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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 of Mechanical Engineering University of Toronto Toronto ONT Canada

The optimal torque control problem of a system of multiple coordinated redundant manipulators using joint redundancy is discussed. A local optimal control law and a global optimal control law, both minimizing torque loading at the joints of the multiple redundant manipulators, are presented. The Pontryagin minimum principle is used to solve the global optimal control problem. The local and global optimal control approaches can be used to control the motion of an object held by the redundant manipulators and the internal forces which do not contribute to the motion of the object. From the task space point of view, the errors in the object motion and in the internal forces converge asymptotically to zero. From the joint space point of view, the joint torques which are provided by the joint actuators of the multiple redundant manipulators are the global minimum under the global optimal controller or the local minimum under the local optimal controller.< >

关键词： Manipulator dynamics Torque control Optimal control Force control Redundancy Master-slave Motion control Tracking Automatic control robotics and automation

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Hybrid actuation of robotic manipulators: an integral mainfold control approach

Hybrid actuation of robotic manipulators: an integral mainfo...

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IEEE International Symposium on Intelligent Control (ISIC)

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

The control of robotic manipulators powered by a hybrid actuation method is considered. The hybrid actuator consists of a pneumatically powered bladder actuator in conjunction with a traditional DC servomotor. A bladder actuator-DC motor pair is arranged coantagonistically with all identical pair to actuate manipulator joints. The proposed method of control for the hybrid actuator-powered robot utilizes all existing theory for the control of manipulators with flexible joint drives. A rigid control law in conjunction with a corrective control which compensates for pneumatic actuator compliance provides good trajectory tracking capability for low joint torsional stiffness, while retaining all the advantages of the proposed actuator configuration. It is seen that, for high joint torsional stiffness, a corrective control is virtually unnecessary, as the rigid control provides relatively good trajectory following capability. A 2-degree-of-freedom manipulator actuated with the hybrid actuator is simulated numerically to verify the performance of the proposed control law.< >

关键词： Robots Manipulators Pneumatic actuators Bladder Servomotors robotics and automation Automatic control Milling machines Servomechanisms Jacobian matrices

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Implementation of a discontinuous control law on a robot during collision with a stiff environment

Implementation of a discontinuous control law on a robot dur...

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IEEE International Conference on robotics and automation (ICRA)

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

Practical tasks may require making transitions from free motion to contact motion and from contact motion to free motion. Recently, a discontinuous control law has been shown to provide stability during these transitions. The theory is extended by modifying the discontinuous control law to account for bounded parameter uncertainty. A facility for testing contact task control laws has been designed and built. The facility consists of a two-degree-of-freedom robot, a machine which stimulates a one-degree-of-freedom spring-mass-damper system, and a microcomputer for controlling both of these in real time. The robot has a horizontal, parallel link construction. High-precision direct-drive motors are used which reduce the backlash and friction associated with gear-driven joints. The spring-mass-damper machine is used to create a contact surface with dynamics that can be specified. Software has been designed to make implementation of a wide variety of control laws possible.< >

关键词： Robots Manipulator dynamics Stability Motion control Control systems Automatic control robotics and automation Milling machines Damping Laboratories

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Hybrid actuator for robot manipulators: design, control and performance

Hybrid actuator for robot manipulators: design, control and ...

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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 hybrid actuation method for robotic manipulators is proposed. The actuator employs a hybrid combination of DC servomotors and muscle-like bladder actuators. One DC motor-muscle actuator pair is arranged coantagonistically with an identical DC motor-muscle actuator pair to drive a manipulator joint. Through a suitable control applied to the hybrid actuator, independent control of joint torsional stiffness and joint position is made possible. When air pressure is varied in the muscle actuators, the muscle actuator stiffness and length change. In order to only affect the hybrid actuator stiffness with this pressure change. DC servomotors are used to compensate for muscle actuator length changes, hence joint position is unaffected. High-gain servomotor control ensures a response to disturbances due almost solely to the muscle actuator stiffness characteristics. Dynamic equations of motion are developed for a two-joint manipulator with a hybrid actuator used to drive the final link. A control is formulated for this system to achieve, in addition to independent joint torsional stiffness and joint position control, approximately decoupled and linearized dynamics. A numerical simulation of this two-degree-of-freedom system is presented to verify the performance of the closed-loop system.< >

关键词： Actuators Robot control Muscles Servomotors Manipulator dynamics Bladder Equations Control systems Position control Linear approximation

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FEATURE REASONING FOR AUTOMATIC ROBOTIC ASSEMBLY AND MACHINING IN POLYHEDRAL REPRESENTATION

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1990年第3期28卷 517-540页

作者： NNAJI, BO LIU, HC Department of Industrial Engineering and Operations Research Automation and Robotics Laboratory University of Massachusetts Amherst MA 01003 215 Marston Hall United States

An automatic planning system for robotic assembly must have knowledge of the workspace. In particular it must be capable of reasoning about the shape of objects within the workspace. This requires a knowledge of object features and their behaviour in assembly situations. In this paper, a system is presented which extracts features relevant to assembly and machining from a boundary model derived from a Constructive Solid Geometry representation of a complex shape. In particular, finding concavities plays an important role in identifying possible mating features for assembly. These relevant features can then be used for assembly planning based on finding compatible sets of mating features. In this work the CAD data is extracted from a boundary model represented in an ASCII file and converted into the data-structures of the AI language, Prolog. © 1990 Taylor & Francis Group, LLC.

