DocumentCode :
3709399
Title :
Modal decoupling for MIMO self-oscillating systems - application to resonant force sensor control
Author :
Davinson Castaño-Cano;Mathieu Grossard;Arnaud Hubert
Author_Institution :
CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, F-91191, France
fYear :
2015
Firstpage :
2330
Lastpage :
2335
Abstract :
In this paper we present a new method to control instantaneously MIMO oscillating systems. The algorithm and its hardware configuration are implemented on a multidimensional resonant force sensor. The robotic applications of this sensor require real-time resonant frequency measures. Inspired by the technique used in single quartz crystal oscillator, the method is extended to the MIMO case and is presented as an alternative solution to control multiple resonances of a force sensor. Three frequencies of one single active plate, on which several piezoelectric patches are bonded, are simultaneously excited. The method uses spatial modal decoupling technique implemented with analogue electronics thanks to a smart arrangement of the piezoelectric patches. This allows the full MIMO system to be transformed into three independent SISO subsystems. Then, for each of them, a controller is tuned to reinforce self-oscillation of the force sensor system to several resonant working points in a closed-loop configuration. Finally, experimental verification shows that the method can be successfully used for the control of a new type of resonant force sensors.
Keywords :
"Force sensors","Robot sensing systems","Resonant frequency","Force","MIMO","Frequency measurement"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7353691
Filename :
7353691
Link To Document :
بازگشت