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Experimental verification of control algorithms for a one link geared robot

Experimental verification of control algorithms for a one li...

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

作者： Kozlowski, K Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Piotrowo Poland

ISBN: (纸本)0780336135

In this paper, a simple one degree of freedom robot, designed for both research and leaching purposes, is described. An experimental set-up consists of DC-motor, a rate generator, a harmonic drive, a control system, and load. A system has an open architecture and allows the programmer to distribute the intelligence between the single board computer (SBC) and PC compatible computer, which are connected through interface, The SEC collects data from different sensors. System software resides on SEC and PC compatible computer. A PD controller has been designed and successfully implemented. Different new adaptive control algorithms, which require only link position measurements, were developed and lt sled, both on SUN workstation and on the experimental set-up.

关键词： Intelligent sensors computer interfaces Distributed computing Educational robots Education control systems computer architecture Programming profession Intelligent robots System software

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Adaptive control of a one link geared robot

Adaptive control of a one link geared robot

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： M. Kozlowski P. Dutkiewicz Chair of Control Robotics and Computer Science Poznan University of Technology Poland

In this paper, a simple one degree of freedom robot, designed for both research and teaching purposes, is described. An experimental set-up consists of a DC motor, a rate generator, a harmonic drive, a control system, and a load. The system has an open architecture and allows the programmer to distribute the intelligence between the single board computer (SBC) and PC compatible computer, which are connected through an interface. The SBC collects data from different sensors. System software resides on the SBC and PC compatible computer. Different friction characteristics of the harmonic-drive transmission are presented. A PID controller has been designed and successfully implemented. Different adaptive control algorithms were developed and tested both on a SUN workstation and on an experimental set-up.

关键词： Adaptive control Intelligent sensors computer interfaces Distributed computing Educational robots Education DC motors DC generators control systems computer architecture

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New robot control algorithms in terms of quasi-velocities

New robot control algorithms in terms of quasi-velocities

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American control Conference (ACC)

作者： K. Kozlowski Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

We present new control algorithms for robots whose dynamics are described in terms of quasi-velocities. We incorporate into the forward dynamics algorithms the new control laws in terms of normalized and unnormalized quasi-velocities. We consider two cases: end point trajectory tracking and trajectory tracking algorithms. It is shown that by proper choosing of the Lyapunov function candidate a dynamic system with appropriate feedback is asymptotically and exponentially stable and follows a desired trajectory in the task space. The control laws track the desired position, velocity, and acceleration in Cartesian space. All control laws have new architecture in the sense that they are derived in the so called quasi-velocity and quasi-force space. We also propose a sliding mode control in quasi-velocity and quasi-force spaces.

关键词： Robot control Jacobian matrices Equations Velocity control Trajectory Sliding mode control Orbital robotics Manipulator dynamics computer science Heuristic algorithms

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A new control algorithm in terms of normalized quasi-velocities with gravitational forces

A new control algorithm in terms of normalized quasi-velocit...

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International Workshop on Robot Motion and control (RoMoCo)

作者： K. Kozlowski P. Herman Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

This paper presents a new control algorithm for manipulators whose dynamics is expressed in terms of quasi-velocities. In contrary to our previous algorithms (1995) this one also considers gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the other in opposite direction. Both recursions are described by using vector-matrix notation. The algorithm presented makes the system stable in the sense of Lyapunov. The algorithm was tested on the model of a manipulator with two degrees of freedom.

关键词： Force control Manipulator dynamics Equations Vectors Robot control Acceleration computer science Heuristic algorithms Testing Robot sensing systems

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A comparison of certain quasi-velocities approaches in PD joint space control

A comparison of certain quasi-velocities approaches in PD jo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Herman K. Kozlowski Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

ISBN: (纸本)0780365763

This paper presents a comparison of PD controls in joints space for serial manipulators whose dynamics is expressed in terms of two different kinds of quasi-velocities. Robot dynamic algorithms in terms of so called normalized and unnormalized quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip, and the other in an opposite direction. Both recursions are described by using a vector-matrix notation. An instantaneous eigenstructure quasi-velocity formulation, as a result of numerical mass matrix factorization, is introduced. The two PD controls were tested on the model of a manipulator with two degrees of freedom. The standard control algorithms known in robotic literature are considered for a case when the robot dynamics is formulated in terms of quasi-velocities.

关键词： PD control Manipulator dynamics Space technology Orbital robotics Robot control computer science Heuristic algorithms Testing Differential equations Couplings

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The stability of the adapt tracking controller of rigid and flexible joint robots

The stability of the adapt tracking controller of rigid and ...

