ABSTRACT In this paper, dynamic equations of a robot manipulator subject to compliant contact/imp... more ABSTRACT In this paper, dynamic equations of a robot manipulator subject to compliant contact/impact with the environment are derived using nonlinear elastodynamic approach. Then, a sliding mode impedance algorithm is proposed to control compliant impact/contact dynamics of the robot manipulator with an arbitrary environment. Impact/contact phenomenon can be regarded as a perturbation due to an abrupt change of system’s velocity. Thus the need to have robust characteristics in such systems especially after impact seems to be evident. The performance of the proposed controller is compared against standard second order impedance controller through numerical simulation studies. Finally, simulation results are provided to show the effectiveness of the proposed algorithm.
This paper presents a solution to the boundary stabilization problem of free vibration of composi... more This paper presents a solution to the boundary stabilization problem of free vibration of composite plates. It is assumed that an object such as a flange which has mass and mass moment of inertia can be attached to the free portion of the boundary of the plate. Both cases of with and without boundary object have been analyzed for other types of plates by many researches. In the presence of boundary mass and mass moment of inertia, two ordinary differential equations govern their motion. For both cases, the plate dynamics is presented by a linear fourth order partial differential equation (PDE). Linear boundary control laws are constructed to stabilize the composite plates asymptotically. The control forces and moments consist of feedbacks of the velocity and normal derivative of the velocity at the boundaries of the plate. Asymptotic stabilization of free vibration of composite plates in both cases (i.e. with and without boundary object) is achieved via boundary actions. Finally, it is shown that exponentially stability of the hybrid system cannot be fulfilled (in the other words the asymptotical stability is the best). Our main tools in this article are semigroup techniques, spectral theory of the linear operators and Lyapunov stability method.
Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downl... more Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downloaded from IOPscience. Please scroll down to see the full text article. 2009 Smart Mater. Struct. 18 125027 (http://iopscience.iop.org/0964-1726/18/12/125027) ...
In this paper, general in-plane trajectory tracking problem of a flexible beam is studied. To obt... more In this paper, general in-plane trajectory tracking problem of a flexible beam is studied. To obtain the dynamic equations of motion of the beam, Hamiltonian dynamics is used and then Lagrange's equations of beam dynamics and corresponding expressions for boundary ...
In this paper, exponential stabilization of vibration of a flexible beam together with its genera... more In this paper, exponential stabilization of vibration of a flexible beam together with its general in-plane trajectory tracking is presented. Coupled beam dynamics including beam vibration (flexible/fast subsystem) and its rigid in-plane motion (rigid/slow subsystem) takes place ...
Page 1. Flexible Liver-Needle Navigation using Fish-Like Robotic Elements Nader Hamzavi Chee-Kong... more Page 1. Flexible Liver-Needle Navigation using Fish-Like Robotic Elements Nader Hamzavi Chee-Kong Chui Chee-Cheon Chui Mechanical Engineering Department Mechanical Engineering Department DSO National Laboratories ...
ABSTRACT In this paper we will study dynamical modeling of a parallel robot Hexa using Lagrangian... more ABSTRACT In this paper we will study dynamical modeling of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots' relationships few works are done on their dynamical modeling. Although Newtonian approach is a ...
Abstract Nowadays, many countries like to decrease their dependency on oil especially in energy g... more Abstract Nowadays, many countries like to decrease their dependency on oil especially in energy generation. Fuel cell energy generation system is one of the most exiting techniques that have many advantages such as being clean, reliable, oil independent, ozone friendly, vibration free, movable and having high efficiency. For ensuring fuel cells correct operation, it is surrounded by many ancillary circuits which consume about 40% of its energy product. About 30% of this consumed energy uses by compressor which provides required air of ...
Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downl... more Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downloaded from IOPscience. Please scroll down to see the full text article. 2009 Smart Mater. Struct. 18 125027 (http://iopscience.iop.org/0964-1726/18/12/125027) ...
... Networks with Time-Delays Farshad Rum, Brandon W. Gordon, and Mohammad Eghtesad synchronizati... more ... Networks with Time-Delays Farshad Rum, Brandon W. Gordon, and Mohammad Eghtesad synchronization [9]. ... Defining error to be e = r - % then yields Using algebraic graph theory this can be written using digraph Laplacian, L as e=-k(L I,)e +kH(e, + X). (8) ...
Abstract Flocking of a team of Lagrangian agents is investigated in this paper. The motion equat... more Abstract Flocking of a team of Lagrangian agents is investigated in this paper. The motion equation of agents with Lagrangian dynamics and its properties are reviewed. The centrifugal and coriolis effects and gravitational terms in the dynamics of agents have been ...
