Project Goals: The Hardware: The Problem: Results to date: Robust Non-linear 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 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. Flexible sub-system has been modeled using an Assumed Modes Method model which models the first three flexible modes of the flexible beam. Efforts have been focused on the design and computer simulation of a stochastic estimator, the Kalman filter. States including tip position have been estimated based on corrupted measurements from sensors. The Kalman filter has been applied to the test-bed in open-loop, at an execution rate of 1khz. The Sliding Mode Observer has been simulated in open-loop form, based on a simpler 4th order system model. Initial results look promising. Magnitude (dB) Motion of a Single Flexible Link student Frequency (Hz) 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. System Identification: Model vs. Experimental Data Mohsin Waqar CAMotion Depalletizer NASA Space Manipulator Base Tip Position The Approach: Time (sec) 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. Industry Sponsors: LabVIEW Simulation: State Feedback Control with Kalman Filter E, I, ρ, A, L m F w(x,t) CAMotion Inc. x Mean Square Error of Tip Position Estimate (Simulation) Kalman Filter 7.6e-4 Sliding Mode Observer 1e-4 Model of Flexible Sub-System based on Assumed Modes Method Next steps: Explain the pictures if not obvious Extend the Sliding Mode Observer to Full Order System Model Compare robustness of Kalman Filter and Sliding Mode Observer as part of closed-loop system (both in simulation and on test-bed). Closed-Loop Control of Experimental Test-Bed