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IEEE Conference on Decision and Control

作者： J.K. Mills Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The control and stability of manipulators with flexible joints during constrained-motion task execution is investigated. A singular perturbation model that represents the joint flexibility caused by compliance in actuator drive shafts as well as transmission systems is developed. The concept of composite control is used to formulate a control for the slow and fast subsystem dynamics. The slow subsystem control is comprised of a corrective control which uses the concept of an integral manifold to compensate for flexibility effects, in conjunction with a rigid control law, based on the rigid manipulator constrained dynamic equations of motion. With this control applied to the robotic system, it is demonstrated that the high-frequency flexible modes do not destabilize the system. Results of a numerical simulation of a two-joint manipulator during execution of a constrained-motion task are presented to support the analytic results.< >

关键词： Motion control Robot control Manipulator dynamics robotics and automation Robot kinematics Service robots Force control Torque control Automatic control Manufacturing industries

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Dynamic modelling for robotic manipulators with a force-torque sensor during compliant motion

Dynamic modelling for robotic manipulators with a force-torq...

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IEEE International Conference on robotics and automation (ICRA)

作者： J.K. Mills Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

A complete dynamic model for a rigid link, n-degree-of-freedom robotic manipulator with an r-axis force-torque sensor during contact with a compliant work environment is developed. A Kinematic model is presented for an r-axis force-torque sensor which treats the sensor as an axis joint, where all r axes intersect at a common point. With the resultant kinematic model, the closed-form equations of motion of the manipulator sensor system are developed using a Lagrangian approach. The work environment is modeled as a mechanical impedance with inertia, damping, and stiffness terms. Using of kinematic transformations between the relevant generalized coordinate frames, the work environment dynamic model and manipulator-sensor dynamics are combined into a single set of equations in first-order vector-matrix form. Finally, for completeness, actuator dynamics are included in the system dynamic model, again with the resultant system dynamics in vector-matrix form. A numerical example of a two-degree-of-freedom robot with a two-axis serves to illustrate the kinematic modeling of a force-torque sensor.< >

关键词： Manipulator dynamics Robot sensing systems Robot kinematics Mechanical sensors Equations Sensor systems Lagrangian functions Impedance Damping Actuators

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Systemic properties of robotic manipulators during compliant task execution and their impact on controller design

Systemic properties of robotic manipulators during compliant...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： J.K. Mills Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The generic properties of robotic manipulator dynamics are investigated during tasks in which the manipulator end effector comes in contact with a compliant work environment. The dynamics of an n-degree-of-freedom rigid link manipulator with an r-axis wrist-mounted force-torque sensor is modeled during contact with a work environment that is represented as a mechanical impedance. A local linear model of the robotic system dynamics is derived from this nonlinear model. A system output is defined that corresponds to the generalized forces and positions that are to be controlled during compliant motion. With this local model, it is shown from linear system theory that certain necessary and sufficient conditions must be satisfied for a solution to the compliant motion control problem to exist. Insight into the compliant motion control problem is gained through examination of the conditions imposed on the structure of the manipulator model in order to satisfy the necessary and sufficient conditions. Certain control objectives, which are intuitively known to be attainable, are shown to violate these necessary and sufficient conditions. Explicitly modeling the force-torque sensor dynamics results in a system with a poorly conditioned eigensystem. Well-known methods are used to internally balance the system permitting reliable control system synthesis. Two numerical examples are included to illustrate the concepts discussed.< >

关键词： Manipulator dynamics Motion control Sufficient conditions Robot sensing systems End effectors Mechanical sensors Impedance Nonlinear dynamical systems Force control Control systems

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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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ICCON/IEEE International Conference on Control and Applications

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

关键词： Force control Position control Motion control robotics and automation Automatic control Robot control Equations Manipulator dynamics Mechanical variables control Nonlinear dynamical systems

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Computer-assisted learning in dermatology: Two knowledge-based approaches 2nd

Computer-assisted learning in dermatology: Two knowledge-bas...

