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Southeastern Symposium on System Theory

作者： D. Shukla D.M. Dawson F.W. Paul Department of Mechanical Engineering Robotics and Machine Automation Laboratory Clemson SC USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson SC USA Department of Mechanical Engineering Clemson University Clemson SC USA

This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.

关键词： Robust control Robots Manipulators Vibration control robotics and automation Automatic control Uncertainty Force control Error correction Manufacturing automation

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Inducing patterns of behavior in distributed system processes

Inducing patterns of behavior in distributed system processe...

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IEEE International Conference on robotics and Automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The authors utilize a class of Petri nets, called colored Petri nets (C/P-nets), to induce patterns of behavior in synchronization structures. These patterns of behavior locally specify the interactions between the distributed system's processes. The induction of patterns of behavior in synchronization structures results in the specification of coordination structures. A coordination structure is a specification of the interaction behavior of a distributed system's processes in a particular context. C/P-nets are used for the differentiation of the system's context-sensitive variables and the representation of their instantiations. The three possible interactions between any two concurrent processes of the distributed system are specified.< >

关键词： Intelligent robots Control systems Petri nets robotics and automation Automatic control Kinematics Calculus Information technology Multiagent systems Robot control

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty Robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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An implementation of redundancy resolution and stability monitoring for a material handling vehicle

An implementation of redundancy resolution and stability mon...

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IEEE Symposium on Intelligent Vehicle

作者： A.L. Bangs F.G. Pin S.M. Killough Center for Engineering Systems Advanced Research Engineering Physics and Mathematics Division Oak Ridge National Laboratory Oak Ridge TN USA Telerobotics Systems Section Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

The ATLAS (All-Terrain Lifter Articulated System) vehicle is a prototype for the next-generation Army material handling vehicle. The vehicle features a redundant manipulator with five degrees of freedom in a plane and a forklift end-effector. The original control system only allowed single joint motion control via a set of joysticks in the cab. A new controller was developed to automatically coordinate all joints in the system and allow the operator to directly control the motions of the end-effector with constant orientation via a single joystick. In addition, a stability monitor was developed that prevents the operator from tipping over the vehicle when manipulating heavy loads of uncertain weight, or warns him of approaching stability limits when driving. Finally, a load-compensation function was developed that automatically tips back the fork tines when a heavy load is lifted.< >

关键词： Stability Monitoring Materials handling Motion control Automatic control Control systems Space vehicles Automotive engineering Laboratories Motion planning

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TRANSFORMING TIME-VARYING MULTIVARIABLE SYSTEMS INTO BLOCK COMPANION CANONICAL-FORMS

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COMPUTERS & MATHEMATICS WITH APPLICATIONS 1991年第2-3期21卷 57-67页

作者： CHAI, WJ GU, KQ LOH, NK Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI 48309 USA

The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observability) matrix, this paper generalizes the results of Shieh et al. [3] and provides systematic and straightforward algorithms for obtaining block companion canonical forms. An example is provided to illustrate this transformation technique.

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POSITION CONTROL OF A MANIPULATOR WITH PASSIVE JOINTS USING DYNAMIC COUPLING

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1991年第4期7卷 528-534页

作者： ARAI, H TACHI, S Robotics Department Mechanical Engineering Laboratory AIST MITI Tsukuba Ibaraki Japan Research Center for Advanced Science and Technology University of Tokyo Meguro Tokyo Japan

This paper describes a method of controlling the position of a manipulator composed of active and passive joints. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the active joints are controlled. The position of the manipulator is controlled by combining these two control modes. This paper describes the basic principle of the control method and the conditions that ensure the controllability of the passive joints. An algorithm for point-to-point control of the manipulator is also presented. The feasibility of the method is demonstrated by simulations for a manipulator with two degrees of freedom.

关键词： Manipulator dynamics Position control Actuators Service robots Boundary conditions Sensor phenomena and characterization Controllability Couplings Control systems Mechanical engineering

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A kinematic criterion for the design analysis of manipulator wrist mechanisms

A kinematic criterion for the design analysis of manipulator...

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International Conference on advanced robotics (ICAR)

作者： R.V. Mayorga B. Ressa A.K.C. Wong Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics Department Technopolis CSATA Bari Italy

The authors (1990) have shown that from the Jacobian rate of change matrix is it possible to derive a dexterity measure for robot manipulators. In this article this criterion is further extended for its application on... 详细信息

关键词： Kinematics Wrist Jacobian matrices Manipulators Robots System analysis and design Guidelines Performance evaluation Performance analysis Singular value decomposition

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A kinematic criterion for the design optimization of robot manipulators

A kinematic criterion for the design optimization of robot m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.V. Mayorga B. Ressa A.K.C. Wong Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics Department Tecnopolis-CSATA Bari Italy

A dexterity measure for the design evaluation and optimization of robot (redundant) manipulators is presented. It is shown that an upper bound for the condition number of the Jacobian matrix depends significantly on this measure. The proposed criterion has been applied (in an absolute fashion) to evaluate the kinematic dexterity and optimize each one of five different designs of a HERA arm as a redundant manipulator to be used in space operations.< >

关键词： Kinematics Design optimization Robots Manipulators Jacobian matrices Performance analysis Velocity measurement Software packages Computational geometry Upper bound

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Dexterity measures for design and control of manipulators

Dexterity measures for design and control of manipulators

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： Jin-Oh Kim K. Khosla Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA USA Advanced Manipulators Laboratory The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The authors investigate dexterity measures of a manipulator based on its Jacobian matrix. The goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Every dexterity measure must bear a physical meaning. The measure of manipulability has an analytical expression, but it depends on the scale of a manipulator. On the other hand, the condition number is independent of the scale, but cannot be expressed analytically. These two main problems (scale dependency and analytical expression) of previous dexterity measures derived from the Jacobian matrix are solved and applied in design and control of manipulators. In addition, a dexterity measure called the measure of isotropy is introduced.< >

关键词： Jacobian matrices Manipulators Robot kinematics Eigenvalues and eigenfunctions Laboratories Time measurement NASA US Department of Energy Electric variables measurement Arithmetic

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DEVELOPMENT OF A PROCESS DETERMINATION AND SEQUENCING TECHNIQUE FOR A MANUFACTURING SYSTEM

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1991年第3期29卷 513-535页

作者： CHIANG, PT YANG, JCS Research Engineer Advanced Technology and Research Corporation Laurel MD 20707 14900 Sweitzer Lane United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College Park MD 20742 United States

With the given geometrical data of a model, this paper presents a technique: (1) to prepare a workpiece with minimal material required to fabricate the model;(2) to automatically determine the necessary manufacturing processes utilizing the concept of feature-based recognition;and (3) to optimally sequence these processes based on a tabulated optimization scheme. Four types of feature, face, hole, slot, and pocket, are considered. Computational results are provided to demonstrate the capability and advantage of the technique. Conclusions are given and recommendations for future research are discussed.

关键词： Process engineering

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