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ANALYSIS AND DESIGN OF A MODULAR ELECTROOPTICAL TACTILE SENSOR

IEEE TRANSACTIONS ON robotics AND automation 1989年第3期5卷 362-368页

作者： RISTIC, R BENHABIB, B GOLDENBERG, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The development of an experimental tactile sensor utilizing optical fibers is analyzed. In the first stage of this research, a single-point experimental force sensor was designed and manufactured. In the single-point sensor, light from an emitting fiber is reflected from the surface of a cantilever beam into a receiving fiber, and the intensity of the light reflected is continuously measured as the beam deflects due to applied force. The experimental sensor is designed such that it allows variation in design parameters to determine the best set of parameter values for optimal performance of the sensor. In the second stage of the research the optimal design parameters obtained from the single-point sensor experiments were used to design and manufacture a four-point prototype tactile sensor. This prototype sensor makes use of electrical amplification and digital conversion which can enable the force signals to provide tactile information to the controller of a multifingered hand.< >

关键词： Electrooptic devices Tactile sensors Force sensors Manufacturing Optical fiber sensors Structural beams Force measurement Prototypes Optical fibers Force control

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FORCE AND POSITION CONTROL OF MANIPULATORS DURING CONSTRAINED MOTION TASKS

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IEEE TRANSACTIONS ON robotics AND automation 1989年第1期5卷 30-46页

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

Trajectory control of a manipulator constrained by the contact of the end-effector with the environment represents an important class of control problems. A method is proposed whereby both contact force exerted by the manipulator, and the position of the end-effector while in contact with the surface are controlled. The controller parameters are derived based on a linearized dynamic model of the manipulator during constrained motion. Hence the method is valid only in a neighborhood about the point of linearization. Additionally, a perfect kinematic model of the contact surface is assumed. The proposed method utilizes the fundamental structure of the dynamic formulation of the manipulator's constrained motion. With this formulation, the trajectory control problem is naturally expressed in terms of the state vector variables of the model of the constrained dynamic system. A detailed numerical example illustrates the proposed method.< >

关键词： Force control Position control Manipulator dynamics Robot kinematics Robot control Motion control robotics and automation Paints Spraying Welding

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OPTIMAL JOINT TRAJECTORY PLANNING FOR COORDINATED POINT-TO-POINT MOTION OF 2-ARM MANIPULATORS

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MECHANISM AND MACHINE THEORY 1989年第1期24卷 9-17页

作者： BENHABIB, B TABARAH, E Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario Canada

This paper addresses the area of trajectory planning for point-to-point motion of two-arm manipulators. This type of motion is very suitable and sufficient for many industrial applications, where motion trajectories are planned for joint displacements (or velocities). In our previous paper we had introduced a position control scheme, which accepts preplanned motion joint trajectories as inputs to the controllers. This algorithm monitors the task space trajectory of the object carried by the two-arm manipulator, using a position control module, and re-computes some intermediate joint configurations in order not to drop (or excessively squeeze) the object. In this paper we present an off-line trajectory planning algorithm, which minimizes the probability of encountering excessive task space errors that would require the position control module to re-compute joint configurations. The proposed methods uses cubic polynomials for all joint trajectories as means of obtaining continuous velocities and accelerations throughout the motion. A two-loop multi-variable optimization algorithm is carried out to obtain optimal joint trajectories. The main objective of the optimization is: to minimize the number of intermediate joint configurations, to be used in fitting cubic splines to joint displacements, thus reducing computational burden during the real-time control of the arm. The primary constraint of the optimization problem is: to determine joint trajectories such that task space errors remains under specified tolerance values. Cet article traite d'un algorithme de génération de trajectories pour des déplacements d'un point A à un point B de manipulateurs à deux bras. Ce genre de mouvement, où les trajectoires sont prédéterminées pour le déplacement (ou la vitesse) des articulations, convient à un grand nombre d'applications industrielles. Dans un article précédent, nous avons établi un algorithme de commande de position, lequel accepte en tant que données d'entrée aux contr

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EVALUATION OF TRAJECTORIES FOR DIFFERENT CLASSES OF ROBOTS

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1989年第1期6卷 25-35页

作者： NNAJI, BO ASANO, DK Automation and Robotics Laboratory Department of Industrial Engineering/Operations Research University of Massachusetts Amherst U.S.A.

Trajectory planning is an integral part of robotics. As the number of different robots and trajectories increases, some evaluation scheme to match a particular robot type with a particular trajectory becomes crucial. An evaluation technique of trajectory paths based on joint torque, work, and power requirements is presented in this paper. Upon specification of a robot kinematic configuration and a set of trajectories, a systematic evaluation of each trajectory is performed to determine the optimal trajectory for the configuration. This allows for the determination of the optimal trajectory for each manipulator configuration.

