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American Control Conference (ACC)

作者： O.C. Pastravanu A. Gurel H.-H. Huang F.L. Lewis Visiting Associate Professor from Automatic Control Department Polytechnic Institute of Iasi Romania Visiting Associate Professor from Department of Electrical & Electronic Engineering Eastern Mediterranean University Turkey Automation and Robotics Research Institute University of Texas Arlington Worth TX USA

A modern system theory point of view is offered for the design of sequencing controllers for discrete event manufacturing systems, whereby the controller is considered as separate from the workcell. The controller has a rule-based structure with inner loops where no shared-resource conflict resolution is required, and extra control inputs in an outer loop to resolve conflict and remove deadlock (where needed). The controller design is based on the required task sequence and the available resources; it is described by linear (i.e. matrix) and nonlinear logical equations. The controller-workcell interaction expressed both in qualitative and quantitative terms supports a rigorous analysis of conflicts and deadlock. Three methods for conflict and deadlock resolution related to current work are efficiently incorporated in the general design framework. The design algorithm naturally accommodates a performance analysis in terms of the (R,max,+) representation as a consequence of the link established between that approach and the rule-based controller equations. Compatibility with other analysis/design techniques is briefly addressed.

关键词： Manufacturing systems Control systems Nonlinear equations Flexible manufacturing systems System recovery Algorithm design and analysis robotics and automation Automatic control Manufacturing automation Lifting equipment

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DYNAMIC CONTROL OF COORDINATED REDUNDANT ROBOTS WITH TORQUE OPTIMIZATION

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AUTOMATICA 1993年第6期29卷 1411-1424页

作者： HU, YR GOLDENBERG, AA [a]Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario Canada M5S 1A4

The problem of controlling a system of coordinated redundant robots with torque optimization based on joint redundancy is addressed. Local and global optimal control laws, both minimizing joint torque loading, are developed. A general method of load distribution among the coordinated robots is also proposed. The control problem is to regulate the motion of the object held by the coordinated robots and the internal force generated as a result of constraints on the object. The errors in the object motion and internal force converge asymptotically to zero under the proposed optimal control laws, when exact knowledge of the dynamic models is assumed. Furthermore, the robustness of the proposed method to model uncertainty is also analyzed. The motion and internal force errors are uniformly ultimately bounded under the proposed optimal controllers, when uncertainty in the dynamic models is assumed to exist.

关键词： COORDINATED ROBOTS NONLINEAR CONTROL SYSTEM OPTIMIZATION ROBUSTNESS

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EXPERIMENTAL-DETERMINATION OF DYNAMIC PARAMETERS OF ROBOTIC ARMS

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JOURNAL OF ROBOTIC SYSTEMS 1993年第8期10卷 1009-1029页

作者： LU, ZR SHIMOGA, KB GOLDENBERG, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario M5S 1A4 Canada

This article presents a practical method for determining the dynamic parameters of robotic arms. The two unique features of the method are that it determines the friction parameters along with the inertia and mass parameters and that it does not require the measurement of joint accelerations. The method is demonstrated experimentally by determining the dynamic parameters of a closed-chain direct-drive arm. The precision of the determined parameter was verified in the context of computed torque-based controllers. Statistical analysis also shows that the estimated values are reliable. (C) 1993 John Wiley and Sons, Inc.

关键词： Robotic arms

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RALPH application for surface mount assembly

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International Journal of Flexible Manufacturing Systems 1993年第1期5卷 27-52页

作者： Rist, Andrew K. Lin, Ellen Y. Nnaji, Bartholomew O. Automation and Robotics Laboratory Department of Industrial Engineering and Operations Research University of Massachusetts Amherst 01003 Massachusetts United States

Automated assembly in the electronics industry offers many advantages over traditional assembly methods. As product lives become shorter and batch numbers become smaller, new programming methods will be needed to shorten the lead time for these automated lines. Providing a method for humans to interact with the robot in a natural language mode will lead to some of these advantages. Task-level programming deals with the interactions of objects rather than robot motions and therefore requires little robotic expertise but allows for easy and fast programming. One of the long-term projects aimed at alleviating the above problem is the development of a Robotic Assembly Language Planning Hierarchy (RALPH), a task-level automatic robot programming language with natural language commands. In surface mount assembly, the PC board must be populated with chips with high tolerances-a few thousandths of an inch. The part features are so small that human assemblers constantly make mistakes. The redeeming aspect of the components with regard to assembly lies in the geometry of the features. In this article we capitalize on the above geometric attributes of chips and chip pads on PCBs in order to apply the principles of RALPH in the development of a system for automatic assembly. © 1993 Kluwer Academic Publishers.

关键词： assembly robot programming sensors surface mounts

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AN IMPROVED DIGIT-REVERSAL PERMUTATION ALGORITHM

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SIGNAL PROCESSING 1993年第3期32卷 409-415页

作者： YU, XG LOH, NK MILLER, WC Department of Electrical Engineering University of Windsor Windsor Ontario Canada N9B 3P4 Center for Robotics and Advanced Automation Dodge Hall of Engineering Oakland University Rochester MI48309-4401 USA

This paper introduces a new structure to compute the digit-reversal permutation in the radix-B fast Fourier or Hartley transform. By studying the property of base-B numbers, we find that any base-B number, k, can be represented as the sum of three numbers: one base-B number, i;digital reverse of another base-B number, j;and a constant, z, in which the two base-B numbers i and j are no greater than square-root N, where N is the number of data points to be transformed. Then, the digital reverse of k is just the sum of j and the digital reverse of i plus the constant z. Using this property we have developed a new algorithm to compute the digital reverse of any index very efficiently. Since it uses fewer arithmetic operations, the new algorithm is faster than other algorithms known to the authors and the program storage requirements are no greater than Evans' and Walker's algorithms.

