Innovative Control Methodologies

for Mechatronic Systems

Paolo Boscariol
Dottorato di Ricerca XXIV Ciclo

Udine, December 17 2010

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 1 / 28

Index

Research activity
◮ Predictive control (MPC) of Flexible links mechanism (FLM)
◮ Haptic devices for neurosurgery
Published papers
Future work

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 2 / 28

Research activity: Dynamic model of FLM
Dynamic model based on:
ERLS approach (coupled rigid and flexible motion)
Finite Element discretization

From the virtual works principle:

M(r̈ + ü) = [−2(MG − (αM + K)]u̇ − βKu + fG + f

ST M(r̈ + ü) = [−2ST MG − ST (αM + K)]u̇ − ST βKu + ST (fG + f )
P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 3 / 28
Research activity: Dynamic model of FLM

In matrix form:
 
    u̇
f −2MG − αM − βK −MṠ −K
=  q̇ 
ST f T T
S (−2MG − αM) −S MṠ 0
   u
M I g
+
ST M ST F
u = vector of elastic displacement
q = vector of free coordinates
g = vector of gravity loads
F = vector of external forces

Resulting nonlinear system of equations:

[u̇, ü, q̇, q̈] = f (u, u̇, q, q̇, v)

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 4 / 28

Research activity: Model Predictive Control

Model Predictive
Control (MPC)
optimal control law
based on:
◮ current plant
state
◮ predicted system
evolution
◮ inequality
constraints
receding horizon
strategy

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 5 / 28

Research activity: Model Predictive Control
The prediction is obtained by interating the linearized model over the
prediction horizon HP :

x(k + 1) = Fx(k) + Gw(k)
y(k) = Hx(k)
Current control action calculated as the minimimum of V(k):
Hp HP
c −1
kŷ(k + i|k) − r(k + i)k2Q + k∆ŵ(k + i|k)k2R
P
V(k) =
i=1 i=0

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 6 / 28

Research activity: MPC for vibration reduction in FLM

Experimental validation of a MPC controller for single-link FLM

1 cm square section
length = 1.5 m
torque-controlled brushless
motor
strain gauges bridge sensor
4 FEM discretization

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 7 / 28

Research activity: MPC for vibration reduction in FLM

The MPC controller requires to evaluate the value of the state vector
x(t) at every iteration to perform the prediction

A state observer must be used

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 8 / 28

Research activity: MPC for vibration reduction in FLM
Design of the state observer: Kalman asymptotic estimator
   
x̂(k|k) x̂(k|k − 1)
= + L (ym (k) − ŷm (k))
x̂m (k|k) x̂m (k|k − 1)
   
x̂(k + 1|k) Ax(k|k) + Bz(k)
=
x̂m (k + 1|k) Ãx̂m (k|k)

ym (k) = Cm x̂(k|k − 1)
with:
x(k) = state of the plant
xm (k) = state of measurement noise
ym (k) = measured output

Design based on a discrete time linearized model from the nonlinear plant
P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 9 / 28
State observer

Performs an estimation of the whole state x(k) of the plant

Measured values:
angular position (4000 cpr encoder)
applied torque (konwn from control system)

no measure of elastic displacement

no strain gauges

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 10 / 28

Experimental results: state observer

1 1

Angular position [deg]

0.5
−1
Strain signal [V]

−2
0
−3

−0.5 −4

measured −5 measured
estimated estimated
−1 −6
6.5 7 7.5 8 8.5 9 6.5 7 7.5 8 8.5 9
Time [s] Time [s]

elastic displacement at the midspan angular position

of the link

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 11 / 28

Experimental results: MPC closed-loop response

4
15
3

Strain gauge signal [V]

reference
Angular position [deg]

10
position
2
5

0 1

−5 0
−10 −1
−15
−2
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Time [s] Time [s]

angular position elastic displacement at the midspan

of the link

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 12 / 28

Experimental results: comparison with optimal control

2 2

Strain gauge signal [V]

Angular position [deg]

0
−2
−1

−4 reference
LQ −2
LQ
MPC MPC
−6 −3
0.5 1 1.5 2 2.5 3 3.5 4 0.5 1 1.5 2 2.5 3 3.5 4
Time [s] Time [s]

angular position elastic displacement at the midspan

of the link

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 13 / 28

Control for Master-Slave neurosurgical robots
Surgical robots can be conveniently operated in master-slave mode.
Targets:
1 position accuracy
2 stability of the control systems
3 trasparence of haptic sensation

Cures DAANS
P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 14 / 28
Control for Master-Slave neurosurgical robots
Target: master-slave haptic control system for DAANS

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 15 / 28

Master-Slave system for neurosurgery

Master Device: haptic knob Slave Device: DAANS

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 16 / 28

DRC-FRC: control system block diagram

fa
-1
Action Reference
Position Parameter
Control
fH + + X M , ref 1
K KV
+ s
- fe
spring-damper XM
coupling DRC Environment
YM
Force
YH

+ -
XH XM

Surgeon Haptic Master Control

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 17 / 28

DRC-FRC: experimental results

200 5
τ XM
f XM,ref
e 4
150

[rad]
τ, f [mNm]

100

M,ref
2
e

X ,X
50

M
1

0
0

−50 −1
0 2 4 6 8 0 2 4 6 8
time [s] time [s]

