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IEEE Southeastcon

作者： C.C. Nguyen Z.-L. Zhou S.S. Antrazi C.E. Campbell Robotics and Control Laboratory Department of Electrical Engineering Catholic University of America Washington D.C. DC USA NASA Goddard Space Flight Center Greenbelt MD USA

The authors consider the problem of efficient computation of the forward kinematics of a six-degree-of-freedom robot manipulator built to study autonomous assembly of parts in space. The manipulator, based on the Stewart platform mechanism, consists mainly of two platforms and six linear actuators. The closed-form solution of the inverse kinematics is formulated in such a way as to optimize the computation efficiency of the iterative solution of the forward kinematics using the Newton-Raphson method. A modified Jacobian matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles is introduced. Computer simulation is performed to evaluate the computation efficiency of the developed computation schemes.< >

关键词： Kinematics Jacobian matrices Robotic assembly Manipulators Orbital robotics Hydraulic actuators Closed-form solution Optimization methods Iterative methods Newton method

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Design and control of a two-degree-of-freedom lightweight flexible arm

Design and control of a two-degree-of-freedom lightweight fl...

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IEEE Conference on Decision and control

作者： V. Feliu K.S. Rattan H.B. Brown Departamento Ingenieria Electrica Electronica y Control UNED Madrid Spain Department of Electrical Engineering Wright State University Dayton OH USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The design and control of an efficient two-joint, two-link flexible arm are described. This efficient arm was designed and built to use most of the energy (provided by the motors) in performing the tasks instead of moving the arm structure. The arm has most of the mass concentrated at the tip and uses a special mechanical configuration to decouple radial tip motions from angular tip motions. An important problem when controlling lightweight flexible arms is the large Coulomb friction of the motors. A two-nested-loop multivariable controller is used to control the lightweight flexible arm with friction in the joints. The inner loop controls the position of the motors while the outer loop controls the tip position. The resolved acceleration method is generalized to control this flexible arm. The compliance matrix is used to model the oscillations of the structure and is included in the decoupling/linearizing term of this controller. Experimental results are presented.< >

关键词： Lighting control Friction Elbow Arm Couplings Acceleration Kinematics Ambient intelligence Laboratories Flexible structures

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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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A PARAMETRIZATION OF STABILIZING controlLERS FOR MULTIRATE SAMPLED-DATA SYSTEMS

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IEEE TRANSACTIONS ON AUTOMATIC control 1990年第2期35卷 233-236页

作者： MEYER, DG Robotics and Control Laboratory Department of Electrical Engineering University of Virginia Charlottesville VA USA

All linear multirate controllers for a given multirate sampled-data system plant are parameterized in terms of a single parameter Q(z) that is allowed to be any stable transfer matrix provided that certain causality conditions are met. The result parallels a well-known parameterization result for single-rate sampled-data plants. The parameterization suggests architectures for multirate controllers.< >

关键词： control systems Signal processing Feedback Sampling methods Circuits Linear systems MIMO

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TRANSPUTER APPLICATIONS IN robotics FOR DYNAMIC MODELING AND PATH PLANNING

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MICROPROCESSORS AND MICROSYSTEMS 1990年第9期14卷 565-572页

作者： MORRIS, AS ZALZALA, AMS ZOMAYA, AYH Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK

The kinematic and dynamic modelling of robot manipulators are of such computational complexity that control schemes embodying on-line calculation of the robot model have previously been impossible at an economic cost in terms of computer hardware. However, the recent development of the transputer has transformed this situation, as shown in the paper. On-line schemes using transputers are shown to be feasible as solutions for two significant computational problems in manipulator control: computing the dynamic model, and computing a time-optimal path.

关键词： control microsystems robot dynamics transputers

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MODELING AND SIMULATION OF ROBOT DYNAMICS USING TRANSPUTER-BASED ARCHITECTURES

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SIMULATION 1990年第5期54卷 269-278页

作者： ZOMAYA, AY MORRIS, AS [o_1]Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street Sheffield United Kingdom S1 3JD [o_2]Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street Sheffield United Kingdom S1 3JD

Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computation ally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly- coupled multiple? instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effective ness and speed of the scheme is demon strated by a case study (PUMA 560 robot arm). The communication issues between the different processors and discussed. Speed-up results are included to show the superiority and advantages of the parallel approach.

关键词： robot dynamics inverse dynamics parallel processing Transputer Occam MIMD.

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INCREMENTAL FUZZY EXPERT PID control

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1990年第5期37卷 365-371页

作者： TZAFESTAS, S PAPANIKOLOPOULOS, NP Div. of Comput. Eng. Nat. Tech. Univ. of Athens Greece Department of Electrical and Computer Engineering the Robotics Institute Carnegie Mellon University Pittsburgh PA USA Robotics and Control Laboratory Computer Engineering Division National and Technical University of Athens Athens Greece

An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >

关键词： Fuzzy control Three-term control PD control Pi control Proportional control control systems Electrical equipment industry Industrial control Fuzzy logic Kalman filters

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COMPARISON OF H-INFINITY AND STATE-SPACE INDUCED QUOTIENT TOPOLOGIES ON STABLE MINIMAL SYSTEMS

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INTERNATIONAL JOURNAL OF control 1989年第4期50卷 1227-1234页

作者： MEYER, DG Robotics and Control Laboratory Department of Electrical Engineering Universily of Virginia Charlottesville VA 22901 U.S.A

It is shown that on the set of w-input, p-output asymptotically stable, minimal, nth order systems that the H∞p·mand the RNquoiient induced topologies coincide. Implications of this in frequency domain system id... 详细信息

关键词： control Systems, Optimal

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On the design and simulation-based validation of an active compliance law for multi-arm robots

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robotics and Autonomous Systems 1989年第4期5卷 307-321页

作者： Bruhm, H. Deisenroth, J. Schädler, P. Technical University of Darmstadt Department of Control Engineering Control Systems Theory and Robotics Section Schloßgraben 1 Darmstadt6100 Germany

A special active compliance law is presented as the feedback element in a non-master/slave (i.e. symmetric) coordination strategy with explicit force distribution for robots with multiple cooperating arms. The method used to design the compliance controller comprise a structural design phase and dynamics design phase. The proposed controller structure simplifies the design problem as it maps the multivariate system onto two decoupled SISO loops with PI controllers describing internal and external compliance behavior. The conditions for the validity of this conceptual system model are discussed and the significance of task parameters such as grasp configuration, force distribution law and mechanical compliance values for the controller structure is explored. The dynamic behavior of internal and external compliance is determined in the second design phase by the choice of gain and integral action time of the respective controllers. An example shows the applicability of classical SISO control system design tools such as the root locus technique. The validity of the design method has been verified by means of the multi-arm robot simulation program MAROSIM, which is also presented in the paper. © 1989

关键词： controllers

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