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A new approach to force and position control of robot manipulators

A new approach to force and position control of robot manipu...

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1989 IEEE International Conference on Control and Applications, ICCON 1989

作者： Cai, L. Goldenberg, A.A. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables arts simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains "practically stable", is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result. © ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.

关键词： Position control

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Joint asymptotic stability of robotic manipulators during compliant and free motion

Joint asymptotic stability of robotic manipulators during co...

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1989 IEEE International Conference on Control and Applications, ICCON 1989

作者： Mills, James K. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto TorontoONMSS 1A4 Canada

In this paper the global asymptotic connective stability of robotic manipulators during contact with a compliant work environment is demonstrated. This result is shown for a general class of nonlinear control laws that approximately compensate for both the generalized forces that arise due to contact and the nonlinear coupling terms amongst the manipulator degrees of freedom. Additionally, the joint asymptotic connective stability of robot manipulators is demonstrated. It is shown that a single control law can guarantee the asymptotic connective stability of the robotic manipulator under the following conditions (i) free motion during which no contact is made by the manipulator on the work environment and (ii) compliant motion during which the manipulator end-effector is in contact with a compliant environment. It is shown that this stability result holds only for generalized contact forces that are small in magnitude, hence the stability result is local in nature. A detailed numerical example is provided to illustrate the application of the concepts discussed in the paper. Additionally, numerical simulation results demonstrate that the theoretical claims made in this paper hold for the example problem. © ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.

关键词： Environmental regulations

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Robust Control of Position and Force for a Robot Manipulator in Non-Contact and Contact Tasks

Robust Control of Position and Force for a Robot Manipulator...

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American Control Conference (ACC)

作者： L. Cai A.A. Goldenberg Robotics And Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

The problem of designing a robust controller for position and force control of a robot manipulator in both non-contact and contact tasks is considered. Using classical dynamics concepts, and under certain assumptions, a mathematical model for non-contact and contact tasks is developed. A controller based on proportional-integral (PI) and feedforward control is proposed for this model. A sufficient condition, which ensures that the closed-loop system is asymptotically stable, and the proposed controller are both presented. Theoretical analysis and numerical simulations have shown that the proposed controller is robust with respect to perturbations in system parameters and joint friction force. It is shown in this paper, that there is no need to change the controller configuration when the robot comes into contact with the environment from free motion.

关键词： Robust control Robots Force control Manipulator dynamics Pi control Proportional control Mathematical model Sufficient conditions Control systems Numerical simulation

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An approach to force and position control of robot manipulators

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Cai A.A. Goldenberg Robotics & Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

ISBN: (纸本)0818619384

An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.< >

关键词： Force control Position control Manipulators Motion control robotics and automation Automatic control Robot control Friction Equations Robust stability

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Position and force control approach to automatic deburring by a robot manipulator

Position and force control approach to automatic deburring b...

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IEEE International Conference on Systems, Man and Cybernetics

作者： L. Cai A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada

Some aspects of automatic deburring by a robot are considered. The strategy proposed is based on constrained motion control, in which both force and position of the robot are simultaneously controlled. However, in practice, a robot may be in free unconstrained motion before it comes in contact with the environment. In order to control the deburring operation without switching controllers for the unconstrained and constrained motions respectively, an additional controller is proposed, and a control strategy is used so that these three controllers for the robot are automatically switched. This ensures that the robot is stable during the whole process of deburring. A numerical example of a deburring process with a two degrees-of-freedom robot is presented for illustration.< >

关键词： Force control Deburring robotics and automation Manipulators Motion control Automatic control End effectors Robot sensing systems Robot control Open loop systems

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An adaptive approach to motion and force control of multiple coordinated robot arms

An adaptive approach to motion and force control of multiple...

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IEEE International Conference on robotics and automation (ICRA)

作者： Y.-R. Hu A.A. Goldenberg Robotics and Automation Laboratory Department Mechanical Engineering University of Toronto Toronto Canada

An approach to motion and force control of multiple coordinated robot arms based on an adaptive scheme is developed. The adaptation law uses Popov hyperstability theory to estimate online the uncertain parameters of multiple robot arms and payload. The approach can be used to control the motion of an object held by the arms, the contact forces between the object and the environment, and the internal forces that do not contribute to the motion and the contact forces. Three subsystem error equations are generated, i.e. a position error subsystem, a contact force error subsystem, and an internal force error subsystem. The unknown parameters of the multiple coordinated robot arms and the object are estimated in terms of the three error subsystem equations. It is shown that the proposed adaptive control scheme improves the position and internal and contact force tracking accuracy of a class of systems with an uncertain knowledge of the dynamic model.< >

关键词： Programmable control Adaptive control Force control Robot kinematics Manipulators Equations Estimation theory Payloads Motion control Arm

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