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REAL-TIME COMPUTER control OF A QUADRUPED WALKING ROBOT

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1986年第4期108卷 346-353页

作者： LEE, TT SHIH, CL NATL CHIAO TUNG UNIV INST CONTROL ENGN HSINCHU 300 TAIWAN

This paper presents a description of the hardware and software systems used to achieve real-time computer control of locomotion in an experimental quadruped walking robot. This robot possesses three independently powered joints in each of its four legs. Each joint provides position and rate feedback to a microprocessor-based controller. To control the movement of the leg so that the leg is placed on the desired foothold position, nonlinear feedback is first applied for decoupling, and then Model-Reference-Adaptive-control is used to control the motion and position of the leg. Experimental results show that the proposed control algorithm can effectively control the leg.

关键词： Robots Computer control Feedback control algorithms control equipment Computer software Hardware

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Microcontroller for Robotics Subsystems

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IFAC Proceedings Volumes 1986年第13期19卷 107-111页

作者： A.M.B. Gomes A. Traça de Almeida Departamento de Engenharia Electrónica e Telecomunicaçóes. Universidade de Aveiro 3800 Aveiro portugal Departamento de Engenharia Electroetécnica Universidade de Coimbra 3000 Coimbra Portugal

This paper is concerned with the control of a prismatic joint using a high performance industrial microcontroller, designed and bilt for low cost applications. A modular system with its intrinsic advantages was implemented consisting of a main, an analog I/O, a pulse-width modulator and a power drive boards. The robot prismatic joint is driven by a DC servomotor coupled to a shaft encoder, which provides directly data for calculating position, velocity and acceleration. The software controls all the key parameters such as feedback gain, response rate and motor safe area operating limits. A distributed architecture is proposed with a master 16 bit processor transformation of coordinates and to give directions to each individual axis.

关键词： controllers DC motors servomotors robots control industrial control control algorithms

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Dartic: Design Analysis of Real Time controllers

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IFAC Proceedings Volumes 1986年第13期19卷 191-195页

作者： J.A. Luzardo C. Guánchez G. Suárez A. Otero Universidad Simón Bolívar Dpto. de Procesos y Sistemas Apartado postal 80659 Caracas 1081A Venezuela

This paper considers the first version of a real time control algorithms software package. The package allows the user to choice a control algorithm (univariable or multivariable) from a predefined set. Up to eight process variables can be controlled by one microcomputer (current implementation in Epson QX-10) and each microcomputer can be considered a basic controller in a computer network, i. e. a node in a distributed digital control system (DDC and centralized data logging). The package is particularly user-friendly and is currently programmed in C language. Personal computers have been incorporated in this way to handle control and data logging tasks. This fact represents considerably lower costs compared to conventional systems performing the same tasks.

关键词： Distributed control control algorithms real time control interactive software

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A DIRECT DIGITAL-control ALGORITHM FOR control OF A SINGLE ENVIRONMENTAL SPACE

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1985年第4期107卷 324-331页

作者： CHERCHAS, DB ABDELMESSIH, A TOWNSEND, M UNIV TORONTO DEPT MECH ENGNTORONTO M5S 1A4ONTARIOCANADA UNIV VIRGINIA DEPT MECH & AEROSP ENGNCHARLOTTESVILLEVA 22903

A direct digital control algorithm for control of dry bulb temperature in a single environmental space is developed. The algorithm is based on a bilinear mathematical model, developed in the paper, of the response of the space dry bulb temperature and moisture content. The algorithm is somewhat unique in that it includes feedback and feedforward terms in a manner respecting the bilinear nature of the controlled process and as well, minimizes a practical performance index. The discrete time form of the algorithm is presented and simulation results given.

关键词： control algorithms algorithms Temperature Feedback Feedforward control Simulation results

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SELF-TUNING MANIPULATOR control IN CARTESIAN BASE COORDINATE SYSTEM

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1985年第4期107卷 316-323页

作者： KOIVO, AJ A. J. Koivo School of Electrical Engineering Purdue University West Lafayette Ind. 47907

A discrete-time stochastic model for the motion of a robotic manipulator system is introduced. The input vector consists of the voltages to the joint motors, and the output vector has the velocities (positions) of the gripper expressed in the world (xyz) coordinate system as the components. The model is a linear multivariate autoregressive model with external input. The unknown parameters of the model can be calculated recursively on-line by the least squares algorithm. An adaptive self-tuning type controller is then designed by minimizing the expected value of a quadratic criterion. This performance index penalizes the deviations of the actual path of the gripper from the desired values expressed in the Cartesian coordinate system and the use of the energy associated with the input vector. Digital simulation results using the parameter estimation and the control algorithms are presented, and discussed.

