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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Joono Cheong Wan Kyun Chung Youngil Youm Department of Mechanical Engineering Robotics 8 Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

This paper proposes a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach, and investigates a tuning method based on the proposed controller structure. For the slow sub-controller, a PD plus disturbance observer is used, which eventually takes on PID form, and for the fast sub-controller, modal feedback PID control is utilized. The effects of design parameters of the controller on the closed loop response are investigated. Through simulation and experiments, the adequacy and performance of the proposed method are verified.

关键词： Three-term control Feedback PD control Uncertainty Friction Steady-state Robot kinematics Gravity Bandwidth Biomechatronics

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Workspace optimization of 3-UPU parallel platforms with joint constraints

Workspace optimization of 3-UPU parallel platforms with join...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Badescu J. Morman C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized using two design parameters, which are the prismatic joint stroke and the difference between the distances of the center to one of the corners of the triangular plate of the base and of the moving platform. For a large range of values for these design parameters the workspace of the corresponding 3-UPU platforms is calculated. This workspace is called the constrained workspace. For each design of the constrained workspace, three performance indices are calculated: 1) the workspace volume; 2) the average of the inverse of the condition number; and 3) a global condition index which is a combination of the other two performance indices. Plots of each performance index as a function of the two design parameters are generated and optimal values for these design parameters are determined. Finally, for the optimal design, it is shown that by introducing limits to the angles of the universal joints axis, the isotropy of the parallel platform is improved.

关键词： Constraint optimization Parallel robots Orbital robotics Payloads Educational robots Space exploration mechatronics Aerospace engineering Performance analysis Shape

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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A decentralized proportional-integral sliding mode tracking controller for robot manipulators

A decentralized proportional-integral sliding mode tracking ...

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IEEE Region 10 International Conference TENCON

作者： M. Noh Ahmad J.H.S. Osman M. Ruddin A Ghani Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Kolej Universiti Teknikal Kebangsaan Malaysia Ayer Keroh Malacca Japan

This paper presents a decentralized proportional-integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable.

关键词： Pi control Proportional control Robot control Sliding mode control Manipulator dynamics Trajectory Robust control Stability Control system synthesis Distributed control

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Proportional-Integral sliding mode tracking controller with application to a robot manipulator

Proportional-Integral sliding mode tracking controller with ...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： M.N. Ahmad J.H.S. Osman M.R.A. Ghani Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Kolej Universiti Tehikal Kebangsaan Malaysia Ayer Keroh Malacca Japan

This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator.

关键词： Pi control Proportional control Sliding mode control Robots Manipulators Control systems Trajectory Uncertain systems Uncertainty Robust control

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Optimization with joint space reduction and extension induced by kinematic limits for redundant manipulators

Optimization with joint space reduction and extension induce...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kyung-ho Ahn Wan Kyun Chung Korea Aerospace Industries Ltd. Aerospace R and D Center Changwon South Korea Robotics & Bio-mechatronics Lab Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper shows how to find the optimal trajectory with respect to a certain cost when a kinematically redundant manipulator is subject to joint kinematic limits. Relevant mathematical properties in accordance with our intuition are strictly enlightened to be useful for this seemingly easy albeit complicated problem. Key terms of 'reducibility' and '(weak) optimal extensionability' are defined for further discussion of the solution. The final solution is basically achieved by the composition of applying the extended Jacobian method on each joint space where the joint coordinates saturated with the limits are eliminated. We would then be able to understand how the transition query is characterized and why the solution should be in that way. The simulation example would reveal how the solution gets links with our physical intuition and this would make us cope with unexpected algorithmic singularities.

关键词： Kinematics Cost function Jacobian matrices Space technology Aerospace industry Manipulators Humanoid robots Aerospace engineering Research and development Space exploration

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The effectiveness of learning simulations for electronic laboratories

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Journal of engineering Education 2002年第1期91卷 81-87页

作者： Campbell, J. Olin Bourne, John R. Mosterman, Pieter J. Brodersen, Arthur J. Dept. Instructional Psychol./T. Brigham Young University Department of Electrical Engineering Franklin W. Olin Coll. of Eng. Inst. of Robotics and Mechatronics DLR Research Center Oberpfaffenhofen Department of Electrical Engineering Vanderbilt University 150-KMCKB Brigham Young University Provo UT 84602 Department of Electrical Engineering Franklin W. Olin Coll. of Eng. 1795 Great Plain Avenue Needham MA 02492-1245 Polderweg 10 9163 JM Nes-Ameland Netherlands Department of Electrical Engineering Vanderbilt University Station B Nashville TN 37235

