Documents disponibles écrits par cet auteur

Integrator leakage for limit cycle suppression in servo mechanisms with stiction / Soo Jeon in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 3 (Mai 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 08 p. Titre : Integrator leakage for limit cycle suppression in servo mechanisms with stiction Type de document : texte imprimé Auteurs : Soo Jeon, Auteur Année de publication : 2012 Article en page(s) : 08 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Stiction  Limit  cycle  PID  control  Integrator  leakage Résumé : It is well known that the positional proportional-integral-derivative (PID) control of a servo mechanism with stiction always leads to a limit cycle. Related to this fact, two basic questions have still remained unanswered. The first question is, if the limit cycle occurs, how large it becomes for a given value of stiction force. The second question, which is of more practical importance, is how we should modify the PID controller to avoid this limit cycle with minimal sacrifice of the servo performance. This paper presents a rigorous analysis to provide particular answers to these two questions, which turn out to be closely related to each other. More specifically, it is shown that, by exploiting algebraic properties of the state trajectory, a simple bisection algorithm can be devised to compute the exact magnitude of the periodic solution for a given value of stiction. Through the geometric analysis of the impact map, this result is then used to find the minimum value of the integrator leakage to avoid the limit cycle. The work in this paper will be useful as a specific reference in designing servo mechanisms with stiction free from limit cycle. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...] [article] Integrator leakage for limit cycle suppression in servo mechanisms with stiction [texte imprimé] / Soo Jeon, Auteur . - 2012 . - 08 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 08 p. Mots-clés : Stiction  Limit  cycle  PID  control  Integrator  leakage Résumé : It is well known that the positional proportional-integral-derivative (PID) control of a servo mechanism with stiction always leads to a limit cycle. Related to this fact, two basic questions have still remained unanswered. The first question is, if the limit cycle occurs, how large it becomes for a given value of stiction force. The second question, which is of more practical importance, is how we should modify the PID controller to avoid this limit cycle with minimal sacrifice of the servo performance. This paper presents a rigorous analysis to provide particular answers to these two questions, which turn out to be closely related to each other. More specifically, it is shown that, by exploiting algebraic properties of the state trajectory, a simple bisection algorithm can be devised to compute the exact magnitude of the periodic solution for a given value of stiction. Through the geometric analysis of the impact map, this result is then used to find the minimum value of the integrator leakage to avoid the limit cycle. The work in this paper will be useful as a specific reference in designing servo mechanisms with stiction free from limit cycle. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...]

Kinematic Kalman filter (KKF) for robot end-effector sensing / Soo Jeon in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N°2 (Mars/Avril 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Titre : Kinematic Kalman filter (KKF) for robot end-effector sensing Type de document : texte imprimé Auteurs : Soo Jeon, Auteur ; Tomizuka, Masayoshi, Auteur ; Tetsuaki Katou, Auteur Année de publication : 2009 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : measurement;  sensors;  motion;  robots;  accelerometers;  sampling  (acoustical  engineering);  trajectories  (physics);  delays;  end  effectors;  equations;  errors;  Kalman  filters Résumé : In control of industrial manipulators, the position from the motor encoder has been the only sensor measurement for axis control. In this case, it is not easy to estimate the end-effector motion accurately because of the kinematic errors of links, joint flexibility of gear mechanisms, and so on. Direct measurement of the end-effector using the vision sensor is considered as a solution but its performance is often limited by the slow sampling rate and the latency. To overcome these limitations, this paper extends the basic idea of the kinematic Kalman filter (KKF) to general rigid body motion leading to the formulation of the multidimensional kinematic kalman filter (MD-KKF). By combining the measurements from the vision sensor, the accelerometers and the gyroscopes, the MD-KKF can recover the intersample values and compensate for the measurement delay of the vision sensor providing the state information of the end-effector fast and accurately. The performance of the MD-KKF is verified experimentally using a planar two-link robot. The MD-KKF will be useful for widespread applications such as the high speed visual servo and the high-performance trajectory learning for robot manipulators, as well as the control strategies which require accurate velocity information. