Repetitive contact imaging

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Repetitive contact imaging uses a flexible whisker attached to a two axis robot to measure the shape of contacted objects. Assuming small deformations and rotations, the pitch axis decouples from yaw. The yaw axis, under PD control, sweeps periodically back and forth across the object while the pitch axis, under repetitive learning (RL) control, maintains a uniform contact force using load cell and encoder feedback. Once the RL controller converges, the 3D contact points can be determined using an elastica algorithm. The RL controller is proven stable based on a distributed parameter beam model and experimentally shown to provide stable performance with improved moment regulation when compared to PD control.

Original languageEnglish (US)
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages2115-2123
Number of pages9
DOIs
StatePublished - Jun 13 2008
Event21st Biennial Conference on Mechanical Vibration and Noise, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: Sep 4 2007Sep 7 2007

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume1 PART C

Other

Other21st Biennial Conference on Mechanical Vibration and Noise, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period9/4/079/7/07

Fingerprint

Imaging
Contact
Imaging techniques
Controllers
Point contacts
Repetitive Control
Elastica
Controller
Learning Control
Contact Force
Sweep
Encoder
Robots
Feedback
Robot
Moment
Converge
Cell
Learning
Object

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modeling and Simulation

Cite this

Zhao, H., & Rahn, C. D. (2008). Repetitive contact imaging. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (pp. 2115-2123). (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 1 PART C). https://doi.org/10.1115/DETC2007-35586
Zhao, Haiyu ; Rahn, Christopher D. / Repetitive contact imaging. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. pp. 2115-2123 (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007).
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abstract = "Repetitive contact imaging uses a flexible whisker attached to a two axis robot to measure the shape of contacted objects. Assuming small deformations and rotations, the pitch axis decouples from yaw. The yaw axis, under PD control, sweeps periodically back and forth across the object while the pitch axis, under repetitive learning (RL) control, maintains a uniform contact force using load cell and encoder feedback. Once the RL controller converges, the 3D contact points can be determined using an elastica algorithm. The RL controller is proven stable based on a distributed parameter beam model and experimentally shown to provide stable performance with improved moment regulation when compared to PD control.",
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Zhao, H & Rahn, CD 2008, Repetitive contact imaging. in 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007, vol. 1 PART C, pp. 2115-2123, 21st Biennial Conference on Mechanical Vibration and Noise, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007, Las Vegas, NV, United States, 9/4/07. https://doi.org/10.1115/DETC2007-35586

Repetitive contact imaging. / Zhao, Haiyu; Rahn, Christopher D.

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. p. 2115-2123 (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 1 PART C).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - Repetitive contact imaging uses a flexible whisker attached to a two axis robot to measure the shape of contacted objects. Assuming small deformations and rotations, the pitch axis decouples from yaw. The yaw axis, under PD control, sweeps periodically back and forth across the object while the pitch axis, under repetitive learning (RL) control, maintains a uniform contact force using load cell and encoder feedback. Once the RL controller converges, the 3D contact points can be determined using an elastica algorithm. The RL controller is proven stable based on a distributed parameter beam model and experimentally shown to provide stable performance with improved moment regulation when compared to PD control.

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Zhao H, Rahn CD. Repetitive contact imaging. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. p. 2115-2123. (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007). https://doi.org/10.1115/DETC2007-35586