Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries
ABSTRACTThis study presents the development of an event-driven hybrid control for position and force tracking applied on a mobile robotic manipulator for metal recycling tasks. The suggested controller operates in a sequenced strategy starting from a fixed spot, moving the mobile device towards a ta...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2024-12-01
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| Series: | International Journal of Sustainable Engineering |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/19397038.2024.2337787 |
| _version_ | 1827277697831665664 |
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| author | Karen Mendoza-Bautista Mariel Alfaro-Ponce Isaac Chairez |
| author_facet | Karen Mendoza-Bautista Mariel Alfaro-Ponce Isaac Chairez |
| author_sort | Karen Mendoza-Bautista |
| collection | DOAJ |
| description | ABSTRACTThis study presents the development of an event-driven hybrid control for position and force tracking applied on a mobile robotic manipulator for metal recycling tasks. The suggested controller operates in a sequenced strategy starting from a fixed spot, moving the mobile device towards a targeted zone ([Formula: see text]) from where the i-th piece-to-be-recycled is attainable (considering the arm manipulation). Once the event of entering the zone is completed, the mobile robot is fixed at a position, and the end-effector of the robotic arm is enforced towards the piece-to-be-recycled. When the end-effector touches the piece in a given spot ([Formula: see text]), the hybrid control changes to the force tracking intending to carry the piece towards the spot ([Formula: see text]) where it ill be processed. Each piece location is identified based on a vision-based system that applies deep learning tools using convolutional neural networks. A multi-physics numerical simulation illustrated the application of the developed controller in a realistic scenario, showing all the elements of the event-driven operation. To validate the suggested controller, the comparison with a robust control that works on a wide range of carrying mass confirms the operational improvement of the event-driven hybrid position and force design. |
| first_indexed | 2024-04-24T07:40:29Z |
| format | Article |
| id | doaj.art-b4c997d528404cd1a56c44e32b4d3cb2 |
| institution | Directory Open Access Journal |
| issn | 1939-7038 1939-7046 |
| language | English |
| last_indexed | 2024-04-24T07:40:29Z |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | International Journal of Sustainable Engineering |
| spelling | doaj.art-b4c997d528404cd1a56c44e32b4d3cb22024-04-19T21:37:27ZengTaylor & Francis GroupInternational Journal of Sustainable Engineering1939-70381939-70462024-12-0117111910.1080/19397038.2024.2337787Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industriesKaren Mendoza-Bautista0Mariel Alfaro-Ponce1Isaac Chairez2Doctoral Program on Engineering Sciences, Tecnologico de Monterrey, Mexico, MexicoInstitute of Advanced Materials for Sustainable Manufacturing, Tecnologico de Monterrey, Mexico, MexicoInstitute of Advanced Materials for Sustainable Manufacturing, Tecnologico de Monterrey, Mexico, MexicoABSTRACTThis study presents the development of an event-driven hybrid control for position and force tracking applied on a mobile robotic manipulator for metal recycling tasks. The suggested controller operates in a sequenced strategy starting from a fixed spot, moving the mobile device towards a targeted zone ([Formula: see text]) from where the i-th piece-to-be-recycled is attainable (considering the arm manipulation). Once the event of entering the zone is completed, the mobile robot is fixed at a position, and the end-effector of the robotic arm is enforced towards the piece-to-be-recycled. When the end-effector touches the piece in a given spot ([Formula: see text]), the hybrid control changes to the force tracking intending to carry the piece towards the spot ([Formula: see text]) where it ill be processed. Each piece location is identified based on a vision-based system that applies deep learning tools using convolutional neural networks. A multi-physics numerical simulation illustrated the application of the developed controller in a realistic scenario, showing all the elements of the event-driven operation. To validate the suggested controller, the comparison with a robust control that works on a wide range of carrying mass confirms the operational improvement of the event-driven hybrid position and force design.https://www.tandfonline.com/doi/10.1080/19397038.2024.2337787Disturbance rejection controlhybrid position-force controlmobile robotic manipulatoradaptive controllerrecycling industry |
| spellingShingle | Karen Mendoza-Bautista Mariel Alfaro-Ponce Isaac Chairez Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries International Journal of Sustainable Engineering Disturbance rejection control hybrid position-force control mobile robotic manipulator adaptive controller recycling industry |
| title | Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| title_full | Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| title_fullStr | Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| title_full_unstemmed | Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| title_short | Hybrid robust disturbance rejection position-force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| title_sort | hybrid robust disturbance rejection position force control to adjust the motion of mobile manipulator in automatic aluminum foundry recycling industries |
| topic | Disturbance rejection control hybrid position-force control mobile robotic manipulator adaptive controller recycling industry |
| url | https://www.tandfonline.com/doi/10.1080/19397038.2024.2337787 |
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