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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Redundant actuation for improving kinematic manipulability

Redundant actuation for improving kinematic manipulability

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IEEE International Conference on robotics and automation (ICRA)

作者： J.F. O'Brien J.T. Wen Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.

关键词： Kinematics Parallel robots Ellipsoids Manufacturing automation robotics and automation Computer aided manufacturing Manipulators Concurrent computing Systems engineering and theory Couplings

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Creating realistic force sensations in a virtual environment: Experimental system, fundamental issues and results 15

Creating realistic force sensations in a virtual environment...

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15th IEEE International Conference on robotics and automation, ICRA 1998

作者： Popa, Dan O. Singh, Sunil K. Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)078034300X

A topic of particular interest in virtual reality has been the design of force feedback devices which will enable the user to interact with the virtual environment in real-time. We have developed a virtual environment for lumbar puncture, a widely used medical technique involving the insertion of a 3 inch long needle in the spinal region of a patient involving real-time 3-0 display of the spinal region and real-time force feedback. The trainee can insert a specialized joystick needle in a virtual spine and simultaneously "feel" a realistic force response, matching the real procedure. Our goal is to be able to control the motor such that the whole system 'yeels" like a needle penetrating human tissue. In order to create a realistic simulation involving force feedback we show how force feedback theory can be applied to our virtual environment. © 1998 IEEE.

关键词： Virtual reality

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A WORKCELL BASED ROBOT DESIGN PROGRAM

A WORKCELL BASED ROBOT DESIGN PROGRAM

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880357

This paper discusses a computer graphics program that helps to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. Program implementation is detailed. © 1998 by ASME.

关键词： Robots

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Workcell based robot design methodologies

Workcell based robot design methodologies

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880319

This paper details a set of methodologies to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. A computer program was written to implement these methods. © 1998 by ASME.

关键词： Robots

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Creating realistic force sensations in a virtual environment: experimental system, fundamental issues and results

Creating realistic force sensations in a virtual environment...

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IEEE International Conference on robotics and automation (ICRA)

作者： D.O. Popa D.K. Singh Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

Force feedback devices for use in virtual reality have been the design, which enable the user to interact with the virtual environment in real-time. We have developed a virtual environment for lumbar puncture, a widely used medical technique involving the insertion of a 3 inch long needle in the spinal region of a patient involving real-time 3D display of the spinal region and real-time force feedback. The trainee can insert a specialized joystick needle in a virtual spine and simultaneously "feel" a realistic force response, matching the real procedure. Our goal is to be able to control the motor such that the whole system "feels" like a needle penetrating the human tissue. In order to create a realistic simulation involving force feedback we show how force feedback theory can be applied to our virtual environment.

关键词： Virtual environment Force feedback Needles Force control Manufacturing automation robotics and automation Virtual reality Control systems Humans Workstations

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MODULAR automation CONCEPTS-OPPORTUNITIES and CHALLENGES in INDUSTRY

MODULAR AUTOMATION CONCEPTS-OPPORTUNITIES and CHALLENGES in ...

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dlxle Group Inc. 2.5 Industrial Park Drive AlbanyNY12206 United States

ISBN: (纸本)9780791880357

The goals of Modular automation Concepts (MAC) for the automation field are presented. In order to demonstrate the strategies, the packaging automation industry is reviewed to find new opportunities for production machines. These new machines were designed with the MAC techniques. Other challenges from the industrial side to Modular Design are also discussed. © 1998 by ASME.

关键词： automation

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Teaching modular automation concepts

Teaching modular automation concepts

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation D Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dixie Group Inc. 25 Industrial Park Drive Albany NY12206 United States

ISBN: (纸本)9780791880364

Teaching a course on Modular automation Concepts (MAC) for the automation field has been twice accomplished. In order to demonstrate the MAC strategies, the packaging automation industry is reviewed to find new opportunities for production machines. Student teams then designed new machines using MAC techniques. Samples of project results are summarized. © 1998 by ASME.

关键词： automation

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Kinematic manipulability of general constrained rigid multibody systems

Kinematic manipulability of general constrained rigid multib...

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IEEE International Conference on robotics and automation (ICRA)

作者： J.T. Wen L.S. Wilfinger Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

关键词： Kinematics Torque Ellipsoids Manufacturing automation robotics and automation Computer aided manufacturing Manipulators Fingers Legged locomotion Robots

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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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