关键词： FAST FOURIER TRANSFORM FAST HARTLEY TRANSFORM DIGIT-REVERSAL PERMUTATION BIT-REVERSE ALGORITHM

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A NULL-SPACE SOLUTION OF THE INVERSE KINEMATICS OF REDUNDANT MANIPULATORS BASED ON A DECOMPOSITION OF SCREWS

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JOURNAL OF MECHANICAL DESIGN 1993年第3期115卷 530-539页

作者： PODHORODESKI, RP GOLDENBERG, AA FENTON, RG Department of Mechanical Engineering University of Victoria Victoria Canada V8W 2Y2 Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada M5S 1A4

In this paper, an approach for solving the inverse kinematics (velocity) problem for redundant open-chain manipulators is addressed. The solution is based upon finding a particular joint rate solution and identifying a joint velocity null-space basis through a decomposition of screw coordinates representing the joint axes. Optimal joint rate solutions are formulated in terms of the joint null-space basis. A specification of computational costs for numerical application is presented. The method is shown to be useful for analytical application through example derivations for two 7 revolute jointed manipulators and a platform mounted nonredundant manipulator.

关键词： Chain Kinematics Redundant manipulators Manipulators Screws

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STABILITY ANALYSIS OF A BILATERAL TELEOPERATING SYSTEM

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 1993年第3期115卷 419-426页

作者： STRASSBERG, Y GOLDENBERG, AA MILLS, JK Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Ontario Canada

In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate feedback linearization control, based on the earlier work of Spong and Vidyasagar, 1987, a robust closed-loop system (position and force) can be obtained with a multiloop version of the small gain theorem. It is shown that stable bilateral teleoperating systems can be achieved under the assumption that the deviation of the models from the actual systems satisfies certain norm inequalities. We also show that, using the proposed scheme, the tracking error (position/velocity and force/torque) is bounded and it can be made arbitrarily small. The control scheme is illustrated using the simulation of a three-degree-of-freedom master-slave teleoperator (three-degree-of-freedom master and three-degree-of-freedom slave).

关键词： Stability Errors Torque Closed loop systems Simulation Dynamics (Mechanics) Theorems (Mathematics) Feedback

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Stiffness control of the coupled tendon-driven robot hand

Stiffness control of the coupled tendon-driven robot hand

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IEEE International Conference on Systems, Man and Cybernetics

作者： Young-Tae Lee Jung-Ha Kim Wan-Kyun Chung Yougil Youm Robotics and Automation Laboratory Department of Mechanical Engineering Postech South Korea Robotics Research Group Department of Mechanical Engineering RIST South Korea

ISBN: (纸本)0780309111

This paper presents the methods of design and control for a coupled tendon-driven robot hand with stiffness control capability. By using the tendon as a force transmission mechanism, we can achieve the compact design of the robot hand. Because of the tendon characteristics, we consider the tendon slacking problem when the joint is unexpectedly disturbed and the tendon elongation problem when the collocated position sensing method is used for compact design. To cope with these problems, two fundamental algorithms are developed. First, the position estimation algorithm is developed to evaluate the accurate position of the hand, and an antagonistic tendon controller is introduced. Secondly, the active stiffness control algorithm is developed to control the fingertip force.< >

关键词： Tendons Force control Fingers Robot sensing systems Automatic control robotics and automation Optimal control Algorithm design and analysis Actuators Mechanical engineering

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A RISC processor based architecture for control and evaluation of grasping and manipulation with dexterous hands

A RISC processor based architecture for control and evaluati...

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IEEE Pacific Rim Conference on Communications, Computers and Signal Processing

作者： N. Kircanski A. Goldenberg C. Zhou Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada

The authors describe the computer architecture for the IRIS Facility, a versatile, multi-degree-of-freedom reconfigurable and expandable setup for research in grasping and manipulation. The proposed computer architecture involves powerful 10 MFLOPS RISC (reduced instruction set computer) processor nodes and a fast point-to-point communication network. Each node includes a host computer and parallel input/output modules. The nodes are controlled by nearly zero-overhead customized real-time OS kernels responsible for task scheduling, communication, and user-interface.< >

关键词： Reduced instruction set computing Computer architecture Communication system control Iris Computer aided instruction Computer networks Communication networks Concurrent computing Operating systems Kernel

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Robust control of robot manipulators incorporating motor dynamics

Robust control of robot manipulators incorporating motor dyn...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.J. Liu A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada

In this paper, the robust control of robot manipulators with consideration of motor dynamics is studied. A robust control scheme is designed based on a third-order dynamic model of robot manipulators that incorporates motor dynamics. The motor torque ripple and parameter uncertainty of the armature circuit are taken into account. The well known robust saturation control technique is applied to the third-order dynamic model to design a control law that guarantees the uniform ultimate boundedness of the closed-loop tracking errors. Simulations are conducted to evaluate the proposed control method, and the results have confirmed its effectiveness.

关键词： Manipulator dynamics Robust control DC motors Torque Circuits robotics and automation Robot control Equations Voltage Uncertainty

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