The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliar...
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The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliary controller is to cancel out the plant uncertainties directly without the use of the high loop gain principle. Interpretation of robot controller as a signal-synthesis adaptive controller is given. Practical implementation issues of the auxiliary controller are discussed. Simulations of a design example with large parameter uncertainty, nonlinearity, and external disturbance are presented to demonstrate the effectiveness of the design technique. This technique is further tested with success in an experimental study of joint position control of a PUMA 560 robot arm.< >
This paper presents a new algorithm for determining the position and orientation of objects. The problem is formulated as an optimization problem using dual number quaternions. It is shown that this reduces to an eige...
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An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the obj...
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An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the object is proved, assuming perfect models for both manipulators. The computational algorithm is similar to the Newton-Euler inverse dynamics algorithm with complexity linear in the number of links in the manipulators. A significant feature of the control method is that both manipulators use the identical computational algorithm. Thus, the concept of master/slave relationship between the two manipulators is avoided. Two simulations are presented. The first assumes an ideal model for each manipulator. As expected, the controller is stable and provides excellent tracking ability of the manipulator. The second simulation investigates the effects of modeling errors in the mass properties of each arm. The position trajectories track very close to their desired values; however, they never completely converge.< >
A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical o...
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A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.< >
An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model descr...
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An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to s...
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An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to serial-link graph-structured manipulators. The authors prove that the minimum number of parameters can be obtained directly from an energy difference equation rather than the dynamic equations of motion. They present a method for the identification of the minimum number of basis vectors which span the vector space containing the components of inertial parameters present in the equations of motion. Simulations are presented and the method is evaluated. The method is conceptually simple, computationally efficient and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm.< >
A real-time high-accuracy object localization system is presented. This system uses a line range sensor to acquire range data from which it extracts line features of an object such as boundary edges for planar surface...
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A real-time high-accuracy object localization system is presented. This system uses a line range sensor to acquire range data from which it extracts line features of an object such as boundary edges for planar surfaces and axes for surfaces of revolution. A combination of Hough transform, filtering, and least-squares optimization techniques is used to guarantee high-precision feature extraction. Line-line matching is then used to compute the transformation parameters. When multiline features are known, a fast optimal algorithm utilizing dual number quaternions is used to carry out the computations.< >
A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequential...
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A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequentially asynchronous is derived. Necessary and sufficient conditions guaranteeing concurrent asynchronous convergence are established in terms of contracting operators. Lyapunov exponents are also computed to characterize the network dynamics and to ensure that throughput-limiting chaotic behavior in models reconditioned with concurrently asynchronous algorithms has been eliminated.< >
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