Intelligent Control and Modelling of a Micro Robot for In-pipe Application
In this paper, a worm-like micro robot designed for inpipe
application with intelligent active force control (AFC) capability
is modelled and simulated. The motion of the micro robot is based on
an impact drive mechanism (IDM) that is actuated using piezoelectric
device. The trajectory tracking performance of the modelled micro
robot is initially experimented via a conventional proportionalintegral-
derivative (PID) controller in which the dynamic response of
the robot system subjected to different input excitations is
investigated. Subsequently, a robust intelligent method known as
active force control with fuzzy logic (AFCFL) is later incorporated
into the PID scheme to enhance the system performance by
compensating the unwanted disturbances due to the interaction of the
robot with its environment. Results show that the proposed AFCFL
scheme is far superior than the PID control counterpart in terms of
the system-s tracking capability in the wake of the disturbances.
[1] Aoshima, S., Tsujimura, T., & Yabuta, T. (1993). A miniature mobile
robot using piezo vibration for mobility in a thin tube. ASME J.
Dynam. Syst , 115, 270-278.
[2] Idogaki, T., Kanayama, H., Ohya, N., Suzuki, H., & Hattori, T. (1995).
Characteristics of piezoelectric locomotive mechanism for an in-pipe
micro inspection machine. IEEE 6th Int. Symp. Micro Machine and
Human Sciences, (pp. 193-198).
[3] Matsumoto, T., Okamoto, H., Asano, M., Mitsuishi, S., & Matsui, T.
(1994). A prototype model of micro mobile machine with piezoelectric
driving force actuator. IEEE 5th Int. Symp. Micro Machine and Human
Sciences, (pp. 47-54).
[4] Fukuda, T., Hosokai, H., Ohyama, H., Hashimoto, H., & Arai, F.
(1991). Giant magnetostrictive alloy (GMA) applications to micro
mobile robot as a micro actuator without power supply cables. IEEE
Int. Workshop Micro Electro Mechanical Systems (MEMS), (pp. 210-
215).
[5] Suzumori, K., & Abe, T. (1993). Applying a flexible microactuators to
pipeline inspection robots. IMACS/SICE Int. Symp. Robotics and
Manufacturing Systems, (pp. 515-520). The Netherlands.
[6] Takahashi, M., I.Hayashi, N.Iwatsuki, Suzumori, K., & Ohki, N.
(1994). The development of an in-pipe microrobot applying the motion
of an earthworm. IEEE 5th Int. Symp. Micro Machine and Human
Sciences, (pp. 35-40).
[7] Iwashita, S., Hayashi, I., Iwatsuki, N., & Nakamura, K. (1994).
Development of in-pipe operation micro robots. IEEE 5th Int. Symp.
Micro Machine and Human Sciences, (pp. 41-45).
[8] Bart, S., Lober, T., Howe, R., Lang, J., & Schlecht, M. (1988). Design
Considerations for Microfabricated Electric Actuators. 14 (3), 269-292.
[9] Hayashi, T. (2000). Research and Development of Micromechanisms
(Vol. 1). Journal of ultrasonics.
[10] Idogaki, T., Kanayama, H., Ohya, N., Suzuki, H., & Hattori, T. (1995).
Characteristics of piezoelectric locomotive mechanism for an in-pipe
micro inspection machine. IEEE 6th Int. Symp. Micro Machine and
Human Sciences, (pp. 193-198).
[11] Johnson, C. (1971). Accomodation of external disturbances on linear
regulator and servomechanism problems. IEEE Trans. Automat.
Control , 635-644.
[12] Davison, E. (1976). Multivariable Tuning Regulators: The
Feedforward and Robust Control of a General Servomechanism
Problem. IEEE Trans. Automat. Control, 35-47.
[13] Hewit, J. R., & Burdess, J. S. (1981). Fast Dynamic Decoupled Control
for Robotics using Active Force Control. Trans. Mechanism and
Machine Theory , 535-542.
[14] Mailah, M., & Ong, M. (2001). Intelligent Adaptive Active Force
Control of A Robot Arm With Embedded Iterative Learning
Algorithms. (pp. 85-89). Jurnal Teknologi (A).
[15] Pitowarno, E., Mailah, M., & Jamaluddin, H. (2002). Knowledge-
Based Trajectory Error Pattern Method Applied to An Active Force
Control Scheme. International Journal of Engineering and
Technology, 2, 1-15.
[16] Mailah, M. (1998). Intelligent Active Force Control of a Rigid Robot
Arm Using Neural Network and Iterative Learning Algorithms.
University of Dundee: UK: Ph.D Thesis.
[17] Priyandoko, G., & Mailah, M. (2007). Simulation of A Suspension
System With Adaptive Fuzzy Active Force Control. International
Journal on Simulation Modelling , 6, 25-36.
[18] Jamshidi, M., Vadiee, N., J.Ross, T., Fuuzy Logic and Control,
Prentice-Hall International, Inc., 1993
[1] Aoshima, S., Tsujimura, T., & Yabuta, T. (1993). A miniature mobile
robot using piezo vibration for mobility in a thin tube. ASME J.