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International Workshop on Robot Motion and control (RoMoCo)

作者： K. Kozlowski P. Sauer Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

This paper considers the control scheme for manipulators with elastic joints. The proposed algorithm requires only position signal measurements. This algorithm is an extension of the control algorithm proposed by Loria and Ortega (1995). We have developed for the proposed model of manipulator an adaptive version of the control algorithm, based on the Lyapunov stability theory. This algorithm ensures that the position regulation error or tracking error possess desirable convergence property: semiglobal convergence to an arbitrarily small neighbourhood of zero in the presence of bounded disturbance. This paper considers three theorems, which were used to prove that this algorithm is semiglobal stable. New adaptive control algorithms which require only link position measurements, have been developed and tested, both on PC computer and on an experimental set-up.

关键词： Stability Programmable control Adaptive control Robots Position measurement Friction Actuators Torque measurement Drives Algorithm design and analysis

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Some remarks on two quasi-velocities approaches in PD joint space control

Some remarks on two quasi-velocities approaches in PD joint ...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： P. Herman K. Kozlowski Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

This paper presents some remarks on PD control in joint space for serial manipulators whose dynamics is expressed in terms of two different kind of quasi-velocities. Robot dynamics algorithms in terms of so called normalized quasi- velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described by making use of vector-matrix notation. In the second work authors introduce an instantaneous eigenstructure quasi-velocity formulation as a result of numerical mass matrix factorization. Both PD controls were tested on a model of manipulator with two degrees of freedom. In this paper we adopt standard PD control known in robotic literature to a case when robot dynamics is formulated in terms of quasi-velocities.

关键词： PD control Manipulator dynamics Space technology Differential equations Orbital robotics Robot control Matrix decomposition computer science Heuristic algorithms Testing

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A comparison of control algorithms for serial manipulators in terms of quasi-velocities

A comparison of control algorithms for serial manipulators i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Kozlowski P. Herman Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

This paper presents a comparison of controls for manipulators whose dynamics is expressed in terms of quasi-velocities. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described by using vector-matrix notation. Quasi-velocities are a result of numerical mass matrix factorization. They were tested on a model of manipulator with two degrees of freedom. In this paper we adopt standard control algorithms known in robotic literature to a case when robot dynamics is formulated in terms of quasi-velocities.

关键词： Equations Manipulator dynamics Orbital robotics Robot control computer science Space technology Acceleration Heuristic algorithms Testing control systems

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Learning-based control for PMSM Using Distributed Gaussian Processes with Optimal Aggregation Strategy 49

Learning-based Control for PMSM Using Distributed Gaussian P...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Yin, Zhenxiao Dai, Xiaobing Yang, Zewen Shen, Yang Hattab, Georges Zhao, Hang Robotics and Autonomous Systems Thrust Guangzhou China Technical University of Munich Chair of Information-oriented Control Munich Germany Berlin Germany Freie Universität Berlin Department of Mathematics and Computer Science Berlin Germany The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong

ISBN: (纸本)9798350331820

The growing demand for accurate control in varying and unknown environments has sparked a corresponding increase in the requirements for power supply components, including permanent magnet synchronous motors (PMSMs). To infer the unknown part of the system, machine learning techniques are widely employed, especially Gaussian process regression (GPR) due to its flexibility of continuous system modeling and its guaranteed performance. For practical implementation, distributed GPR is adopted to alleviate the high computational complexity. However, the study of distributed GPR from a control perspective remains an open problem. In this paper, a control-aware optimal aggregation strategy of distributed GPR for PMSMs is proposed based on the Lyapunov stability theory. This strategy exclusively leverages the posterior mean, thereby obviating the need for computationally intensive calculations associated with posterior variance in alternative approaches. Moreover, the straightforward calculation process of our proposed strategy lends itself to seamless implementation in high-frequency PMSM control. The effectiveness of the proposed strategy is demonstrated in the simulations. © 2023 IEEE.

关键词： Synchronous motors

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Sensor-based obstacle modeling in configuration space for manipulator motion planning

Sensor-based obstacle modeling in configuration space for ma...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Wei Li Zusbun Chen F.M. Wahl K.R. Kozlowski Department of Computer Science and Technology Tsinghua University Beijing China Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.

关键词： Manipulators Orbital robotics Motion planning Robot sensing systems Space technology Computational geometry Process planning Technology planning computer science Solid modeling

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