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Internal force-based impedance control for cooperating manipulators

IEEE TRANSACTIONS ON robotics AND automation 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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A study of neural network control of robot manipulators

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ROBOTICA 1996年第1期14卷 7-15页

作者： Jung, S Hsia, TC [a1 ]Robotics Research Laboratory Department of Electrical and Computer Engineering University of California at Davis Davis CA 95615 (USA)

The basic robot control technique is the model based computer-torque control which is known to suffer performance degradation due to model uncertainties. Adding a neural network (NN) controller in the control system is one effective way to compensate for the ill effects of these uncertainties. In this paper a systematic study of NN controller for a robot manipulator under a unified computed-torque control framework is presented. Both feedforward and feedback NN control schemes are studied and compared using a common back-propagation training algorithm. Effects on system performance for different choices of NN input types, hidden neurons, weight update rates, and initial weight values are also investigated. Extensive simulation studies for trajectory tracking are carried out and compared with other established robot control schemes.

关键词： neural networks simulation studies robot control

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

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RACE: Reconfigurable and adaptive computing environment 6th

RACE: Reconfigurable and adaptive computing environment

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6th International Workshop on Field-Programmable Logic and Applications, FPL 1996

作者： Smith, Doug Bhatia, Dinesh Design Automation Laboratory Department of Electrical and Computer Engineering and Computer Science University of Cincinnati P.O. Box 210030 CincinnatiOH45221-0030 United States

ISBN: (纸本)9783540617303

The Reconfigurable Adaptive Computing Environment (RACE) is a complete environment for reconfigurable computing. The RACE system provides the ability for run-time reconfiguration as well as multiple, simultaneous applications. A hardware library is the key part of the computing environment, allowing for the quick simulation of applications and hardware-software co-execution. Time-consuming functions can be specified in VHDL and added to the hardware library, which are then linked into a user's C program for hardware execution of the functions. The RACE hardware consists of a DMA interface and five Xilinx XC4013 FPGAs, providing approximately 52,000 gates of logic. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Computation theory

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Robust neural force control with robot dynamic uncertainties under totally unknown environment

Robust neural force control with robot dynamic uncertainties...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California슠Davis Davis CA USA Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

In this paper, a robust robot force tracking impedance control scheme that uses a neural network as a compensator is proposed. The proposed neural compensator has the capability of making the robot track a specified desired force as well as of compensating for uncertainties in environment location and stiffness, and the uncertainties in robot dynamics. The neural compensator is trained separately for free space motion and contact space motion control using two different training signals. The proposed training signal for force control can be used regardless of the environment profile in order to achieve desired force tracking. Simulation studies with three link rotary robot manipulator are carried out to demonstrate the robustness of the proposed scheme under uncertainties in robot dynamics, environment position and environment stiffness. The results show that excellent force tracking is achieved by the neural network.

关键词： Robust control Force control Robots Uncertainty Orbital robotics Neural networks Manipulator dynamics Impedance Motion control Robustness

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Neural network reference compensation technique for position control of robot manipulators

Neural network reference compensation technique for position...

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International Conference on Neural Networks

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A neural network technique for robot manipulator control is proposed. This technique called reference compensation technique(RCT), compensates for uncertainties in robot dynamics at input trajectory level rather than at the joint torque level. The ultimate goal of the proposed technique is to achieve an ideal computed-torque controlled system. Compensating at trajectory level carries several advantages over other neural network control schemes that compensate at robot joint torques. First, the position tracking performance is better. Second, the neural controller is more robust to feedback controller gain variations. Finally, practical implementation can be done with ease without changing the internal control algorithm. Simulation studies have been conducted for various neural network structures and different training signals. The results showed the superior performances of the RCT over other NN control schemes.

关键词： Neural networks Position control Control systems Robot control Uncertainty Torque control Manipulator dynamics Trajectory Computational modeling Adaptive control

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Robust internal-force based impedance control for coordinating manipulators-theory and experiments

Robust internal-force based impedance control for coordinati...

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IEEE International Conference on robotics and automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Department of Electrical and Computer Engineering Systems Control and Robotics Laboratory University of California Davis CA USA

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

关键词： Robust control Impedance Manipulator dynamics Force control Nonlinear dynamical systems Velocity control Robot kinematics Uncertainty Payloads Stability analysis

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.J. Hamlin A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics Manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis Manufacturing automation computer aided manufacturing Concurrent computing Systems engineering and theory Joining processes Concatenated codes

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