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American Control Conference (ACC)

作者： N.H. McClamroch Chunlei Rui I. Kolmanovsky Sangbum Cho M. Reyhanoglu Department of Aerospace Engineering University of Michigan Ann Arbor MI USA Automation Robotics Technology Texas State Technical College Sweetwater TX USA

We study control problems for a specific mechanical system consisting of a rigid base body with an unactuated internal degree of freedom. The key assumptions are that the translational and rotational motion of the base body can be completely controlled by external forces and moments, while the internal degree of freedom is unactuated. This specific example is representative of a class of underactuated mechanical control systems that are not linearly controllable. This class of control problems presents major theoretical and practical difficulties, and such models do arise in important terrestrial and spacecraft applications. Our focus in this paper is on the simplest mechanical example in this class; it illustrates important features and difficulties associated with the class of such problems.

关键词： Motion control Control systems Mechanical systems Nonlinear control systems Space vehicles Mathematical model Automatic control Control theory Orbital robotics robotics and automation

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A fuzzy system compensator for backlash

A fuzzy system compensator for backlash

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IEEE International Conference on robotics and automation (ICRA)

作者： K.T. Woo Li-Xin Wang F.L. Lewis Z.X. Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong China Automation and Robotics Research Institute University of Texas Arlington USA

We design a fuzzy system to compensate the delays due to backlash nonlinearity. The fuzzy compensator is constructed from some common-sense rules. We consider the general case of the unknown backlash parameter and develop an adaptation algorithm to estimate the backlash parameter online. We prove that under certain conditions the fuzzy compensator with the adaptation algorithm guarantees that the backlash output converges to the desired trajectory. Simulation and hardware implementation results show that the fuzzy compensator is robust to the estimation errors in the backlash parameters. Application to an industrial CNC machine tool is described.

关键词： Fuzzy systems Fuzzy logic Fuzzy control robotics and automation Delay Parameter estimation Linearity Control systems Adaptive control Design engineering

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Robust control of cooperative underactuated manipulators

Robust control of cooperative underactuated manipulators

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M. Bergerman Yangsheng Xu Yun-Hui Liu Informatics Technology Center Automation Institute Campinas SP Brazil The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Hong Kong China

We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method are addressed, and a sufficient condition for a singularity-free controller implementation is obtained. Simulation and experimental results are presented to validate the theory presented.

关键词： Robust control Manipulator dynamics robotics and automation Mechanical variables control Sufficient conditions Kinematics Force control Trajectory Switches Informatics

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On-range sensor feedback for mobile robot docking within prescribed posture tolerances

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Journal of Field robotics 1998年第4期14卷

作者： Bernt Nilsson Jonas Nygårds Åke Wernersson Robotics and Autonomous Mechanical Systems IKP Linköping University S-581 83 Linköping Sweden Robotics & Automation Luleå University of Technology S-971 87 Luleå Sweden

The problem addressed is feedback from noncontact sensing for guiding robots during docking and gripping. The sensor used is a “range camera” onboard a mobile robot (MRb). To specify the docking task completely both the posture (position/orientation) and the required tolerances must be given. These tolerances are then used in the feedback control loop during docking. The algorithms are divided into three parts: the extraction of posture parameters from the “range camera,” dynamic filtering for finding association gates and protecting the system against spuriousness in the measurements, and finally a feedback controller. The feedback controller is separated into geometric control and tolerance control. The geometric control uses a range varying LQG-designed feedback control law to generate the trajectories toward the object. The tolerance control adjusts the approach velocity so that the robot is given a sufficient number of observations and control cycles to meet the required tolerances. Thus, during the approach there is a conditional re-planning of the trajectory. For simplicity, only three kinematic state variables (x, y, θ) are used for the MRb. Gripping using an industrial robot (IRb) is an equivalent problem. Successful experiments were made with range resolution varying more than a factor of 50. Thus, the resolution volume in the (x, y, θ)-space varied by several orders of magnitude during the tests. The final errors in range and orientation are essentially limited by the resolution in the “range camera.” A persistent conclusion from the experiments is the importance of correct association between the range measurements and the corresponding parts of the object. © 1997 John Wiley & Sons, Inc.

