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IEEE International Conference on robotics and automation (ICRA)

作者： S. Payandeh A.A. Goldenberg Robotics and Automation Laboratory (RAL) Department of Mechanical Engineering University of Toronto Toronto ONT Canada School of Engineering Science Simon Fraser University Burnaby BC Canada

In most applications of manipulating systems, the manipulator has to make contact with rigid fixtures in its environment. In practice, it has been noticed that the performance of the contact force controllers is affected when the manipulator is in contact with a rigid environment or in the presence of uncertainties. A model of the manipulator in contact with a rigid environment is presented, and a robust control architecture based on a general theory of a servomechanism for controlling the contact force is proposed. The results of this work are demonstrated experimentally using a two-degree-of-freedom direct drive robot.< >

关键词： Force control Robust control Manipulators Open loop systems Robots Stability Uncertainty Impedance Automatic control robotics and automation

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A general compensator synthesis approach for generalized systems using (C;E,A;B)-pairs

A general compensator synthesis approach for generalized sys...

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IEEE Conference on Decision and Control

作者： V.L. Syrmos F.L. Lewis Department of Electrical Engineering University of Hawai Honolulu HI USA Automation and Robotics Research Institute University of Texas Arlington Worth TX USA

A complete geometric theory is presented for the design of compensators in generalized systems. The key geometric tool is that of (C;E,A;B)-pairs. This concept involves the notion of (A, E, B)-invariant subspaces. The authors introduce the use of regular (C;E,A;B)-pairs that guarantees the closed-loop regularity and two coupling conditions, one for the domain and one for the codomain. They show the importance of (C;E,A;B)-pairs, which constitute open-loop information, in describing the possible closed-loop geometric structure under the influence of a dynamic compensator. A general compensator synthesis principle using these results for generalized systems is presented.< >

关键词： robotics and automation Large-scale systems H infinity control Lifting equipment Output feedback

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A control architecture for arm/hand manipulating system

A control architecture for arm/hand manipulating system

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International Conference on Advanced robotics (ICAR)

作者： S. Payandeh A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada School of Engineering Science Simon Fraser University Burnaby BC Canada Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The arm/hand manipulating system considered in this paper consists of a large robot (the arm) carrying a small mechanism (the hand) which through its coordinated motion is able to perform tasks in a manufacturing work-cell. In general, the arm subsystem is used to locate its end-point where the hand is connected at a specific location or to move it along a given trajectory. The hand can then be used to pick up an object or a tool, for placing the object or performing a machining task. This paper presents a control architecture for an arm/hand manipulating system. In particular, contributions of the paper are a method for controlling the fingers of the hand mechanism and classification of the forces which can act on the arm/hand system.< >

关键词： Control systems Force control Automatic control robotics and automation Robot kinematics Machining Fingers Manipulators Laboratories Mechanical engineering

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Implementation of an active perceptual scheme for legged locomotion of robots

Implementation of an active perceptual scheme for legged loc...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： P.R. Sinha R.K. Bajcsy GRASP Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA Robotics and Automation Laboratory (RAL) Department of Mechanical Engineering University of Toronto Toronto ONT Canada

For robots to traverse rugged terrain successfully using legged locomotion, they need not only constantly to maintain structural stability but also, and perhaps more importantly, to detect and adapt to changes in the terrain properties. The authors address the issue of exploration to extract material properties from a given surface for the specific purpose of aiding in and improving the quality of legged locomotion. While it is important to evaluate terrain properties prior to the start of locomotion, it is even more important to evaluate these properties actively during locomotion so that the robot does not sink, slip or fall. It is proposed that the legs of a robot be used not only for stepping and walking but also as probes to examine those properties of the surface that would contribute to the efficiency of locomotion, one way or another. The proposed framework for active perception for legged locomotion suggests that for stable stepping and walking in an unknown environment, it is necessary actively to recover the material properties of penetrability, compliance and surface traction from the supporting surface. These attributes must be recovered by exploratory procedures that are built into the mobile robotic system. This paper focusses on the implementation of the perceptual scheme so that feedback from the measurement of material properties is used to control robot foot forces during legged locomotion.< >

关键词： Legged locomotion Material properties Structural engineering Leg Probes Mobile robots Force feedback Force measurement Force control Robot control

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Dextrous manipulation using qualitative reasoning. II. Modelling and synthesis of finger manipulative synergies

Dextrous manipulation using qualitative reasoning. II. Model...

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International Conference on Advanced robotics (ICAR)

作者： S.P. Ananthanarayanan A.A. Goldberg J. Mylopoulos Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Dept. of Mech. Eng. Toronto Univ. Ont. Canada

For pt.I see ibid., p.625-30 (1993). In this paper, qualitative methods of modelling a dexterous manipulation process are discussed, to facilitate common-sense reasoning in the synthesis of manipulative synergies for an articulated robot hand. An 'incremental manipulation process' for a robot hand, has been defined as a sequence of three basic operations. The mathematical modelling of these operations are provided. The implementation of this model is briefly discussed. The overall manipulation process is modelled as a 'quasi-static' process that integrates the sequence of incremental manipulation processes. The rationale behind this modelling procedure is also discussed in this paper.< >

关键词： Fingers Robots Analytical models robotics and automation Laboratories Mechanical engineering Computer science Mathematical model Problem-solving Grain size

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Identification and Multi-Objective Controller Tuning of a Plastic Injection Molding Machine

Identification and Multi-Objective Controller Tuning of a Pl...

