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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Redundant actuation for improving kinematic manipulability

Redundant actuation for improving kinematic manipulability

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IEEE International Conference on robotics and automation (ICRA)

作者： J.F. O'Brien J.T. Wen Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.

关键词： Kinematics Parallel robots Ellipsoids Manufacturing automation robotics and automation Computer aided manufacturing Manipulators Concurrent computing Systems engineering and theory Couplings

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Kinematic manipulability of general constrained rigid multibody systems

Kinematic manipulability of general constrained rigid multib...

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IEEE International Conference on robotics and automation (ICRA)

作者： J.T. Wen L.S. Wilfinger Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

关键词： Kinematics Torque Ellipsoids Manufacturing automation robotics and automation Computer aided manufacturing Manipulators Fingers Legged locomotion Robots

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE Conference on Control technology and Applications (CCTA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This work targets the navigation and control of multi-linked manipulators in tight, constrained spaces as are encountered in problems of robotic packaging or loading and unloading of pallets. The modified magnetic field algorithm was introduced by the authors (1996, 1997) for the specific purposes of generating motion plans for a robot moving in a complex and constrained workspace while veering around enclosing Cartesian space obstacle walls. The modified magnetic field method allows global convergence and collision constraint satisfaction while allowing the application of this method as a dynamic online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF for the online dynamic closed loop control of a robot arm in the presence of Cartesian obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration. This is done by extending the concept of the MMF through a detailed analysis of exactly what constitutes a desirable path in both Cartesian and configuration spaces. The dynamic control is performed in a hybrid manner to account for both, Cartesian as well as configuration space obstacles.

关键词： Manipulator dynamics Motion control Magnetic fields Orbital robotics Space technology Motion planning robotics and automation Electrostatics Feedback Automatic control

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on advanced robotics (ICAR)

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

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation Computer aided manufacturing Laboratories Data mining

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration.

关键词： Manipulator dynamics Motion control Magnetic fields Motion planning Orbital robotics Convergence Robot motion robotics and automation Path planning Feedback

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

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

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation Computer aided manufacturing Information geometry Systems engineering and theory

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control Computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing Manufacturing processes Containers Inorganic materials

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