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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung Sun Bin Yim T.C. Hsia Intelligent Systems and Emotional Engineering Laboratory Department of Mechatronics Engineering Chungnam National University Daejeon South Korea The Robotics Research Laboratory University of California Davis Davis CA USA

ISBN: (纸本)0780365763

In this paper, the neural network force control is presented. Under the framework of impedance control, neural network is used to compensate for all the uncertainties from robot dynamics and unknown environment. A modified simple impedance function is realized after the convergence of the neural network. Learning algorithms for the neural network to minimize the force error directly are designed. As a test-bed, the large X-Y table robot was implemented. Experimental results obtained show better force tracking when the neural network is used.

关键词： Neural networks Impedance Force control Orbital robotics Robot kinematics Equations Intelligent robots Uncertainty Manipulator dynamics Intelligent networks

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Performance tuning of sliding mode controllers: structural analysis approach

Performance tuning of sliding mode controllers: structural a...

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American Control Conference (ACC)

作者： Bong Keun Kim Wan Kyun Chung Il Hong Suh Robotics and Bio-Mechatronics Laboratory Pohang University of Science and Technology South Korea INCORL School of Electrical Engineering and Computer Science Hanyang University South Korea

In this paper, a structural design method of sliding mode controller, which makes it possible to predict the performance of the closed loop system, is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator(RIC) is proposed. Next, using the structural characteristics of the RIC, disturbance attenuation property is analyzed and the performance of the closed-loop system of sliding mode controller is predicted. The proposed performance predictable design of sliding mode controller provides a systematic approach to the problem of robust stability and performance specifications in the presence of uncertainty.

关键词： Sliding mode control Performance analysis Control systems Robust control Uncertainty Design methodology Closed loop systems Attenuation Robust stability Optimal control

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Computational Methods for Periodic Systems - An Overview

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IFAC Proceedings Volumes 2001年第12期34卷 167-172页

作者： A. Varga P. Van Dooren German Aerospace Center DLR - Oberpfaffenhofen Inshtute of Robotics and Mechatronics D-82234 Wessling Germany Centre for Engineering Systems and Applied Mechanics Université catholique de Louvain B-1348 Louvain-la-Neuve Belgium

We present an up-to-date survey of numerical methods for the analysis and design of linear discrete-time periodic systems. The basic tool is the periodic Schur form and its variants, for which a certain form of numeri... 详细信息

关键词： Periodic systems time-varying systems discrete-time systems numerical methods

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Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

Robust two degree of freedom vehicle steering control satisf...

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European Control Conference (ECC)

作者： Bilin Aksun Güvenç Levent Güvenç Dirk Odenthal Tilman Bünte Department of Mechanical Engineering Ístanbul Technical University Istanbul Turkey Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center (DLR) - Oberpfaffenhofen Wessling Germany

Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability and a mixed sensitivity frequency domain bound. Simple, and therefore, easily implementable controller transfer functions with two design parameters are chosen for the two steering controller degrees of freedom. Using the parameter space method, the design specifications are mapped into the plane of controller parameters. The effectiveness of the final design is demonstrated using simulations.

关键词： Vehicles Robustness Sensitivity Vehicle dynamics Roads Uncertainty Stability analysis

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots Control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

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American Control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay Control systems Mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

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Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness mechatronics Digital filters IIR filters Vibrations Finite impulse response filter Control systems Cranes Convolution Mechanical engineering

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Discrete-time lqr and H2damping control of flexible payloads using a robot manipulator with a wrist-mounted force/torque sensor

Discrete-time lqr and H2damping control of flexible payloads...

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Lee, Chunhao Joseph Mavroidis, Constantinos Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854-8058 United States

ISBN: (纸本)9780791826652

This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-offreedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-offreedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively. © 2000 by ASME.

关键词： Flexible manipulators

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ANALYTIC GEOMETRIC DESIGN OF SPATIAL R-R ROBOT MANIPULATORS

ANALYTIC GEOMETRIC DESIGN OF SPATIAL R-R ROBOT MANIPULATORS

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Mavroidis, Constantinos Alam, Munshi Lee, Eric Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Laboratory Rutgers UniversityThe State University of New Jersey 98 Brett Rd. PiscatawayNJ08854 United States

ISBN: (纸本)9780791835173

This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of freedom end-effector tasks. The loop-closure geometric equations provide eighteen design equations in eighteen unknowns. Polynomial Elimination techniques are used to solve these equations and obtain the manipulator Denavit and Hartenberg parameters. A sixth order polynomial is obtained in one of the design parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses. Copyright (C) 2000 by ASME.

关键词： End effectors

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DESIGN AND CONTROL OF A SHAPE MEMORY ALLOY WIRE BUNDLE ACTUATOR

DESIGN AND CONTROL OF A SHAPE MEMORY ALLOY WIRE BUNDLE ACTUA...

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Mosley, Michael J. Mavroidis, Constantinos Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854-8058 United States

ISBN: (纸本)9780791835203

In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf- (445 N), which is approximately 300 times its weight, over a maximum distance of 0.5 in. (1.27 cm). The actuator was tested in two different loading configurations - linear displacement and operation of a revolute joint. A P1D based controller with the addition of an input shaping function was developed for each loading configuration with excellent results, maintaining steady state error within ± 0.004 in. (0.1 mm) for linear motion and ± 1° for revolute joint rotation. This powerful, compact, and lightweight actuator shows promise for use in space, medical, and other macro-robotic applications. © 2000 by ASME.

关键词： Linear actuators

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