Constant force Virtual elastic wall

Feedback force applied only when moving forward

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 18 / 28

 DRC-FRC: experimental results

400 15 5
τ f
e
fe 4 f
H
XM ϑ [rad]
3 M

200 10
2
τ, f [mNn]

XM [rad]
1
e

0
0 5
−1

−2

−200 0 −3
0 2 4 6 8 10 12 40 42 44 46 48 50
time [s] time [s]

Interaction with virtual elastic wall Interaction with a stiff object

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 19 / 28

DRC-FRC: experimental results

50 500 8
f
e
τ 7
40 400
6

5
30 300

[mm]
τ [mNm]
f [mN]

S
e

X
20 200 3

2
10 100
1

0 0 0
0 5 10 15 0 5 10 15 20
time [s] time [s]

Haptic force Master position

Interaction with real elastic wall

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 20 / 28

DRC-FRC: experimental results

Virtual channel for surgeon guidance

XM

time
virtual wall
ideal
trajectory
dead zone
}D limits
XM,traj (t) }D

XM(t)

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 21 / 28

DRC-FRC: experimental results

35 120

30 100 fvw
25 τ
80

fvw, τ [mNm]
20
XM [deg]

60
15
40
10
20
5
XM
0 0
virtual wall
−5 −20
0 5 10 15 20 25 0 5 10 15 20 25
time [s] time [s]

Path along the virtual channel Haptic feedback force

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 22 / 28

Published Papers

3 papers published in international journals

4 papers on proceedings of international conferences
2 papers on proceedings of national conferences
1 paper accepted for the publication
5 papers under review
1 patent proposal

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 23 / 28

Published papers on International Journals

[1] P. Boscariol, A.Gasparetto and Vanni Zanotto

”Active Position and Vibration Control of a Flexible Links Mechanism
Using Model-Based Predictive Control” - ASME Journal of Dynamic
Systems, Measurement, and Control, Vol. 132, January 2010

[2] P. Boscariol, A. Gasparetto, V. Zanotto

”Model Predictive Control of a Flexible Links Mechanism” - Journal of
Intelligent and Robotic Systems: Volume 58, Issue 2 (2010), Page 125-147

[3] P. Boscariol, A. Gasparetto, V. Zanotto

”Simultaneous position and vibration control system for flexible link
mechanisms” - Meccanica, published online

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 24 / 28

Papers on proceedings of international conferences
[4] P. Boscariol
”Experimental validation of a special state observer for a class of flexible link
mechanisms” - Proceeding of International Symposium on Advanced Engineering
& Applied Management 4-5 November, 2010, Hunedoara, Romania, pp. 23-28
[5] P. Boscariol, A. Gasparetto, V. Zanotto
”Trajectory Following and Vibration Control for Flexible-link Manipulators” -
Proceedings of the 18th CISM-IFToMM Symposium on Robot Design, Dynamics,
and Control - Romansy 2010 July 5-8, 2010 pp. 299-306
[6] P. Boscariol, A. Gasparetto, V. Zanotto
”Design and Experimental Validation of a Hardware-In-the-Loop Simulator for
Mechanisms with Link Flexibility” - Proceedings of the 10th Biennial Conference
on Engineering and System Design and Analysis - ESDA2010, July 12-14, 2010
[7] P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
”Neumesy: A special robot for neurosurgery” Proceeding of International
Symposium on Advanced Engineering & Applied Management, 4-5 November,
2010, Hunedoara, Romania, pp. 105-114

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 25 / 28

Papers on national conferences

[8] P. Boscariol, V. Zanotto, A. Gasparetto, F. Parere, O. Toscano, D.

Baggio
”Hardware-in-the-Loop Simulator for the rapid development of domestic
dryers”
Proceedings of the NIDays 2010. Roma, 24 febbraio 2010, pp. 61-62

[9] V. Zanotto, A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni, A.

Rossi
”A haptic master-slave robotic system for minimally invasive neurosurgery
with NI cRIO and NI LabVIEW”
Proceedings of the NIDays 2010. Roma, February, 24 (2010), pp. 63-64

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 26 / 28

Paper accepted for publication and patent

[10] P.Boscariol, V. Zanotto, A. Gasparetto

”A HIL simulator of Flexible-Link Mechanisms ” - Accepted for the
publication on Journal of Intelligent & Robotic Systems

[11] P. Boscariol, A. Gasparetto, A. Lanzutti, V. Zanotto

”Dispositivo di carico e scarico merci per mezzi di trasporto, e
procedimento di carico e scarico connesso”

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 27 / 28

Papers under review
Submitted to international journals
[12] P. Boscariol, A. Gasparetto, V. Zanotto
”Design of a controller for trajectory tracking for compliant mechanisms with
effective vibration suppression” submitted to Meccanica
[13] P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto,
”Experimental validation of a predictive controller for active vibration control”
Submitted to Control Engineering Practice
[14] P. Boscariol, A. Gasparetto, R. Vidoni, V. Zanotto
”DRC-DFR Haptic Controller for Master-Slave Neurosurgical Robots” -
Submitted to IEEE Transaction on Haptics
Submitted to international conferences
[15] P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni ,V.
Zanotto
”Receding horizon control of a compliant manipulator: experimental analysis” -
IFToMM 2011 World Congress, June 19 -25, Guanajuato, Mexico

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 28 / 28

Future activity

Integration between trajectory planning algorithms

and MPC control for flexible manipulators

P. Boscariol (DIEGM) Control of Mechatronic Systems Udine, December 17 2010 29 / 28