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This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framework here are it is easy to integrate sensors for recognizing human commands and the well-developed communication protocols for data transfer between nodes. We propose a shared memory mechanism to improve the communication between non-real-time ROS nodes and real-time robot control tasks in motion kernel, which is implemented in the ARM development board with a real-time operating system. The jerk-limited trajectory generation approach is implemented in the motion kernel to obtain a fine interpolation of ROS MoveIt planned robot path to motor. EtherCAT technologies with precise multi-axis synchronization performance are used to exchange real-time I/O data between motion kernel and servo drive system. The experimental results show the proposed architecture using ROS and EtherCAT in hard real-time environment is feasible for robot control application. With the proposed architecture, a user can efficiently send commands to a robot to complete tasks or read information from the robot to make decisions, which is helpful to reach the purpose of human–robot collaboration in the future.
Wei-Li Chuang; Ming-Ho Yeh; Yi-Liang Yeh. Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT. Actuators 2021, 10, 141 .
AMA StyleWei-Li Chuang, Ming-Ho Yeh, Yi-Liang Yeh. Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT. Actuators. 2021; 10 (7):141.
Chicago/Turabian StyleWei-Li Chuang; Ming-Ho Yeh; Yi-Liang Yeh. 2021. "Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT." Actuators 10, no. 7: 141.
In robot control, the sliding mode control is known for its robustness against external disturbances and system uncertainties. However, it has the disadvantage of control chattering, which can damage the actuator and degrade system performance. With a new stability proof, this paper presents an alternative simple linear feedback control that can cope with large system uncertainties and suppress large external disturbances, doing so as effectively as sliding mode control does. The advantage of using linear control is that the control law is simple and control chattering can be avoided. Moreover, a noise-free control scheme is proposed as an improvement of the feedback control; the modified design preserves the advantages of linear control and generates a chattering-free control signal even in a noisy environment.
Yi-Liang Yeh. A Robust Noise-Free Linear Control Design for Robot Manipulator with Uncertain System Parameters. Actuators 2021, 10, 121 .
AMA StyleYi-Liang Yeh. A Robust Noise-Free Linear Control Design for Robot Manipulator with Uncertain System Parameters. Actuators. 2021; 10 (6):121.
Chicago/Turabian StyleYi-Liang Yeh. 2021. "A Robust Noise-Free Linear Control Design for Robot Manipulator with Uncertain System Parameters." Actuators 10, no. 6: 121.
In this paper, output feedback tracking sliding mode control was considered for uncertain multivariable linear systems. The uncertainties included external disturbance, the system state, and control input. A new property of the loop transfer recovery (LTR) observer was first established: the state estimation error of the LTR observer can be made arbitrarily small with respect to state- and input-dependent system uncertainties. Observer-based output feedback tracking sliding mode control using the LTR observer is presented. The proposed sliding mode control approach can maintain the boundedness of the system state and drive the system outputs arbitrarily close to the desired reference outputs; the degree of closeness was determined by a design parameter in the LTR observer. In the proposed approach, the most general and simple observer-based output feedback control formulation was used to achieve global tracking. Simulations with a two-degree-of-freedom (DOF) robotic manipulator application illustrated the claimed properties, and a peaking and chattering reduction technique was demonstrated to protect the actuator.
Yi-Liang Yeh. Output Feedback Tracking Sliding Mode Control for Systems with State- and Input-Dependent Disturbances. Actuators 2021, 10, 117 .
AMA StyleYi-Liang Yeh. Output Feedback Tracking Sliding Mode Control for Systems with State- and Input-Dependent Disturbances. Actuators. 2021; 10 (6):117.
Chicago/Turabian StyleYi-Liang Yeh. 2021. "Output Feedback Tracking Sliding Mode Control for Systems with State- and Input-Dependent Disturbances." Actuators 10, no. 6: 117.
This paper proposes a new control design to compensate for the residual control error from charge feedback control. A part of the applied voltage is consumed by the hysteresis effect because of the nature of the piezoelectric material; moreover, this effect is difficult to overcome because it is rate dependent. This work utilizes a piezoelectric electromechanical model to propose a precompensation algorithm for a piezoelectric actuator. A nonlinear compensator can be used to treat both the hysteresis nonlinearity and the rate dependency of the system, and the adjustable parameters are specified through adaptive identification with only basic system information. The proposed design can position a piezoelectric stage with a magnifying mechanism within a few nanometers of a target, and the leftover hysteresis phenomenon is negligible.
Yi-Liang Yeh; Jia-Yush Yen; Chi-Ju Wu. Adaptation‐Enhanced Model‐Based Control with Charge Feedback for Piezo‐Actuated Stage. Asian Journal of Control 2018, 22, 104 -116.
AMA StyleYi-Liang Yeh, Jia-Yush Yen, Chi-Ju Wu. Adaptation‐Enhanced Model‐Based Control with Charge Feedback for Piezo‐Actuated Stage. Asian Journal of Control. 2018; 22 (1):104-116.
Chicago/Turabian StyleYi-Liang Yeh; Jia-Yush Yen; Chi-Ju Wu. 2018. "Adaptation‐Enhanced Model‐Based Control with Charge Feedback for Piezo‐Actuated Stage." Asian Journal of Control 22, no. 1: 104-116.
When there are external disturbances acting on the system, the conventional Luenberger observer design for state estimation usually results in a biased state estimate. This paper presents a robust state and disturbance observer design that gives both accurate state and disturbance estimates in the face of large disturbances. The proposed robust observer is structurally different from the conventional one in the sense that a disturbance estimation term is included in the observer equation. With this disturbance estimation term, the robust observer design problem is skillfully transformed into a disturbance rejection control problem. We then can utilize the standard H∞ control design tools to optimize the robust observer between the disturbance rejection ability and noise immune ability. An important advantage of the proposed robust observer is that it applies to both minimum‐phase systems and non‐minimum phase systems.
Min-Shin Chen; Shih-Yu Lin; Ming-Lei Tseng; Yi-Liang Yeh; Jia-Yush Yen. Robust State-and-Disturbance Observer Design for Linear Non-minimum-phase Systems. Asian Journal of Control 2015, 18, 1135 -1141.
AMA StyleMin-Shin Chen, Shih-Yu Lin, Ming-Lei Tseng, Yi-Liang Yeh, Jia-Yush Yen. Robust State-and-Disturbance Observer Design for Linear Non-minimum-phase Systems. Asian Journal of Control. 2015; 18 (3):1135-1141.
Chicago/Turabian StyleMin-Shin Chen; Shih-Yu Lin; Ming-Lei Tseng; Yi-Liang Yeh; Jia-Yush Yen. 2015. "Robust State-and-Disturbance Observer Design for Linear Non-minimum-phase Systems." Asian Journal of Control 18, no. 3: 1135-1141.