NDLI: Development of a model-free force controller for soft contact of an ultrasonic test probe

Content Provider	Springer Nature Link
Author	Carreon, Augusto Baltazar, Arturo Treesatayapun, Chidentree
Copyright Year	2016
Abstract	In this work, an ultrasound force control strategy for autonomous dry contact ultrasonic inspection of an object having rough surfaces is proposed. A fuzzy rules emulated network (FREN) controller with adaptation based on IF-THEN rules obtained from the physical system is developed. The control scheme is implemented on a three degree of freedom Cartesian manipulator robot that carries a soft contact hemispherical end effector equipped with an ultrasonic sensor. This allows smooth regulation of the transmitted ultrasound energy through the contact interface between the hemispherical probe and the rough surface. The controller is a pure model-free controller which does not require a mathematical model of the contact interaction. The effect of roughness condition at the contact interface, Hertzian interaction and the hysteretic effect due to nonlinearity of the elastomer material of the probe, on the performance of the controller is studied. The system was tested on five samples with surfaces having different values of roughness. It was shown that the system using the proposed scheme with adaption parameters is stable during the transition from noncontact to contact conditions. Also, it is shown that the developed ultrasound amplitude-force controller is able to reach and maintain a desired constant ultrasonic energy transfer to the test objects under variations of surface roughness conditions.
Starting Page	2839
Ending Page	2847
Page Count	9
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	90
Issue Number	9-12
e-ISSN	14333015
Language	English
Publisher	Springer London
Publisher Date	2016-10-24
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Soft contact Ultrasonic probe Neuro-fuzzy controller Rough surface Industrial and Production Engineering Media Management Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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