A control design approach is presented for active steering of front wheel steered vehicles. The approach consists of the application of disturbance decoupling via state-derivative feedback. Simulations with the result...
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A control design approach is presented for active steering of front wheel steered vehicles. The approach consists of the application of disturbance decoupling via state-derivative feedback. Simulations with the resulting controller show that the use of state-derivative information may considerably enhance vehicle safety, in particular under adverse operating conditions such as icy roads.
We propose numerically reliable state-space algorithms for computing several coprime factorizations of rational matrices: (1) factorizations with factors having poles in a given stability domain;(2) factorizations wit...
We propose numerically reliable state-space algorithms for computing several coprime factorizations of rational matrices: (1) factorizations with factors having poles in a given stability domain;(2) factorizations with proper stable factors;(3) factorizations with inner and J-inner denominators. The new algorithms are based on a recursive generalized Schur algorithm for pole dislocation. They are generally applicable whether the underlying descriptor state-space representation is minimal or not, and whether it is stabilizable/detectable or not. The proposed algorithms are useful in solving various computational problems for both standard and descriptor system representations. (C) 1998 Elsevier Science Inc.
作者:
Kaesbauer, D.Ackermann, J.
Oberpfaffenhofen Institute of Robotics and System Dynamics D 82234 Wessling Germany
The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape....
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This paper Gives a brief description of feedback control systems engaged in DLR's recently developed multisensory 4-finger robot hand. The work is concentrated on constructing the dynamic model and the control str...
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The main features of DLR's dextrous robot hand as a modular component of a complete roboticssystem are outlined in this paper. The application of roboticssystems in unstructured servicing environments requires d...
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The DLR Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (DLR), transforms fast rotation of a drive into slow but powerful linear movement. To optimize dynamical be...
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A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contou...
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A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.
The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape.
The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape.
A practical solution of controlling flexible-joint robots is to control the joint torque, i.e. a robust joint torque controller with fast enough response is required. The position control problem of the flexible-joint...
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A practical solution of controlling flexible-joint robots is to control the joint torque, i.e. a robust joint torque controller with fast enough response is required. The position control problem of the flexible-joint robot will be reduced to the control of a rigid-body robot. This paper is dedicated to design such a torque controller using traditional feedback control and sliding mode techniques. Different from the conventional applications of sliding mode, which lead to the so-called chattering effects, sliding mode techniques are used in an estimation process to enhance the robustness of a pole-placement design. Hence, no chattering will be exicted
The main features of DLR's dextrous robot hand as a modular component of a complete roboticssystem are outlined in this paper. The application of roboticssystems in unstructured servicing environments requires d...
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The main features of DLR's dextrous robot hand as a modular component of a complete roboticssystem are outlined in this paper. The application of roboticssystems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- and software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development.
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