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Feedback Control
System Design for a
Power Assist
Lifting Device
Yesset Raziyev and Ramil Garifulin
Robotics and Mechatronics DepartmentNazarbayev University
Adviser: Dr. Almas ShintemirovCo-adviser: Dr. Ton Duc Do
May, 2017
Outline Introduction
Existing Solutions
Mechanical Design
Plant Configuration
Sensors Calibration
Control Strategy
Video Demonstration
Introduction Purpose
Assisting in an object manipulation
Increasing productivity
Advantages
Reduction of diseases and injuries risks
Intuitiveness
Higher environmental ratings
Precision
Objectives
Design a feedback control
Build a prototype
Existing Solutions
Figure 2. The power-assisting device: (a) schematic representation; (b) experimental setup[9]
Figure 1. The prototype of C-shaped 4 DoF robotic assistive device[10]
Existing Solutions
Figure 4. The smart handling system[14]
Figure 3. Experimental equipment with semi-active assist mechanism[6]
Mechanical Design
Mechanical Design
CAD Model of the Assembly in Exploded View
Plant Configuration
Figure 5. Device Assembly
Sensors Calibration
Figure 6. Rope Suspension System
Control Strategy
Figure 7. Device Control Block Diagram
Control Strategy:Admittance Controller
Figure 8. Admittance Controller Simulink Block Diagram
Control Strategy:Velocity Controller
Time, t(s) Time, t(s)
Vel
oci
ty o
n L
oad
Sid
e, (
rad
/s)
Vel
oci
ty o
n L
oad
Sid
e, (
rad
/s)
Figure 9. Maxon Velocity Controller Step Response Figure 10. The Designed Velocity Controller Step Response
Control Strategy:Velocity Controller
Vel
oci
ty o
n M
oto
r S
ide,
(ra
d/s
)
Time, t(s)
Figure 11. Velocity Controller Responses to Trapezoidal Reference for Various Loads
Video Demonstration
Conclusion
References
1. M. Widia, S. Z. Md Dawal and N. Yusoff,
"Future Research on Manual Lifting
Tasks in the Automotive Industry",
Malaysian Journal of Public Health
Medicine, vol. 16, pp. 61-68, 2016.
2. A. Niinuma, T. Miyoshi and K.
Terashima, "Evaluation of Effectiveness
of a Power-Assisted Wire Suspension
System Compared to Conventional
Machine", Int. Conf. on Mechatronics
and Automation, Changchun, China,
2009.
3. Industry Report: Intelligent Lifting
Devices, Gorbel, New York, NY, 2015
4. N. Hogan, "Impedance control: An
approach to manipulation",
Transactions of ASME, vol. 107, pp. 8-
16, Mar. 1985.
5. Lee et al. "Control of Mobile
Manipulators for Power Assist Systems",
IEEE Int. Conf. on Systems, Man and
Cybernetics, Tokyo, Japan, 1999.
6. T. Kusaka et al., "Skill Assist and Power
Assist for Periodic Motions by using Semi-
active Assist Mechanism with Energy
Control", Int. Conf. on Robotics and
Biomimetics, Phuket, Thailand, 2011.
7. V. Duchaine and C. M. Gosselin,
"General Model of Human-Robot
Cooperation Using a Novel Velocity
Based Variable Impedance Control",
2nd Joint EuroHaptics Conf. and Symp.
on Haptic Interfaces for Virtual
Environment and Teleoperator Systems,
Tsukuba, Japan, 2007.
8. R. Ikeura and H. Inooka, "Variable
Impedance Control of a Robot for
Cooperation with a Human", IEEE Int.
Conf. on Robotics and Automation,
Nagoya, Japan, 1995.
9. F. Dimeas, P. Koustoumpardis and N.
Aspragathos, "Admittance neuro-control
of a lifting device to reduce human
effort", Advanced Robotics, vol. 27, No.
13, pp. 1013–1022, 2013.
10. C. Gosselin et al., "A Human-Assistive
Robot for Handling Large Payloads", IEEE
Robotics and Automation Magazine, pp.
139-147, Dec. 2013.
11. A. Lecours, B. Mayer-St-Onge and C.
Gosselin, "Variable admittance control
of a four-degree-of-freedom intelligent
assist device", IEEE Int. Conf. on Robotics
and Automation, Minnesota, USA, 2012.
12. Ch. Ott, R. Mukherjee and Y. Nakamura,
"Unified Impedance and Admittance
Control", IEEE Int. Conf. on Robotics and
Automation, Alaska, USA, 2010.
13. S. M. M. Rahman and R. Ikeura, "Weight-
Prediction-Based Predictive Optimal
Position and Force Controls of a Power
Assist Robotic System for Object
Manipulation", IEEE Transactions on
Industrial Electronics, vol. 63, No. 9, pp.
5964-5975, Sept. 2016.
14. RB3D: The Smart Handling System, Paris,
2014.
Questions?
