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Real-time planning and control for robot manipulator in unknown workspace

IFAC Proceedings Volumes 1999年第2期32卷 1433-1438页

作者： Di Xiao Bijoy K. Ghosh Ning Xi Tzyh Jong Tarn Zhenyu Yu FANUC Robotics North America Inc. 3900 W. Hamlin Rd. Rochester Hills MI 48309 USA Department of Systems Science and Mathematics Washington University St.Louis MO3130 USA Department of Electrical Engineering Michigan State University East Lansing MI 48824 USA DSP Digital Control Systems Applications Texas Instrument Stafford TX 77477 USA

This paper addresses real-time planning and control for robot manipulator in unknown workspace. The task under our consideration is to control a robot to follow a path on an unknown surface. In order to successfully accomplish the task, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the environment by means of multisensor fusion. In the proposed scheme, a new planner is designed to complete the path-following task without apriori knowledge of the path, while the hybrid position/force control strategy is utilized to maintain the contact between the robot and the unknown surface. In this paper, to achieve intelligent robot manipulation in an unstructured workspace, complementary sensory data from force-torque and visual sensors is integrated simultaneously during robot constrained motion.

关键词： Sensor fusion Robot vision Force control Path planning

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Adaptive control of continuous time systems with convex/concave parametrization (vol 34, pg 33, 1997)

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AUTOMATICA 1998年第9期34卷 1153-1153页

作者： Annaswamy, AM Skantze, FP Loh, AP Adaptive Control Laboratory Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA Motion Control Group ABB Robotics Products S-721 68 Västerås Sweden

This paper deals with adaptive control of a class of nonlinear dynamic systems with nonlinear parametrization. In this class, the state variables are assumed to be accessible and the nonlinearity in the parameters is assumed to be either convex or concave. By introducing a tuning function and an adaptive law based on a min-max strategy, it is shown that such a class of dynamic systems can be adaptively controlled in a stable manner. Global boundedness of the overall adaptive system and tracking to within a desired precision are established with the new adaptive controller. The proposed controller is applied to a precise-positioning problem in the presence of nonlinearly parametrized friction dynamics. It is shown that the controller leads to position errors and friction compensation that are orders of magnitude better than those based on estimation of linear parametrizations. The fact that the new parameter estimation strategy used is distinct from the traditionally used gradient schemes, permits the expansion of the scope of adaptive control, which has been restricted hitherto, in most cases, to systems with linear parametrization. (Author abstract) 21 Refs.

关键词： Adaptive control Continuous time systems Friction compensation Global stability Nonlinear parametrization

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Experimental Validation of a Self-Adjusting Active Compliance controller for Multiple Robots Handling an Object

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IFAC Proceedings Volumes 1998年第33期31卷 59-64页

作者： Christian von Albrichsfeld Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt

This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design. a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.

关键词： self-tuning control force-position control admittance control compliance control decoupling problems multi-arm robots intelligent control robot control

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Command shaping control of an operator-in-the-loop boom crane

Command shaping control of an operator-in-the-loop boom cran...

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1998 American control Conference, ACC 1998

作者： Lewis, Derek Parker, Gordon G. Driessen, Brian Robinett, Rush D. Mechanical Engineering-Engineering Mechanics Department Michigan Technological University Houghton MI 49931 United States Sandia National Laboratories Structural Dynamics and Vibration Control/Intelligent Systems and Robotics Center Albuquerque NM 87185 United States

ISBN: (纸本)0780345304

This paper presents a control method for suppressing payload sway caused by operator commanded maneuvers, in rotary boom cranes. The crane configuration studied, consists of a payload mass that swings on the end of a spherical pendulum, which is attached to a boom capable of hub rotation and elevation (luffing). Positioning of the rotary crane is accomplished through the hub and boom angles, and the lift line length. Since the configuration of the crane affects the excitation and response of the lift line, the sway control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove the components of the command signal which induce oscillation of the lift line. A real-time operator-in-the-loop simulation, is used to demonstrate results for a simultaneous three-axis maneuver. © 1998 AACC.

关键词： Cranes

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Drive flexibility and friction in control of hydraulic actuators: a robust adaptive nonlinear control design

Drive flexibility and friction in control of hydraulic actua...