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Kinematic Kalman filter (KKF) for robot end-effector sensing [texte imprimé] / Soo Jeon, Auteur ; Tomizuka, Masayoshi, Auteur ; Tetsuaki Katou, Auteur . - 2009 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Mots-clés : measurement;  sensors;  motion;  robots;  accelerometers;  sampling  (acoustical  engineering);  trajectories  (physics);  delays;  end  effectors;  equations;  errors;  Kalman  filters Résumé : In control of industrial manipulators, the position from the motor encoder has been the only sensor measurement for axis control. In this case, it is not easy to estimate the end-effector motion accurately because of the kinematic errors of links, joint flexibility of gear mechanisms, and so on. Direct measurement of the end-effector using the vision sensor is considered as a solution but its performance is often limited by the slow sampling rate and the latency. To overcome these limitations, this paper extends the basic idea of the kinematic Kalman filter (KKF) to general rigid body motion leading to the formulation of the multidimensional kinematic kalman filter (MD-KKF). By combining the measurements from the vision sensor, the accelerometers and the gyroscopes, the MD-KKF can recover the intersample values and compensate for the measurement delay of the vision sensor providing the state information of the end-effector fast and accurately. The performance of the MD-KKF is verified experimentally using a planar two-link robot. The MD-KKF will be useful for widespread applications such as the high speed visual servo and the high-performance trajectory learning for robot manipulators, as well as the control strategies which require accurate velocity information. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Stability of controlled mechanical systems with ideal coulomb friction / Soo Jeon in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°1 (Janvier/Fevrier 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 9 p. Titre : Stability of controlled mechanical systems with ideal coulomb friction Type de document : texte imprimé Auteurs : Soo Jeon, Auteur ; Tomizuka, Masayoshi, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : stability;  friction;  coulombs;  equilibrium  (physics);  cycles;  closed  loop  systems Résumé : When a mechanical system with Coulomb friction is under feedback control, the closed-loop system may asymptotically converge to a point in the equilibrium set or generate nonlinear oscillations such as limit cycles depending on the control algorithm. Thus, it is important to know how to guarantee the stability in the presence of Coulomb friction. This paper presents the stability analysis of controlled mechanical systems with multiple ideal Coulomb friction sources. Common properties of controlled mechanical systems with multiple ideal Coulomb friction sources have been explored and generalized into the state space formulation leading to a class of ideal relay feedback systems. Various stability criteria are considered and a new sufficient condition for the pointwise global stability is suggested. Simulation results for a single mass system and experimental results for a single link flexible joint mechanism are presented to confirm the analysis and to illustrate various aspects of stability conditions for controlled mechanical systems with ideal Coulomb friction. The results given in this paper can be useful for the design of mechanical systems free from the limit cycle. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Stability of controlled mechanical systems with ideal coulomb friction [texte imprimé] / Soo Jeon, Auteur ; Tomizuka, Masayoshi, Auteur . - 2008 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 9 p. Mots-clés : stability;  friction;  coulombs;  equilibrium  (physics);  cycles;  closed  loop  systems Résumé : When a mechanical system with Coulomb friction is under feedback control, the closed-loop system may asymptotically converge to a point in the equilibrium set or generate nonlinear oscillations such as limit cycles depending on the control algorithm. Thus, it is important to know how to guarantee the stability in the presence of Coulomb friction. This paper presents the stability analysis of controlled mechanical systems with multiple ideal Coulomb friction sources. Common properties of controlled mechanical systems with multiple ideal Coulomb friction sources have been explored and generalized into the state space formulation leading to a class of ideal relay feedback systems. Various stability criteria are considered and a new sufficient condition for the pointwise global stability is suggested. Simulation results for a single mass system and experimental results for a single link flexible joint mechanism are presented to confirm the analysis and to illustrate various aspects of stability conditions for controlled mechanical systems with ideal Coulomb friction. The results given in this paper can be useful for the design of mechanical systems free from the limit cycle. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]