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International Conference on Advanced robotics (ICAR)

作者： S. Payandeh A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada School of Engineering Science Simon Fraser University Burnaby BC Canada Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The arm/hand manipulating system considered in this paper consists of a large robot (the arm) carrying a small mechanism (the hand) which through its coordinated motion is able to perform tasks in a manufacturing work-cell. In general, the arm subsystem is used to locate its end-point where the hand is connected at a specific location or to move it along a given trajectory. The hand can then be used to pick up an object or a tool, for placing the object or performing a machining task. This paper presents a control architecture for an arm/hand manipulating system. In particular, contributions of the paper are a method for controlling the fingers of the hand mechanism and classification of the forces which can act on the arm/hand system.< >

关键词： Control systems Force control Automatic control robotics and automation Robot kinematics Machining Fingers Manipulators Laboratories Mechanical engineering

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Dynamic modularization and synchronization for intelligent robot coordination: the concept of functional time-dependency

Dynamic modularization and synchronization for intelligent r...

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IEEE International Conference on robotics and automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >

关键词： Intelligent robots Manipulator dynamics Robot kinematics robotics and automation Information technology Transportation Concurrent computing

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NECESSARY AND SUFFICIENT CONDITIONS OF QUADRATIC STABILITY OF UNCERTAIN LINEAR-SYSTEMS

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1990年第5期35卷 601-604页

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

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.

关键词： Plant uncertain quantitative determination Sufficient conditions extremum values Necessary corners Uncertainty quadratic stabilizability Linear system

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Adaptive Robust Pole Placement - An Alternate Approach

Adaptive Robust Pole Placement - An Alternate Approach

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American Control Conference (ACC)

作者： M. Das P. Kokate N. K. Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

This paper proposes an alternate approach for adaptive robust control of linear systems with structured, wide-ranging parametric uncertainties. The overall scheme consists of two steps; namely, off-line design of a robust observer for the partial states of the system, and design of an on-line adaptive pole placement scheme. It is shown that by using this approach, both direct as well as indirect adaptive pole placement can be achieved. Proofs of stability of the schemes are also given.

关键词： Robustness State feedback Adaptive control Robust control Programmable control Linear systems Uncertainty Uncertain systems Control systems robotics and automation

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A distributed model of concurrency for robot sensorimotor synchronization

A distributed model of concurrency for robot sensorimotor sy...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above. The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction. The model utilizes a modularization of complex kinematic chains, a classification of primitive tasks, and a concept of functional time dependency.< >

关键词： Concurrent computing Robot sensing systems Service robots robotics and automation Flexible manufacturing systems Manipulator dynamics Kinematics Algebra Multiagent systems Intelligent robots

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Necessary and sufficient conditions of quadratic stability of uncertain linear systems

Necessary and sufficient conditions of quadratic stability o...

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IEEE Conference on Decision and Control

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

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition for quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.< >

关键词： Sufficient conditions Linear systems Symmetric matrices Uncertain systems Stability analysis robotics and automation Time varying systems Uncertainty Feedback control Stability criteria

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Uncertain systems: new uncertainty characterization for linear control design

Uncertain systems: new uncertainty characterization for line...

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IEEE Conference on Decision and Control

作者： K. Gu Y.H. Chen Center of Robotics and Advanced Automation School of Electrical Engineering and Computer Science Oakland University Rochester MI USA The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >

关键词： Uncertain systems Uncertainty Control design Riccati equations Feedback control robotics and automation Time varying systems Magnetic levitation Design automation Computer science

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DYNAMIC MODELING AND CONTROL BY UTILIZING AN IMAGINARY ROBOT MODEL

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IEEE JOURNAL OF robotics AND automation 1988年第5期4卷 532-540页

作者： GU, YL LOH, NK School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.

关键词： dynamic models nonlinear feedback control systems design Robot

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APPLICATION OF DISCRETE-TIME QUANTIZED DATA CONTROLLERS TO SYSTEMS WITH DISTURBANCES

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INTERNATIONAL JOURNAL OF CONTROL 1988年第6期48卷 2201-2207页

作者： JUDD, RP VANTIL, RP Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI 48309-4401 United States

In a recent paper, a new method for the digital control of a continuous-time system based on a table look-up technique was presented. This digital controller is called a discrete-time quantized data (DTQD) controller. In order to minimize the number of table entries, a grid embedding process is proposed. This control technique proved successful when applied to the regulator problem. However, when a DTQD controller using the grid embedding process is applied to a continuous-time system with additive disturbances, the performance of the DTQD controller degraded, causing oscillations and possible limit cycle phenomena. In this paper, the grid embedding process is replaced with a continuous scaling process. The continuous scaling process retains the advantages of the grid embedding process in reducing the number of table entries. In addition, it reduces the amount of oscillation in the system response when disturbances are present.

关键词： Control Systems, Digital

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Variable Structure System for Electric Arc Furnace Control

Variable Structure System for Electric Arc Furnace Control

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American Control Conference (ACC)

作者： M.A. Zohdy Jun Liu School of Engineering & Computer Science Center for Robotics & Advance Automation Oakland University Rochester MI USA

Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is presented together with some guidlines for the choice of a suitable model following. A state space reduction method is applied to reduce the dominant dynamic order and hence simplify the design process. The effects of switching surface, modelling, gain polarity and magnitude are discussed.

关键词： Variable structure systems Furnaces Electric variables control Control systems Automatic control Steel robotics and automation Switches Nonlinear control systems Computer science

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