observer Design for Virtual Decomposition Control.

Author

Humaloja, Jukka-Pekka, Koivumaki, Janne, Paunonen, Lassi, and Mattila, Jouni

Subjects
VIRTUAL design, MANIPULATORS (Machinery), NONLINEAR dynamical systems, LYAPUNOV functions
Abstract

In this article, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an $n$ -degree of freedom ($n$ -DoF) open-chain robotic manipulator. Descending from the VDC strategy, the proposed design is based on decomposing the $n$ -DoF manipulator into subsystems, i.e., rigid links and joints, for which the decentralized controller–observer implementation can be done locally. Similar to VDC, the combined controller–observer design is passivity based, and we show that it achieves semiglobal exponential convergence of the tracking error. The convergence analysis is carried out using Lyapunov functions based on the observer and controller error dynamics. The proposed design is demonstrated in a simulation study of a 2-DoF open-chain robotic manipulator in the vertical plane. [ABSTRACT FROM AUTHOR]

Published
2022
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23. Adaptive backlash inverse augmented virtual decomposition control of a hydraulic manipulator

Author

Mattila Jouni and Adeleke Adeyemi

Subjects
0209 industrial biotechnology, Computer science, 0211 other engineering and technologies, PID controller, 02 engineering and technology, Rotary actuator, Nonlinear system, 020901 industrial engineering & automation, Control theory, 021105 building & construction, Algorithm design, Hydraulic machinery, Actuator, Backlash
Abstract

In addition to the inherent strong nonlinearities associated with hydraulic systems, the use of mechanical drives (gears) in hydraulic applications (e.g., in hydraulic rotary actuators) introduces additional nonlinearities in the form of backlash. Thus, confronting these traditional hydraulic non-linearities as well as the non-smooth backlash nonlinearity requires special considerations. This work designs a virtual decomposition control (VDC) controller, a subsytems-based nonlinear model-based controller, to combat the heavy hydraulic non-linearities in a hydraulic manipulator and effectively control it. For the first time, a VDC controller is designed to compensate for a non-smooth nonlinearity (backlash), which has never been modelled in the dynamic equations of all existing VDC works. While it is not presented herein, stability of the resulting controller can be mathematically proven based on the L 2 and L ∞ Lebesgue spaces. Obtained experimental results indicated the capability of the combined VDC algorithm and the adaptive backlash inverse scheme improves system's position tracking performance compared to traditional Proportional-Integral-Derivative (PID) controller.

Published
2017

46. Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators.

Author

Vihonen, Juho, Mattila, Jouni, and Visa, Ari

Subjects
*ACCELEROMETERS, *GYROSCOPES, *KINEMATICS, *MANIPULATORS (Machinery), *MICROELECTROMECHANICAL systems
Abstract

A gravity-referenced joint angle estimation, which acts in joint space, is proposed for multiple-degree-of-freedom hydraulic manipulators. As a novelty, the estimation pairs up inertial units across a section of an open kinematic chain. In this way, the three-axis linear accelerometers and the three-axis rate gyros provide a drift-free solution for observing the motion state of a rotary joint connecting two links without relying on the full forward kinematics. For a low-noise, low-delay estimate, the linear accelerations acting on the paired inertial units are modeled and robustly combined with the principles of complementary and Kalman filtering. In pick-and-place experiments with a serial-link manipulator on a multiton, off-road forestry vehicle, joint angle sensing error of less than ±1° was achieved in spite of the dynamic interaction between the vehicle base and the terrain. Furthermore, the kinematic modeling’s ability to compensate for the nonplanar, coupled 3-D linkage motion is studied for one- and two-axis rate measurements along with Cartesian path tracking. This gives new insights from the typical planar kinematic models and heavy-duty control viewpoints. [ABSTRACT FROM PUBLISHER]

Published
2017
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