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American Control Conference (ACC)

作者： C. M. Seaman A. A. Desrochers G. F. List Robotics & Automation Laboratories Rensselaer Polytechnic Institute Troy NY USA Electrical Computer & Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Decision Sciences and Engineering System Department Rensselaer Polytechnic Institute Troy NY USA

In this paper, a multi-objective approach to controller tuning is described. An algorithm for implementation of this tuning is given. This approach has the following merits: there is no restriction on the type or number of performance criteria; no a 'priori weights need be chosen since performance criteria are not combined into a single objective function. The intention is that the algorithm is implemented to run in real-time so as to provide immediate feedback to a process operator about the current operating point. If the current operating point is not Pareto optimal, the algorithm can automatically adjust the parameters to achieve this. If it is Pareto optimal but not desirable, the algorithm can provide information on how trade-offs can be made so that the desired operating point is achieved. The algorithm is applied to the tuning of a PID controller for the plastication phase of an injection molding process. An analytic model for this process is presented. Experiments are described in which data was collected from this process, and an empirical discrete-time transfer function was identified. This transfer function was then used, within a simulation, to allow the algorithm to tune the controller, with respect to two objective functions. The tradeoff curve for these objectives, and corresponding controller gains is presented.

关键词： Plastics Injection molding Transfer functions Pareto optimization Three-term control Constraint optimization Minimization methods Problem-solving Delta modulation Error correction

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Dextrous manipulation using qualitative reasoning. I. Determination of a desired object displacement

Dextrous manipulation using qualitative reasoning. I. Determ...

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International Conference on Advanced robotics (ICAR)

In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A 'qualitative' formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.< >

关键词： Grasping Humans robotics and automation Laboratories Mechanical engineering Computer science Intelligent robots Fingers Humanoid robots Fuzzy logic

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An adaptive learning control approach

An adaptive learning control approach

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IEEE Conference on Decision and Control

作者： Z. Geng M. Jamshidi R. Carroll R. Kisner Intelligent Automation Inc. Rockville MD USA CAD Laboratory of Robotics University of New Mexico Albuquerque NM USA Department of Electrical Engineering George Washington University DC USA Control & Instrumentation Division Oak Ridge National Laboratory Oak Ridge TN USA

An adaptive learning control approach is proposed which combines a mechanism to improve the control input sequence as well as to improve the learning control scheme based on the knowledge learned about the unknown system and environment. The iterative learning control problem is treated from the 2D system point of view. A 2D model for a class of iterative learning control system is formulated. A learning gain estimator algorithm based on the 2D model is presented. The overall learning control system structure is given. The proposed learning control scheme does not require prior knowledge of the controlled system and has the ability to generalize the knowledge learned from one task operation to other tasks. This scheme can be applied to nonlinear system control problems. To demonstrate the feasibility of the proposed learning algorithm, simulation results on learning control for a three-water-tank system are given. The results show an excellent learning performance, even for nonrepetitive tasks.< >

关键词： Programmable control Adaptive control Control systems Nonlinear control systems Error correction Control system synthesis Automatic control robotics and automation Iterative algorithms Three-term control

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A learning control scheme with gain estimator

A learning control scheme with gain estimator

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Z. Geng M. Jamshidi R. Carroll R. Kisner Intelligent Automation Inc. Rockville MD USA CAD Laboratory of Robotics University of New Mexico Albuquerque NM USA Department of Electrical Engineering George Washington University Washington D.C. DC USA Control and Instrumentation Division Oak Ridge National Laboratory Oak Ridge TN USA

An adaptive learning control approach is proposed that combines a mechanism to improve control input sequence as well as to improve the learning control scheme based on the knowledge learned about unknown system and environment. First, the iterative learning control problem is treated from the 2-D system point of view. A 2-D model for a class of iterative learning control systems is formulated. Then a learning gain estimator algorithm based on the 2-D model is presented. The overall learning control system structure is given.< >

关键词： Control systems Automatic control Three-term control Inverse problems Intelligent robots robotics and automation Service robots Laboratories Electrical equipment industry Industrial control

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STABILITY AND ROBUSTNESS OF A HIGH-GAIN NONLINEAR ROBOT MANIPULATOR CONTROLLER

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MECHANISM AND MACHINE THEORY 1990年第5期25卷 529-545页

作者： MILLS, JK Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario M5S 1A4 Canada

A nonlinear controller is proposed for the trajectory control of an n degree of freedom rigid link robotic manipulator, using task space feedback of the end-effector position and orientation. With a Lyapunov approach, a proof of the local asymptotic stability of the proposed nonlinear control law is given. The closed-loop system is shown analytically to be robust to two separate classes of parameter uncertainty. This parameter uncertainty includes dynamic (i) parameter perturations caused by manpulation of unknown payloads and manipulator operation in the presence of unknown viscous joint friction and (ii) controller parameter error arising from uncertainty in the kinematic and dynamic parameters of the manipulator. Through the choice of a particular high gain nonlinear controller term, it is shown that sufficient conditions are satisfied for local asymptotic stability in the presence of large dynamic parameter perturbations caused principally by manipulation of unknown payloads. Hence, for sufficiently high gain the closed-loop system is robust to large parameter perturbations. In addittion to an analytic proof of the asymptotic trajectory capability for constant reference input signals, close trajectory tracking is also demonstrated analytically for a particular class of input trajectories, again a result of the high gain nonlinear controller term. Finally, a numerical simulation of a two degree of freedom robot demonstrates both the asymptotic trajectory tracking capability for constant reference inputs and the close trajectory tracking capability for time varying trajectories with high gain feedback in the presence of kinematic and dynamic controller modelling errors and large dynamic parameter uncertainty.

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