Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external &quo...
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Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.
In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then r...
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In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then reviewed. A robust decentralized control is then proposed for a 5-axis robot manipulator. Numerical simulation results are presented to verify the theory.
While it may not be practical to realize a tentative robot design as an actual robot, there is no question of the practicality of a simulation, ROBOT_S is a program in which the foundation for a comprehensive simulati...
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Control of tool-workpiece interaction force is of vital importance in automated assembly. Using a simple linear continuous model of an edge-following system to predict the appropriate accomodation gains in a force con...
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Control of tool-workpiece interaction force is of vital importance in automated assembly. Using a simple linear continuous model of an edge-following system to predict the appropriate accomodation gains in a force control loop, previous work has shown that force control by accomodation is feasible. Following up this work, this paper describes the analysis, simulation and implementation of an adaptive force control in a two-dimensional edge-following task with a PUMA 560 robot and wrist force sensor. First, a discrete-time model of an edge-following system is developed and then used as the plant; second, a model reference adaptive control (MRAC) scheme is applied to achieve both tracking and regulation purposes. The reference (tracking) model can be determined by experimental reference input and desired model output information; the reference (regulation) model can be obtained by simulation to smooth out the plant output and improve the augmented filtered plant-model error. Study is done on the values of the adaptation gains in the adaptive mechanism, and hence can be adjusted to insure the best plant output performance.
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” ap...
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A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in...
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A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in one dimension on a robotic gripper, with partial success. It was found that velocity as well as positional feedback were required to complete even simple movements. It is believed that aspects of this approach would readily extend to a tactile sensing system.< >
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