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2nd International Conference on Computer Assisted Learning, ICCAL 1989

作者： Yoon, YoungOhc Reece, Glen A. Bergstresser, Paul R. Peterson, Lynn L. Department of Computer Science Engineering The University of Texas at Arlington United States Artificial Intelligence Laboratory for Manufacturing Automation and Robotics Research Institute The University of Texas at Arlington United States Department of Dermatology The University of Texas Southwestern Medical Center at Dallas United States

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A direct-drive, robot parts and tooling gripper with high performance force feedback control

A direct-drive, robot parts and tooling gripper with high pe...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： R.D. Lorenz J.J. Zik D.J. Sykora Department of Mechanical Engineering and Department of Electrical & Computer Engineering University of Wisconsin Madison Madison WI USA Wisconsin Center for Space Automation and Robotics University of Wisconsin Madison Madison WI USA Department of Electrical & Computer Engineering University of Wisconsin Madison Madison WI USA

The authors present the design of a direct-drive parts and tooling gripper for use in robotic assembly operations. The gripper design incorporates three-dimensional force vector sensing and both force and position control with extremely-low-friction, direct linear drives. The authors discuss a state-variable approach to force control and the design technique required for a manipulator to achieve high-performance force control. They demonstrate that stiffness of the contact between the environment and the manipulator must be known and of an optimum range to provide good force control. To verify the techniques, a servo-controlled manipulator with compliant vector force sensing was developed. The manipulator features direct-drive, linear motors and a compliant, vector force sensor. Force resolution was optimized by eliminating friction sources. A compliant vector force sensor provides the known contact stiffness between the manipulator and the workpiece environment. Experimental results show that force sensor stiffness is a key element in force loop control design and that robust force control dynamics is comparable to robust position control loop dynamics.< >

关键词： Grippers Force control Force sensors Vectors Position control Robust control Robot sensing systems Robotic assembly Manipulators Servomotors

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Using coarse/fine manipulation with vision to place fine pitch SMD components

Using coarse/fine manipulation with vision to place fine pit...

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IEEE/CHMT(CPMT) International Electronics Manufacturing Technology Symposium

作者： J.P. Baartman A.E. Brennemann S.J. Buckley M.C. Moed IBM Thomas J. Watson Research Center Yorktown Heights NY USA Laboratory for Production Automation Mechanical Engineering Department Delft University of Technnology Delft Netherlands Robotics and Automation Laboratories Rensselaer Polytechnic Institute Troy NY USA

An experimental system that can accurately align and place SMDs (surface mount devices) on a printed circuit board is described. Features of the system are fine positioning and endpoint sensing after an IBM 7576 robot coarsely aligns the SMD to its target. Fine positioning is done using a customer-designed micropositioning device. The endpoint sensor is a single camera vision system that by image analysis determines the alignment error of the SMD to the board. System performance was evaluated by placing SMDs of 100 leads with 25 mil lead spacing on a board. The alignment error is less than 0.5 mil and 0.015 degrees , independent of feeder and board position error or robot repeatability. The average cycle time is less than 10 s.< >

关键词： Lead Printed circuits Packaging machines Robot sensing systems Robot vision systems Cameras System performance Manufacturing automation Assembly Hardware

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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AN APPROACH TO REAL-TIME CONTROL OF ROBOTS IN TASK SPACE - APPLICATION TO CONTROL OF PUMA 560 WITHOUT VAL-II

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1988年第2期35卷 231-238页

作者： GOLDENBERG, AA CHAN, L Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada

An approach to real-time control is presented that involves the adaption of existing (commercial) hardware and the integration of new hardware and software, such that both feedback control and offline programming using either task or joint-space coordinates are possible. The approach is illustrated in detail through the implementation of a controller that replaces the conventional Victor's assembly language (VAL) II-based controller with the PUMA 560 robot. The controller presents an improvement over the system under VAL in a number of ways, in addition to being able to use either task or joint-space information in the most general form. In particular, the hardware and software of the new controller can accommodate novel sensory systems, robot programming languages, and dynamic models for research and evaluation of advanced control methods.< >

关键词： Robot control Orbital robotics Hardware Robot kinematics Robot programming Robotic assembly Feedback control Robot sensing systems Control systems Dynamic programming

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EVALUATION METHODOLOGY FOR PERFORMANCE AND SYSTEM ECONOMICS FOR ROBOTIC DEVICES

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COMPUTERS & INDUSTRIAL engineering 1988年第1期14卷 27-39页

作者： NNAJI, BO Automation and Robotics Laboratory Department of Industrial Engineering and Operations Research University of Massachusetts Amherst MA 01003 U.S.A.

Evaluates a methodology for performance and system economics for robotic devices. Critical factors; Use of the procedure for the selection of robots for any robot implementation.

关键词： robotics Robots

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