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Adaptive fuzzy logic compensation of actuator deadzones

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Journal of Field robotics 1998年第6期14卷

作者： F. L. Lewis K. Liu R. Selmic Li-Xin Wang Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Boulevard South Ft. Worth TX 76118-7115 Department Electrical and Electronic Engineering Hong Kong University of Science and Technology Kowloon Hong Kong

A deadzone compensator is designed for nonlinear systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the FL parameters so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. A rigorous proof of stability and performance is given and a simulation example verifies excellent performance. It is seen that the extra signal produced by the adaptive FL deadzone compensator can be considered as an adaptive dithering term. © 1997 by John Wiley & Sons, Inc.

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Deadzone compensation in motion control systems using adaptive fuzzy logic control

Deadzone compensation in motion control systems using adapti...

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1997 IEEE International Conference on robotics and automation (ICRA97) - Teaming to Make an Impact

作者： Woo, KT Lewis, FL Wang, LX Li, ZX Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)0780336135

A deadzone compensator is designed for industrial positioning systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the FL parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. The adaptive FL deadzone compensator is implemented on an actual industrial CNC machine tool to show its efficacy.

关键词： Motion control

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Implementation of a neural net tracking controller for a single flexible link: comparison with PD and PID controllers

Implementation of a neural net tracking controller for a sin...

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American Control Conference (ACC)

作者： L.B. Gutierrez F.L. Lewis Automation and Robotics Research Institute University of Technology Fort Worth TX USA

The objective of the paper is to show the results of the practical implementation of a neural network tracking controller on a single flexible link and compare its performance to that of PD and PID standard controllers. The NN controller is composed of an outer PD tracking loop, a singular perturbation inner loop for stabilization of the fast flexible mode dynamics, and a neural network inner loop used to feedback linearize the slow pointing dynamics. No off-line training or learning is needed for the NN. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. An extra friction term was added in the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.

关键词： Neural networks Robot kinematics Linear feedback control systems Automatic control PD control Three-term control Tracking loops Neurofeedback Feedback loop robotics and automation

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Robot Intelligence and Flexibility for Smooth Finishing of Car Body

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IFAC Proceedings Volumes 1997年第14期30卷 303-311页

作者： Byung-Hoon Kang Jin-Dae Kim Jin-Yang Yoo Jong-Oh Park Kwang-Se Lee Hyun-Oh Shin Advanced Robotics Research Center Korea Institute of Science and Technology Automation Research Lab. Hyundai Motor Co.

Robotic finishing such as car body grinding is one of critical automation processes because of direct influence of robot system capability on final surface quality. Difference of each car surface even in the same car model is also one another critical problem. Here one suggestion on robotic finishing system with intelligence and flexibility. Laser vision scans the local surface of each car body, from sensing data after signal processing surface and bead are modeled, after that exact robot path is generated. All these processes are integrated in one robot finishing system, which is applied in actual production line. Such intelligence and flexibility of robot system shows adaptability even in production line as well as further interesting research topics. Finally technological extension of such system to more complicated workpiece is explained.

关键词： Robotic finishing Laser vision surface modeling Bead modeling Robot path generation Robot intelligence Robot flexibility

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE Conference on Control technology and Applications (CCTA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This work targets the navigation and control of multi-linked manipulators in tight, constrained spaces as are encountered in problems of robotic packaging or loading and unloading of pallets. The modified magnetic field algorithm was introduced by the authors (1996, 1997) for the specific purposes of generating motion plans for a robot moving in a complex and constrained workspace while veering around enclosing Cartesian space obstacle walls. The modified magnetic field method allows global convergence and collision constraint satisfaction while allowing the application of this method as a dynamic online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF for the online dynamic closed loop control of a robot arm in the presence of Cartesian obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration. This is done by extending the concept of the MMF through a detailed analysis of exactly what constitutes a desirable path in both Cartesian and configuration spaces. The dynamic control is performed in a hybrid manner to account for both, Cartesian as well as configuration space obstacles.

关键词： Manipulator dynamics Motion control Magnetic fields Orbital robotics Space technology Motion planning robotics and automation Electrostatics Feedback Automatic control

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