关键词： Manipulators Grippers Parameter estimation control algorithms control equipment Computer simulation Motors algorithms

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AN ANALYSIS OF PULSE control FOR SIMPLE MECHANICAL SYSTEMS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1985年第2期107卷 123-131页

作者： PRUCZ, Z SOONG, TT REINHORN, A SUNY BUFFALO DEPT CIVIL ENGNBUFFALONY 14260

An efficient pulse control method for insuring safety of simple mechanical systems is developed and its sensitivity to the excitation frequency content and to various control parameters is studied. The control algorithm, consisting of applying pulse forces in a feedback fashion, is designed to insure that maximum system response is limited to safe values at all times. It is shown that the proposed algorithm is simple to implement and is efficient in controlling peak response in terms of on-line computation and pulse energy required. The technique is illustrated and analyzed for a single-degree-of-freedom linear system.

关键词： Safety algorithms Computation Feedback Linear systems control algorithms

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DESIGN OF NONINTERACTING MULTIVARIABLE FEEDBACK-control SYSTEMS WITHOUT DECOUPLING FILTERS

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JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER-TRANSACTIONS OF THE ASME 1985年第4期107卷 845-850页

作者： BAKER, DA MADAY, CJ N CAROLINA STATE UNIV DEPT MECH & AEROSP ENGNRALEIGHNC 27695

The design of multivariable control systems for modern applications is an important challenge to the control system engineer. Active control of metal machining operations, control of gas turbine operations, and chemical process control are current areas of interest. In precision machining operations where tolerances of a few microinches are required, in-process control with several servos will be required. These servos could control spindle axis location and tool position about several axes, thus forming a multi-input/multi-output system. Modern gas turbines, required to operate over more extended regimes, are provided with multiple controls, e.g., nozzle settings and fuel flows which must be implemented in some rational manner. In the chemical process industries, there are many examples of multivariable systems with several control variables and several desired or controlled outputs. One control approach considers a separate system for each of the controlled variables, so that a change in one input will produce an interaction effect that must be managed by another separate system. This approach is attractive and straightforward to implement, but current practice shows significant coupling effects. In order to reduce or eliminate interaction, a control algorithm, with strong integral compensation, for a sixth-order, two-input, two-output linear plant with dynamic coupling is proposed. Decoupling filters are not used. The primary goal is to realize a substantial reduction in the coupling effects when a step input is used for a single variable. A secondary goal is to achieve deadbeat response for the controlled variable to the step input. Moreover, these goals are to be attained in the presence of significant changes in the system parameters or in the presence of arbitrary external disturbances, i.e., robustness is required. The control strategy uses cascaded integral error compensation that permits conceptual division of the network so that two single-input/single-ou

关键词： Design Feedback Filters Gas turbines Machining control systems Robustness control algorithms Flow (Dynamics) Metals

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Machine Independent Software Wiring and Programming of Distributed Digital control Systems

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IFAC Proceedings Volumes 1985年第11期18卷 247-254页

作者： T. Röhrich E. Welfonder University of stuttgart FRG

This paper deals with a newly developed control equipment independent method for software wiring and for the programming of application programs on the basis of high level program language. By using this method distributed control systems with differing hardware from different manufactures can be software wired in a uniform way. In addition the software wiring of this sort of standard functional modules can be combined with the conventional programming of process specific higher automation algorithms. Using this control equipment independent method the software wiring and the back documentation of the structured control system can be processed graphically using a terminal and printer instead of – as is usual today – in the form of lists. The control equipment independent software wiring tools are implemented in FORTRAN and among others are runnable on a 280 microcomputer development system. The coupling of software wiring and programming has been on-line tested on a Motorola 68000 on the basis of PEARL and on a 280 microcomputer on the basis of FORTRAN.

关键词： Digital computer applications software wiring free programming control algorithms

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Automatic Selection of control algorithms for an Electrical Drive with Microcomputer-Based Speed control

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IFAC Proceedings Volumes 1983年第16期16卷 507-514页

作者： F. Depping M. Voits Abteilung für Elektrotechnik Ruhr-Universität Bochum Federal Republic of Germany

Various control algorithms, available within a microcomputer, tailored to the respective predominant demands are selected according to a control strategy that different algorithms may complement each other favourably for improving the overall performance of an electrical drive system. The investigations cover the objectives to follow new reference settings of a speed control system rapidly with minimum overshoot and small settling time and rejecting load disturbances effectively. The experimental results are in agreement with the theoretical expectations and allow the conclusion that the system may meet the requirements for a number of practical applications.

关键词： Direct digital control microprocessor electrical drives control algorithms self-adjusting systems

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MODELING AND ADAPTIVE-control OF A MECHANICAL MANIPULATOR

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1984年第3期106卷 211-217页

作者： ANEX, RP HUBBARD, M Department of Mechanical Engineering University of California Davis Calif. 95616

This paper implements and evaluates the adaptive control algorithm recently proposed by Horowitz and Tomizuka. A dynamic model of the Rhino XR-2 manipulator arm is developed using bond graph techniques. The manipulator and the control algorithm are simulated. The manipulator is then adaptively controlled. The study offers valuable insight into the practical problems associated with actual implementation of adaptive control algorithms and fully describes one of the few case studies of adaptive control in a working physical system. The physical problems directly addressed are disturbances due to Coulomb friction, gravitational loading, and actuator saturation.

关键词： Actuators Adaptive control Friction Modeling control algorithms Manipulators Coulombs Dynamic models algorithms

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