关键词： Robotic Assembly

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CMAC toward intelligent robot: motion and calibration

CMAC toward intelligent robot: motion and calibration

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： H. Hwang D.Y. Choi Robotics & Automation LabDepartment of Agricultural Engineering College of Agriculture Sungkyunkwan University Seoul South Korea Robotics Laboratory Automation Erg. Department Korea Institute of Machinery and Metals Kyungnam South Korea

The cerebellar model arithmetic controller (CMAC), a kind of neuro-net based adaptive control function generator, has been successfully applied to the problems of inverse kinematic motion of two DOF manipulator and direct inverse calibration of three and six DOF PUMA 560 robots. Since CMAC-net autonomously maps and generalizes a desired system function via learning, CMAC allows no knowledge in modeling a system and other error sources. The mapping structure, learning aspects with algorithms, and the convergence of CMAC net are also briefly stated.< >

关键词： Intelligent robots Calibration Biological systems Biological system modeling Brain modeling Convergence Kinematics Neural networks Biology computing Organisms

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Motion and Force Control of Multiple Coordinated Redundant Manipulators

Motion and Force Control of Multiple Coordinated Redundant M...

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American Control Conference (ACC)

作者： Yan-Ru Hu Andrew A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Toronto Toronto Ontario Canada M5S 1A4

In this paper, an approach to motion and force control of multiple coordinated redundant manipulators working in an environment with obstacles is developed in which the extended task space technique is presented for establishing the dynamic equations of the coordinated redundant manipulators using the redundant degrees of freedom. This approach can be used to control the motion of an object held by the redundant manipulators and the internal forces which do not contribute to the motion of the object while avoiding obstacles. Three subsystem error equations are generated, i.e., a position error subsystem, an internal force error subsystem, and a constraint error subsystem. The adaptive law is derived to estimate the unknown parameters of the multiple coordinated redundant manipulators and the object in terms of the three error subsystem equations. The paper shows that the control scheme improves the position and internal force tracking accuracy and avoids collision for a class of systems with uncertain knowledge of the dynamic model.

关键词： Force control Motion control Equations Master-slave Linear feedback control systems Velocity control Control systems Arm Kinematics Jacobian matrices

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Qualitative theory of robot grasping-A formalisation of 'intuitive' robot grasping

Qualitative theory of robot grasping-A formalisation of 'int...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S.P. Ananthanarayanan A.A. Goldenberg J. Mylopoulos Robotics & Automation Laboratory University of Toronto Toronto ONT Canada Department of Computer Sciences University of Toronto Toronto ONT Canada

A qualitative theory of robot grasping, as a formalized approach to intuitive robot grasping, is introduced. The qualitative theory is analogous to the analytical theory of robot grasping and consists essentially of symbolic abstractions of the analytically asserted theoretical concepts in robot grasping. A coexistence of the analytical and qualitative formulations of grasping theory is essential for developing 'intelligent' robot hands.< >

关键词： Robots Grasping robotics and automation Humans Fingers Laboratories Computer science Friction Marine vehicles Hardware

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Real-time motion tracking of three-dimensional objects

Real-time motion tracking of three-dimensional objects

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IEEE International Conference on robotics and automation (ICRA)

作者： G. Verghese K.L. Gale C.R. Dyer Computer Science Department University of Toronto Toronto Canada Wisconsin Center for Space Automation and Robotics University of Wisconsin Madison WI USA Computer Science Department University of Wisconsin Madison WI USA

The problem in which the 3D motion of an object corresponding to a known polyhedral model is to be computed using only the motion of edge features in a continuous stream of 2D images is considered. Advantage is taken of the spatiotemporal density of the input signal and the limitations of long-range trajectory-prediction methods are avoided. Two parallel algorithms which use feature-based, short-range (spatiotemporally local) motion processes to achieve real-time tracking of modeled objects are presented. Both algorithms have been implemented and tested on a tightly coupled multiprocessor system consisting of an Aspex Pipe for low-level image-feature computations and a Sequent Symmetry for high-level model-based computations. An analysis is given of the actual performance limits of each method using the current hardware configuration.< >

关键词： Tracking Computer science robotics and automation Spatiotemporal phenomena Solid modeling Biological system modeling Orbital robotics Streaming media Parallel algorithms System testing

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How end user computing and information centers enhance strategic linkages in organizational structures

How end user computing and information centers enhance strat...

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Annual Hawaii International Conference on System Sciences (HICSS)

作者： R.K. Iyer H.H. Carr Information Systems and Management Sciences and Automation and Robotics Research Institute University of Texas Arlington Arlington TX USA Department of Management College of Business Administration Aubum University Auburn AL USA

Changes in organization structures brought by information technology (IT), information systems (IS), end-user computing (EUC), and information centers (ICs) are discussed and ways are proposed in which EUC and ICs can be valuable in providing effective strategic linkages among and within strategic groups that form within organizations. In this regard, conditions are described under which EUC and ICs can alleviate difficulties of task interdependence and strengthen strategic linking mechanisms. Proposals for further exploration and research are also provided.< >

关键词： Couplings Technology management Joining processes Management information systems Information management robotics and automation Information technology Centralized control Control systems Educational institutions

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