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1.
We consider the design of a feedback control law for control systems described by a class of nonlinear differential-algebraic equations so that certain desired outputs track given reference inputs. The nonlinear differential-algebraic control system being considered is not in state variable form. Assumptions are introduced and a procedure is developed such that an equivalent state realization of the control system described by nonlinear differential-algebraic equations is expressed in a familiar normal form. A nonlinear feedback control law is then proposed which ensures, under appropriate assumptions, that the tracking error in the closed loop differential-algebraic system approaches zero exponentially. Applications to simultaneous contact force and position tracking in constrained robot systems with rigid joints, constrained robot systems with joint flexibility, and constrained robot systems with significant actuator dynamics are discussed.  相似文献
2.
一种受限机械手的自适应力/位置控制方法   总被引:1,自引:0,他引:1  
对于受限机械臂,本文提出了一种自适应的力/位置控制方法。其实现是基于给出的新的降阶动力学模型,在反馈信号中引入力的累积误差信号,利用降阶模型的本身特性从而达到自适应力/位置控制的目的。给出的自适应律是通过跟踪误差信号来调节的。仿真结果证实了本方法的正确性。  相似文献
3.
Contact Friction Compensation for Robots Using Genetic Learning Algorithms   总被引:1,自引:0,他引:1  
In this paper, the issues of contact friction compensation for constrained robots are presented. The proposed design consists of two loops. The inner loop is for the inverse dynamics control which linearizes the system by canceling nonlinear dynamics, while the outer loop is for friction compensation. Although various models of friction have been proposed in many engineering applications, frictional force can be modeled by the Coulomb friction plus the viscous force. Based on such a model, an on-line genetic algorithm is proposed to learn the friction coefficients for friction model. The friction compensation control input is also implemented in terms of the friction coefficients to cancel the effect of unknown friction. By the guidance of the fitness function, the genetic learning algorithm searches for the best-fit value in a way like the natural surviving laws. Simulation results demonstrate that the proposed on-line genetic algorithm can achieve good friction compensation even under the conditions of measurement noise and system uncertainty. Moreover, the proposed control scheme is also found to be feasible for friction compensation of friction model with Stribeck effect and position-dependent friction model.  相似文献
4.
本文了一类受限机器人的迭代学习控制方案,控制器的设计是基于机器人模型的降阶形式。在存在有界未知干扰的情况下,对末端操纵器受线性、无摩擦约束面的受限机器人。本文给出的控制方案保证了机器人系统的完全运动跟踪,同时保证了力跟踪误差有界的,且界的大小是可调节的。  相似文献
5.
In this paper, the problem of controlling two robotic manipulators handling a constrained object is addressed. First, a reduced order dynamic model of the system is obtained. Using this model, a controller that guarantees the asymptotic convergence of the position, the internal force, and the constraint force to their desired values is proposed. Simulation results for two three-link planar manipulators moving a constrained object demonstrate the effectiveness of the proposed controller.  相似文献
6.
Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other relates the constraint force with the hybrid controller. This decomposition does not require the solution of the constraint equation in partition form. In this setting, the hybrid control of constrained robots can be essentially reduced to robust stabilization of uncertain nonlinear systems whose uncertainties do not satisfy the matching condition. A continuous version of the sliding-mode controller (from Khalil [12]) is employed to design a position controller. The force controller is designed as a proportional force error feedback of high gain type. The coordination of the position controller and the force controller is shown to achieve ultimately bounded position and force tracking with tunable accuracy. Moreover, an estimate of the domain of attraction is provided for the motion on the constraint manifold. Simulation for a planar two-link robot constraining on an ellipse is given to show the effectiveness of a hybrid controller. In addition, the friction effect, viewed as external disturbance to the system, is also examined through simulations.  相似文献
7.
With the availability of fast and economical microprocessors, effective design of systems that are immune to failure of individual or groups of sensors, actuators, or computational units is feasible. The system can be made tolerant of the failure of individual subsystems, but functions with reduced efficiency.One way to realize this design is to formulate the dynamics of the systems in larger than minimal state spaces, to process the large number of sensory inputs needed, to relegate control functions to different inputs and to provide reliable communication among the subsystems. The imbedding of the state of the system in a larger state space allows the system to have direct access to its minimal state and indirect access by computing it, hence the need for many sensors. The sensors themselves can then measure directly physical parameters of interest or indirectly by providing a processor with measurements from which the processor computes the needed parameter.This paper deals with the concept of relegation of control as a special kind of generalized nonlinear decoupling control.A structure is proposed that relegates control of specific functions to subsets of inputs. The concept is illustrated by a nonlinear robotic example where the control of constraint forces (due to contact, grip, hold, touch, etc.), control of trajectory of motion, control of stability, and control of collision avoidance are relegated to different inputs. The inputs can be the actuator outputs of force and torque applied to the mechanical system or alternatively the inputs to the actuators themselves. Any conflict in fulfilling the four functions is arbitrated at a higher level. Compromises among the functions, priorities of functions over each other and assignments of inputs in primary, secondary, or as lower contributors to function are elaborated, programmed, and stored. This structure allows integration of a certain amount of intelligence in a robotic system at the lowest level.This work was supported in part by the National Science Foundation under Grant ECS-820-1240 and in part by the Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210, U.S.A.  相似文献
8.
In robot constrained motion problems on planar surfaces with frictional contacts, uncertainties on the contacted surface not only affect the control system performance but also distort control targets. The surface normal direction cosines are in this case uncertain parameters that are involved in both the control law and the control targets. This work proposes an adaptive learning controller that uses force and joint position/velocity measurements to simultaneously learn the surface orientation and achieve the desired goal. Simulation examples for a 6 dof robot are used to illustrate the theoretical results and the performance of the proposed controller in practical cases.  相似文献
9.
ABSTRACT

Eye gaze is considered to be a particularly important non-verbal communication cue. Gaze research is also becoming a hot topic in human–robot interaction (HRI). However, research on social eye gaze for HRI focuses mainly on human-like robots. There remains a lack of methods for functional robots, which are constrained in appearance, to show gaze-like behavior. In this work, we investigate how we can implement gaze behavior in functional robots to assist humans in reading their intent. We explore design implications based on LED lights as we consider LEDs to be easily installed in most robots while not introducing features that are too human-like (to prevent users from having high expectations towards the robots). In this paper, we first developed a design interface that allows designers to freely test different parameter settings for an LED-based gaze display for a Roomba robot. We summarized design principles for well simulating LED-based gazes. Our suggested design is further evaluated by a large group of participants with regard to their perception and interpretation of the robot's behaviors. On the basis of the findings, we finally offer a set of design implications that can be beneficial to HRI and HCI researchers.  相似文献
10.
针对存在不确定性和外界干扰的受限机器人系统提出一种自适应迭代学习控制律.不确定性参数被估计在时间域内,同时重复性外界干扰在迭代域内得到补偿.通过引入饱和学习函数,保证了闭环系统所有信号有界.借助Lyapunov复合能量函数法,证明了系统渐进收敛到期望轨迹的同时,能够保证力跟踪误差有界可调.  相似文献
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