This work investigates the efficacy of software simulations of electronic circuits laboratories to support beginning electrical engineering students. Experiment 1 was a formative evaluation of an Electronic Laboratory Simulator (ELS), as an optional add-on to physical labs for 120 subjects at four universities. All subjects received the same treatment: their normal classes and physical labs, with optional use of simulated labs. Subjects took written tests specific to the lab's content, before and after using each simulated lab. Only subjects who took both pre- and post-tests were included. Pre- and post-test comparisons indicated significant improvement in both theory and lab knowledge when scores for all labs were combined, but inconsistent performance on individual labs. As the treatment included other learning opportunities in addition to simulated labs, the results were not attributed to the simulations, but provided initial indications and qualitative data on subjects' experiences. These helped to improve the labs and the implementation strategies. Experiment 2 used 40 college sophomores in a beginning electronic circuits lab. Physical lab subjects received seven physical labs. Combined lab subjects received a combination of seven simulated labs and two physical labs. The latter repeated two of the simulated labs to provide physical lab practice. Both treatments used the same assignments. Learner outcome measures were: (a) time required to complete a new criterion physical lab;(b) score on written lab and theory tests over all the labs;and (c) comments on the lab experience. The group that used combined simulated and physical labs performed significantly better on the written tests than the group using entirely physical labs. Both groups were equivalent in time to complete the criterion physical lab. Comments about the simulated labs were generally positive, and also provided specific suggestions for changes.

关键词： Learning systems

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Induced vibration of suspension bridges traversed by moving vehicles

Induced vibration of suspension bridges traversed by moving ...

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2001 ASME International Mechanical engineering Congress and Exposition

作者： Esmailzadeh, Ebrahim Jalili, Nader Department of Mechanical Engineering University of Victoria Victoria BC Canada Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC 29634 United States

An investigation into the dynamics of vehicle-structure interaction of a suspension bridge traversed by a moving vehicle is presented. The vehicle including the occupants is modeled as a half-car model with six degrees-of-freedom, and the bridge is assumed to obey the Euler-Bernoulli beam theory. Due to the continuously moving location of the loads on the bridge, the governing differential equations will have time-varying coefficients and hence, become rather complicated. The relationship between the bridge vibration characteristics and the vehicle speed is rendered, which yields into a search for a particular speed that determines the maximum values of dynamic deflection and the bending moment of the bridge. Results at different vehicle speeds demonstrate that the maximum dynamic deflection occurs at the vicinity of the bridge mid-span (±3%), while the maximum bending moment is found at ±20% of the mid-span. It is shown that one can find a critical speed at which the maximum values of bridge dynamic deflection and bending moment attain their global maxima.

关键词： Suspension bridges

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Nonlinear vibration and periodicity analysis of Timoshenko beams under harmonic base excitation

Nonlinear vibration and periodicity analysis of Timoshenko b...

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2001 ASME International Mechanical engineering Congress and Exposition

作者： Jalili, Nader Esmailzadeh, Ebrahim Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC 29634 United States Department of Mechanical Engineering University of Victoria Victoria BC Canada

The parametric response of a cantilever thick beam with a tip mass subjected to harmonic axial support motion is investigated. The governing non-linear equation of motion is derived for an arbitrary axial support motion. To formulate a simple, physically correct dynamic model for the stability and periodicity analyses, the governing equation is truncated to the first characteristic mode of vibration. Using Green's function and Schauder's fixed point theorem, the necessary and sufficient conditions for the existence of periodic oscillatory behavior of the beam are established. The influence of the harmonic base excitation parameters, i.e., the excitation amplitude and frequency, on the steady-state amplitude of vibration are determined. Depending on the values of the excitation amplitude and frequency in the stable and unstable regions, the solution exhibits many shapes besides the transition periodic shapes. Numerical results indicate that for a given beam under a known excitation, increasing the tip mass would usually reduce the stable periodic region. To show the effect of rotary inertia and shear deformation, the beam model is reduced to the Euler-Bernoulli and purely flexural beam theories, respectively. The results show that using purely flexural or even Euler-Bernoulli model rather than Timoshenko, would produce an incorrect periodic region.

关键词： Vibrations (mechanical)

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Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators

Multiple tasks kinematics using weighted pseudo-inverse for ...

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2001 IEEE International Conference on robotics and Automation (ICRA)

作者： Park, J. Choi, Y. Wan Kyun Chung Youm, Y. Robotics/Bio-Mechatronics Lab. Department of Mechanical Engineering Pohang Univ. of Science and Technol. Pohang 790-784 Korea Republic of

This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property as those conventional task priority based method. In order to deal with general situations of task specification, the so-called semi-definitely weighted pseudoinverse is devised.

关键词： Manipulators

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