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A COMPUTER VISION TECHNIQUE FOR SURFACE CURVATURE GAUGING WITH PROJECTED GRATING

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1986年第2期33卷 158-161页

作者： HUNG, YY CHENG, SK LOH, NK Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image p... 详细信息

关键词： Computer vision Gratings Surface topography Digital images Shape Inspection Data mining robotics and automation Computational modeling Productivity

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A Ball-Balancing Demonstration of Distrubance-Accommodating Control

A Ball-Balancing Demonstration of Distrubance-Accommodating ...

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American Control Conference (ACC)

作者： N.K. Loh K.C. Cheok School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The controller design is based on the theory of disturbance-accommodating control, optimal control and digital delayed-data observer. Experimental results presented are useful for demonstrating the practicalilty aspects of the above theory.

关键词： Optimal control Control systems Automatic control Switches Control system synthesis robotics and automation Delay estimation Design automation Design engineering Computer science

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Optimal Control with Exact Linearization of Robotic Manipulators

Optimal Control with Exact Linearization of Robotic Manipula...

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American Control Conference (ACC)

作者： N. Coleman Nan K. Loh You-Liang Gu U.S. Army Armament R and D Center Dover NJ USA School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI

Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such as multi-input and multi-output characteristics, nonlinearity, time-varying parameters, and highly coupled system dynamics. Furthermore, they require consideration of such issues as robustness to external disturbances, parameter uncertainty, sensor noise, payload changes and computational errors. Thus the development of a real-time optimal control scheme with high reliability, high robustness, high accuracy and acceptable computational burden becomes an urgent and important problem for research and development. This paper presents an optimal control scheme which involves a nice combination of self-adaptive control strategy, exact linearization with output decoupling, and the computational procedure for solving the robotic dynamic equations based on a compact Lagrangian formulation. It is found from the simulation studies on the PUMA 560 robot that the actual trajectories of the robot arm converge quickly to the desired trajectories under large initial errors and robotic parameter deviations.

关键词： Optimal control Robot sensing systems Noise robustness Manipulator dynamics Nonlinear control systems Robot control Control systems Time varying systems Couplings Nonlinear dynamical systems

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DYNAMICS OF NONRIGID ARTICULATED ROBOT LINKAGES

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1985年第5期30卷 499-502页

作者： JUDD, RP FALKENBURG, DR Center of Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

关键词： Robots Couplings Performance analysis Automatic control Manipulator dynamics Linear systems Control systems robotics and automation Kinematics Transient response

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AN ADAPTIVE-CONTROL SCHEME FOR OSCILLATORY SERVO SYSTEMS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1985年第1期32卷 37-40页

作者： HONG, ZD ZOHDY, MA Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.

关键词： Adaptive control Servomechanisms Resonance Resonant frequency Filters Shafts Transfer functions Stability Torque Linear systems

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DISCRETE-TIME OPTIMAL FEEDBACK CONTROLLERS WITH TIME-MULTIPLIED PERFORMANCE INDEXES

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1985年第5期30卷 494-496页

作者： CHEOK, KC LOH, NK ZOHDY, MA Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary condition, an existence condition, and a sufficient condition for the control laws are derived. A simple example is given to illustrate the effectiveness of the proposed control laws.

关键词： Adaptive control Performance analysis Performance gain Symmetric matrices Linear systems Sufficient conditions Regulators Output feedback Lagrangian functions robotics and automation

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Cost sensitivity analysis for discrete-time optimal feedback controllers with time-multiplied performance indexes

Cost sensitivity analysis for discrete-time optimal feedback...

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IEEE Conference on Decision and Control

作者： K. C. Cheok N. K. Loh M. A. Zohdy Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The sensitivity of a class of N-th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.

关键词： Cost function Sensitivity analysis Adaptive control Performance analysis Output feedback Information analysis robotics and automation Lagrangian functions Robot sensing systems Computer science

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Design of observers for two-dimensional systems

Design of observers for two-dimensional systems

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IEEE Conference on Decision and Control

作者： S. K. Cheng N. K. Loh K. C. Cheok Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

This paper extends the familiar 1-D concepts of observer designs to the design of observers for 2-D systems described by Roesser's model. Both full-order and reduced-order observers are considered. Extensions of 1-D concepts to 2-D is non-trivial in view of the requirement that state transformations for 2-D systems have to be block diagonal in order to preserve their input-output properties. Another issue addressed in this paper is the required asymptotic stability property of the 2-D observers. To maintain tractability in asymptotic stability analysis, we consider the class of 2-D observers with separable characteristic polynomials. Illustrative examples are provided.

关键词： Polynomials Asymptotic stability robotics and automation State-space methods State estimation Eigenvalues and eigenfunctions Computer science Observers Convergence Boundary conditions

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Dynamic model for industrial robots based on a compact Lagrangian formulation

Dynamic model for industrial robots based on a compact Lagra...

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IEEE Conference on Decision and Control

作者： You-liang Gu Nan K. Loh Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

A compact Lagrangian formulation has been developed and discussed to deal with the highly coupled non-linear dynamic equations of robotic manipulators. It bridges the dynamic and kinematic problems of robotics closely together by means of Jacobian and subjacobian matrices. Its numeric computational complexity has been reduced to O(n2) time. When n<6, the number of operations required for computing all joint torques is almost close to that of Newton-Euler approach. Due to its significant insight of the robot behavior, it is concluded that the compact Lagrangian formulation offers a convenient approach to building up a feasible real-time adaptive control strategy for computer-based manipulators. Finally, it has been found that all information required for solving the dynamic equation and the adaptive control problems is concentrated in Hessian matrix of the kinetic energy for a given robotic manipulator.

关键词： Service robots Lagrangian functions Manipulator dynamics Jacobian matrices Adaptive control Nonlinear equations Bridges Kinematics Computational complexity Kinetic energy

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On the Implementation of Manipulator Control

On the Implementation of Manipulator Control

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American Control Conference (ACC)

作者： N. K. Loh S. K. Cheng K. C. Cheok K. S. Oo Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The design and implementation of a controller for a six-degree-off-freedom robot manipulator is presented. Two IBM Personal Computers were used to implement the preliminary scheme reported here where execution of prog... 详细信息

关键词： Robot kinematics Robot sensing systems Servomechanisms robotics and automation Manipulators Automatic control Optical sensors Equations Trajectory Design automation

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