ABSTRACT In this paper, dynamic equations of a robot manipulator subject to compliant contact/imp... more ABSTRACT In this paper, dynamic equations of a robot manipulator subject to compliant contact/impact with the environment are derived using nonlinear elastodynamic approach. Then, a sliding mode impedance algorithm is proposed to control compliant impact/contact dynamics of the robot manipulator with an arbitrary environment. Impact/contact phenomenon can be regarded as a perturbation due to an abrupt change of system’s velocity. Thus the need to have robust characteristics in such systems especially after impact seems to be evident. The performance of the proposed controller is compared against standard second order impedance controller through numerical simulation studies. Finally, simulation results are provided to show the effectiveness of the proposed algorithm.
This paper presents a solution to the boundary stabilization problem of free vibration of composi... more This paper presents a solution to the boundary stabilization problem of free vibration of composite plates. It is assumed that an object such as a flange which has mass and mass moment of inertia can be attached to the free portion of the boundary of the plate. Both cases of with and without boundary object have been analyzed for other types of plates by many researches. In the presence of boundary mass and mass moment of inertia, two ordinary differential equations govern their motion. For both cases, the plate dynamics is presented by a linear fourth order partial differential equation (PDE). Linear boundary control laws are constructed to stabilize the composite plates asymptotically. The control forces and moments consist of feedbacks of the velocity and normal derivative of the velocity at the boundaries of the plate. Asymptotic stabilization of free vibration of composite plates in both cases (i.e. with and without boundary object) is achieved via boundary actions. Finally, it is shown that exponentially stability of the hybrid system cannot be fulfilled (in the other words the asymptotical stability is the best). Our main tools in this article are semigroup techniques, spectral theory of the linear operators and Lyapunov stability method.
Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downl... more Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downloaded from IOPscience. Please scroll down to see the full text article. 2009 Smart Mater. Struct. 18 125027 (http://iopscience.iop.org/0964-1726/18/12/125027) ...
In this paper, general in-plane trajectory tracking problem of a flexible beam is studied. To obt... more In this paper, general in-plane trajectory tracking problem of a flexible beam is studied. To obtain the dynamic equations of motion of the beam, Hamiltonian dynamics is used and then Lagrange's equations of beam dynamics and corresponding expressions for boundary ...
In this paper, exponential stabilization of vibration of a flexible beam together with its genera... more In this paper, exponential stabilization of vibration of a flexible beam together with its general in-plane trajectory tracking is presented. Coupled beam dynamics including beam vibration (flexible/fast subsystem) and its rigid in-plane motion (rigid/slow subsystem) takes place ...
Page 1. Flexible Liver-Needle Navigation using Fish-Like Robotic Elements Nader Hamzavi Chee-Kong... more Page 1. Flexible Liver-Needle Navigation using Fish-Like Robotic Elements Nader Hamzavi Chee-Kong Chui Chee-Cheon Chui Mechanical Engineering Department Mechanical Engineering Department DSO National Laboratories ...
ABSTRACT In this paper we will study dynamical modeling of a parallel robot Hexa using Lagrangian... more ABSTRACT In this paper we will study dynamical modeling of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots' relationships few works are done on their dynamical modeling. Although Newtonian approach is a ...
Abstract Nowadays, many countries like to decrease their dependency on oil especially in energy g... more Abstract Nowadays, many countries like to decrease their dependency on oil especially in energy generation. Fuel cell energy generation system is one of the most exiting techniques that have many advantages such as being clean, reliable, oil independent, ozone friendly, vibration free, movable and having high efficiency. For ensuring fuel cells correct operation, it is surrounded by many ancillary circuits which consume about 40% of its energy product. About 30% of this consumed energy uses by compressor which provides required air of ...
Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downl... more Page 1. Hybrid sliding mode control of semi-active suspension systems This article has been downloaded from IOPscience. Please scroll down to see the full text article. 2009 Smart Mater. Struct. 18 125027 (http://iopscience.iop.org/0964-1726/18/12/125027) ...
... Networks with Time-Delays Farshad Rum, Brandon W. Gordon, and Mohammad Eghtesad synchronizati... more ... Networks with Time-Delays Farshad Rum, Brandon W. Gordon, and Mohammad Eghtesad synchronization [9]. ... Defining error to be e = r - % then yields Using algebraic graph theory this can be written using digraph Laplacian, L as e=-k(L I,)e +kH(e, + X). (8) ...
Abstract Flocking of a team of Lagrangian agents is investigated in this paper. The motion equat... more Abstract Flocking of a team of Lagrangian agents is investigated in this paper. The motion equation of agents with Lagrangian dynamics and its properties are reviewed. The centrifugal and coriolis effects and gravitational terms in the dynamics of agents have been ...
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