The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in the control of intelligent autonomous robot movement. Fuzzy control appears as a very use...
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In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided int...
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In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and we propose three control methods. First, we propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Second, we present passive damper named as "flexible-damped joint" which is a good solution to circumvent the pre-transition phase. Third, we suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in the flexible-damped joint. It is named as "joint damping controller". The effectiveness of these three approaches are verified via experiments using the POSTECH 1-DOF DD arm.
Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint t...
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Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint tracking performance and vibration suppression capability using the joint motion bandwidth parameter. For the flexibility isolated system, the independent sub-controllers for the rigid and flexible part are proposed just like the singular perturbation approach. The validity of the proposed method is verified by experiments.
In many cases, complex system behaviors are naturally modeled as nonlinear differential equations. However, these equations are often hard to analyze because of "stiffness" in their numerical behavior and th...
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In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator...
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In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In hard contact, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Based on this result, we suggest a hard contact force control scheme which is named "hybrid suppression controller". The effectiveness of these approaches are verified via experiments using POSTECH 1 DOF DD arm.
We investigate the instantaneous impact phenomenon due to the collision between the manipulator and the environment for kinematically redundant manipulators. First, we define a normalized impact geometry in the viewpo...
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We investigate the instantaneous impact phenomenon due to the collision between the manipulator and the environment for kinematically redundant manipulators. First, we define a normalized impact geometry in the viewpoint of normalized velocity change. We then reduce the impulsive effects under uncertain environment for redundant manipulators. A new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments.
In this paper, a method is proposed to perform control using INTEL(R) based personal computers operated by Windows NT/sup TM/ directly. The software package that was developed is called WinReC v.1 (Windows Real-time C...
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In this paper, a method is proposed to perform control using INTEL(R) based personal computers operated by Windows NT/sup TM/ directly. The software package that was developed is called WinReC v.1 (Windows Real-time Control). This low cost method keeps all the advantages of Windows NT without attaching any other kernels and avoids switching different operating systems between experimentation and control design/analysis. A thorough description of the method to set up the multimedia timer provided by Microsoft Development Network (MSDN) Library is presented. Self-customized algorithms based on advanced control techniques can be implemented with the standard protocol that is established here. The proposed protocol is evaluated using two different tasks in control experiments. An industrial robot manipulator is controlled by applying an independent joint PID control scheme. Results are also shown from experiments where LQR and H/sub 2/ controllers are applied to suppress vibrations of a flexible payload carried by the robot manipulator.
In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace engineering of R...
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In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace engineering of Rutgers University, and the selective laser sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator; (2) a four degree of freedom finger of a five-fingered robotic hand.
In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical Mirroring u...
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Modern mobile robots are more and more often used for implementing various complicated tasks in severe environment. The goal is to free human from the exposure of dangerous and harmful influence which may damage its h...
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Modern mobile robots are more and more often used for implementing various complicated tasks in severe environment. The goal is to free human from the exposure of dangerous and harmful influence which may damage its health. The later years mobile robots more often are used in autonomous mode implementing most of the tasks without direct human interaction. As soon as environment usually is rather complicated it causes the necessity to involve advanced and sophisticated techniques for modelling and visualisation. It can be successfully realised with modern software improving the performance of mobile robots.
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