Dynam. Syst , 115, 270-278.
[2] Idogaki, T., Kanayama, H., Ohya, N., Suzuki, H., & Hattori, T. (1995).
Characteristics of piezoelectric locomotive mechanism for an in-pipe
micro inspection machine. IEEE 6th Int. Symp. Micro Machine and
Human Sciences, (pp. 193-198).
[3] Matsumoto, T., Okamoto, H., Asano, M., Mitsuishi, S., & Matsui, T.
(1994). A prototype model of micro mobile machine with piezoelectric
driving force actuator. IEEE 5th Int. Symp. Micro Machine and Human
Sciences, (pp. 47-54).
[4] Fukuda, T., Hosokai, H., Ohyama, H., Hashimoto, H., & Arai, F.
(1991). Giant magnetostrictive alloy (GMA) applications to micro
mobile robot as a micro actuator without power supply cables. IEEE
Int. Workshop Micro Electro Mechanical Systems (MEMS), (pp. 210-
215).
[5] Suzumori, K., & Abe, T. (1993). Applying a flexible microactuators to
pipeline inspection robots. IMACS/SICE Int. Symp. Robotics and
Manufacturing Systems, (pp. 515-520). The Netherlands.
[6] Takahashi, M., I.Hayashi, N.Iwatsuki, Suzumori, K., & Ohki, N.
(1994). The development of an in-pipe microrobot applying the motion
of an earthworm. IEEE 5th Int. Symp. Micro Machine and Human
Sciences, (pp. 35-40).
[7] Iwashita, S., Hayashi, I., Iwatsuki, N., & Nakamura, K. (1994).
Development of in-pipe operation micro robots. IEEE 5th Int. Symp.
Micro Machine and Human Sciences, (pp. 41-45).
[8] Bart, S., Lober, T., Howe, R., Lang, J., & Schlecht, M. (1988). Design
Considerations for Microfabricated Electric Actuators. 14 (3), 269-292.
[9] Hayashi, T. (2000). Research and Development of Micromechanisms
(Vol. 1). Journal of ultrasonics.
[10] Idogaki, T., Kanayama, H., Ohya, N., Suzuki, H., & Hattori, T. (1995).
Characteristics of piezoelectric locomotive mechanism for an in-pipe
micro inspection machine. IEEE 6th Int. Symp. Micro Machine and
Human Sciences, (pp. 193-198).
[11] Johnson, C. (1971). Accomodation of external disturbances on linear
regulator and servomechanism problems. IEEE Trans. Automat.
Control , 635-644.
[12] Davison, E. (1976). Multivariable Tuning Regulators: The
Feedforward and Robust Control of a General Servomechanism
Problem. IEEE Trans. Automat. Control, 35-47.
[13] Hewit, J. R., & Burdess, J. S. (1981). Fast Dynamic Decoupled Control
for Robotics using Active Force Control. Trans. Mechanism and
Machine Theory , 535-542.
[14] Mailah, M., & Ong, M. (2001). Intelligent Adaptive Active Force
Control of A Robot Arm With Embedded Iterative Learning
Algorithms. (pp. 85-89). Jurnal Teknologi (A).
[15] Pitowarno, E., Mailah, M., & Jamaluddin, H. (2002). Knowledge-
Based Trajectory Error Pattern Method Applied to An Active Force
Control Scheme. International Journal of Engineering and
Technology, 2, 1-15.
[16] Mailah, M. (1998). Intelligent Active Force Control of a Rigid Robot
Arm Using Neural Network and Iterative Learning Algorithms.
University of Dundee: UK: Ph.D Thesis.
[17] Priyandoko, G., & Mailah, M. (2007). Simulation of A Suspension
System With Adaptive Fuzzy Active Force Control. International
Journal on Simulation Modelling , 6, 25-36.
[18] Jamshidi, M., Vadiee, N., J.Ross, T., Fuuzy Logic and Control,
Prentice-Hall International, Inc., 1993
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:63470", author = "Y. Sabzehmeidani and M. Mailah and M. Hussein and A. R. Tavakolpour", title = "Intelligent Control and Modelling of a Micro Robot for In-pipe Application", abstract = "In this paper, a worm-like micro robot designed for inpipe
application with intelligent active force control (AFC) capability
is modelled and simulated. The motion of the micro robot is based on
an impact drive mechanism (IDM) that is actuated using piezoelectric
device. The trajectory tracking performance of the modelled micro
robot is initially experimented via a conventional proportionalintegral-
derivative (PID) controller in which the dynamic response of
the robot system subjected to different input excitations is
investigated. Subsequently, a robust intelligent method known as
active force control with fuzzy logic (AFCFL) is later incorporated
into the PID scheme to enhance the system performance by
compensating the unwanted disturbances due to the interaction of the
robot with its environment. Results show that the proposed AFCFL
scheme is far superior than the PID control counterpart in terms of
the system-s tracking capability in the wake of the disturbances.", keywords = "Active Force Control, Micro Robot, Fuzzy Logic,In-pipe Application.", volume = "4", number = "12", pages = "1457-6", }
