Project Goals: The Hardware: The Problem: Results to Date: Robust Nonlinear Observer for Non-collocated Flexible Motion System Project Goals: The Hardware: Flexible Beam: 1/8” 1018 Steel, 12.5” Long, 1 3/8” Wide Actuator: Anorad Linear Motor Sensors: PCB Accelerometer, Anorad Linear Encoder Controller: LabVIEW Realtime 8.5 Target-PC with NI-6052E DAQ Board Contribute to the field of active vibration suppression in motion systems. Examine the robustness of a Sliding Mode Observer in presence of non-collocation and model uncertainty. Size: 32 inches high by 40 inches wide. Largest font: 74 pt. Smallest font 30 pt. Use exact title and accurate project numbers for ERC projects. For projects that are affiliated projects, not in the ERC sponsorship, replace “Project 3a1” with “Thrust 3 affiliated project”. Recognize research engineers, post docs and faculty under faculty and staff. Include photos of students of all active researchers to allow recognition at the conference. Acknowledge actively involved companies in the lower right corner. Remain consistent with template in relative placement of items, colors, background, font style (Arial), etc. Size of various boxes may vary according to needs. Retain their order and titles if at all possible. advisor The Problem: Wayne Book 1 2 3 4 5 6 Results to Date: Robotic arms are subject to bending, torsion and axial compression. In certain applications, to ensure accuracy and repeatability of the useful end-point of the robotic arm, the flexible nature of the arm must be taken into account during design. Immediate benefits of this research include: System identification of rigid sub-system and flexible sub-system has been completed. The flexible sub-system has been modeled using an Assumed Modes Method model as well as a lower-order lumped parameter model. Controllers and estimators based on both models have been evaluated. Comprehensive simulation studies of the closed-loop system with the Kalman Filter and the Sliding Mode Observer have been completed. Simulations have verified the robustness properties of the sliding mode observer. Improved estimation can lead to better reference tracking in a closed-loop system with reduced tip excitation of the single flexible link during motion. The Kalman filter and the Sliding Mode Observer have been implemented on the test-bed in the LabVIEW programming environment. The benefits of the Sliding Mode Observer on the physical system are still being evaluated. Magnitude (dB) Motion of a Single Flexible Link student Improved control of long-reach space and lower-cost industrial manipulators. Improved accuracy and precision of general robotic manipulators with non-collocated actuators and sensors. Frequency (Hz) Mohsin Waqar System Identification: Model vs. Experimental Data CAMotion Depalletizer With Kalman Filter With Sliding Mode Observer NASA Space Manipulator Tip Position (m) The Approach: Produce a useful model for a single flexible link which represents the non-minimum phase behavior accurately. Research and identify suitable state estimators and select an appropriate feedback control scheme. Benchmark the closed-loop estimator performance by examining robustness of the closed-loop system to parameter uncertainty. Time (sec) Industry Sponsors: LabVIEW Simulation: State Feedback Control E, I, ρ, A, L m F w(x,t) x No Control With Control Model of Flexible Sub-System based on Assumed Modes Method Tip Accel. (m/s2) Time (sec) Physical System: Regulator with Kalman Filter Next Steps: Continue to develop and document a systematic approach to tuning observer parameters on the physical system. Integrate flexible link tip position measurements supplied by a vision system with existing measurements. Explain the pictures if not obvious Closed-Loop Control of Experimental Test-Bed