NDLI: MPC to optimise performance in power-assisted manipulation of industrial objects

Content Provider	IET Digital Library
Author	Rahman, S. M. Mizanoor Ikeura, Ryojun
Abstract	A 1-DOF power-assist robotic system (PARS) is developed using a linear actuator for vertical manipulation of heavy objects in collaboration with its human user. Human's differential perception of inertia and gravity is considered in the manipulation dynamics, and an admittance-type feedback position control scheme is designed to control the motion of the system. A human manipulates a heavy object with the robot in harmonic motion (the object is repeatedly lifted up and lowered down). A common performance index for the human and the robot for the collaborative task is derived in terms of manipulation velocity and precision. An event-triggered model predictive control (MPC) scheme is designed to maintain optimal performance of the robot and the human through maintaining optimum robot velocity and precision at the events when low performance is observed. Results show that the weight-perception-based control helps produce satisfactory collaborative performance, and the MPC is proven effective to maintain optimal performance and improved human–robot interaction. The findings are useful to develop predictive control strategies for human-friendly PARSs for manipulating heavy objects in industries in particular, and for other variable-speed electric drive systems for industrial applications, in general.
Starting Page	1235
Ending Page	1244
Page Count	10
ISSN	17518660
Volume Number	11
e-ISSN	17518679
Issue Number	Issue 7, Aug (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-epa/11/7
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-epa.2016.0552
Journal	IET Electric Power Applications
Publisher Date	2017-08-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Admittance Type Feedback Position Control Collaborative Task Ergonomics Event Triggered Model Predictive Control Heavy Object Vertical Manipulation Human Differential Perception Human-robot Interaction Industrial Manipulators Industrial Objects Linear Actuator Man-machine System Manipulation Dynamics Manipulation Velocity Manipulator Dynamics Manipulators Motion Control MPC One Degree-of-freedon Power Assist Robotic System Optimal Control Performance Optimization Power Assisted Manipulation Predictive Control Robot And Manipulator Mechanics Robotics Spatial Variables Control Variable Speed Drive Variable Speed Electric Drive System
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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