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IEEE Conference on control Technology and Applications (CCTA)

作者： F. Khorrami S. Jain Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Control Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, a robust adaptive nonlinear controller is presented for hydraulic actuators. The model utilized for the hydraulic actuators includes nonlinear relations between the flow velocity and the pressure, parametric uncertainties due to environmental changes, bulk modulus, inertia mass, oil temperature and valve dynamics. Moreover, transmission flexibility and friction in the drive are considered in the control synthesis. Utilizing our earlier results in robust adaptive nonlinear control and friction compensation, we present a control design methodology for dealing with the aforementioned parametric and dynamic uncertainties in hydraulic actuators. The efficacy of the advocated control design methodology is shown through simulation studies.

关键词： Friction Hydraulic actuators Robust control Programmable control Adaptive control Uncertainty control design Petroleum Temperature Valves

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Torque ripple attenuation for brushless DC motors via adaptive variable structure control

Torque ripple attenuation for brushless DC motors via adapti...

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IEEE Conference on Decision and control

作者： H. Melkote F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Five Metrotech Center Polytechnic University Brooklyn NY USA

Torque ripple compensation for brushless DC motors is considered. The control design methodology is based on our earlier work on adaptive variable structure control. A current level controller is derived for the motor that achieves asymptotic tracking of a reference trajectory while yielding robustness to parametric and dynamic uncertainties in the motor dynamics. The controller requires the use of only one adaptation parameter. Furthermore, the control input is smooth and thereby alleviates the chattering problem common to variable structure schemes. Simulation results show the efficacy of the proposed control design.

关键词： Torque Attenuation Brushless DC motors control design DC motors Programmable control Adaptive control Trajectory Robust control Uncertainty

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Model independent friction compensation

Model independent friction compensation

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American control Conference (ACC)

作者： S. Sankaranarayanan F. Khorrami Control Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

It is shown that our earlier (1997) robust adaptive nonlinear controller for friction compensation achieves a robust performance for a general class of models capturing friction dynamics. The advocated control design methodology can be used with many existing dynamic models of friction and is robust to parametric and dynamic variations in these friction models. Furthermore, the properties of a generalized dynamic friction model are set-forth and these generic properties are exploited for control design purposes. It is also shown that many of the popular dynamic models fall within the class of models considered. The advocated controller guarantees global asymptotic tracking of the states of a one degree-of-freedom system in the presence of dynamic friction effects. Simulation studies are done for three popular dynamic friction models and a stochastic version of one of the dynamic friction models. These simulations sufficiently elucidate the robustness and performance aspects of the advocated control design methodology.

关键词： Friction control design Robust control Nonlinear dynamical systems Programmable control Adaptive control Robustness Robot control Laboratories control systems

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Command shaping control of an operator-in-the-loop boom crane

Command shaping control of an operator-in-the-loop boom cran...

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American control Conference (ACC)

作者： D. Lewis G.G. Parker B. Driessen R.D. Robinett Mechanical Engineering-Engineering Mechanics Department Michigan Technological University Houghton MI USA Structural Dynamics and Vibration Control / Intelligent Systems & Robotics Center Sandia National Laboratories Albuquerque NM USA

This paper presents a control method for suppressing payload sway caused by operator commanded maneuvers, in rotary boom cranes. The crane configuration studied, consists of a payload mass that swings at the end of a spherical pendulum, which is attached to a boom capable of hub rotation and elevation. Positioning of the rotary crane is accomplished through the hub and boom angles, and the lift line length. Since the configuration of the crane affects the excitation and response of the lift line, the sway control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove the components of the command signal which induce oscillation of the lift line. A real-time operator-in-the-loop simulation, is used to demonstrate results for a simultaneous three-axis maneuver.

关键词： Shape control Cranes Payloads control systems Adaptive filters Vibration control Intelligent robots Equations Kinematics Laboratories

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Circular blocking in flexible manufacturing systems: a matrix-based analysis

Circular blocking in flexible manufacturing systems: a matri...

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Gurel F.L. Lewis S. Bogdan O.C. Pastravanu Department Automatic Control and Ind. Inf Polytechnic Institute of Iasi Iasi Romania Department Electrical and Electronics Eng Eastern Mediterranean University Turkey Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Faculty of Electrical Engineering and Comp University of Zagreb Zagreb Croatia

The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analysis is performed in terms of circular waits. Coupling the PN marking transition equation with the matrix rule-based controller equation yields a dynamical system representation, a framework in which algorithms of polynomial complexity can be developed for computing the structures of deadlock analysis. This allows efficient dispatching with deadlock avoidance using a generalised kanban scheme.

关键词： Flexible manufacturing systems System recovery Automatic control Equations control systems Polynomials Dispatching Routing Buffer storage Material storage

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