TY - GEN
T1 - Repetitive contact imaging
AU - Zhao, Haiyu
AU - Rahn, Christopher D.
PY - 2008
Y1 - 2008
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=44849096404&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=44849096404&partnerID=8YFLogxK
U2 - 10.1115/DETC2007-35586
DO - 10.1115/DETC2007-35586
M3 - Conference contribution
AN - SCOPUS:44849096404
SN - 0791848027
SN - 9780791848029
SN - 0791848027
SN - 9780791848029
T3 - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
SP - 2115
EP - 2123
BT - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
T2 - 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
Y2 - 4 September 2007 through 7 September 2007
ER -