CDC2000 Robotics: Tracking Control

Robotics: Tracking Control
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	On Global Output Feedback Tracking Control of Robot Manipulators Authors: Erkan Zergeroglu, Darren M. Dawson, Marcio S. de Queiroz, Miroslav Krstić, Volume: 1, Page 5073 Paper number 1047 Abstract: In this paper, we revisit the global, output feedback (OFB), tracking control problem for rigid-link robot manipulators subject to parametric uncertainty. Motivated by misunderstandings in the literature concerning our previous result, we propose a new global, OFB, adaptive controller, which in contrast to our previous work, eliminates the need for a post-stability analysis transformation to derive a velocity-independent control strategy. The structure of the new controller along with a new Lyapunov function are used to illustrate global asymptotic link position tracking. Experimental results are included to demonstrate the controller performance CD001047.PDF (From Author) TOP An Algorithm For On-Line Inverse Kinematics With Path Tracking Capability Under Velocity And Acceleration Constraints Authors: Gianluca Antonelli, Stefano Chiaverini, Giuseppe Fusco, Volume: 1, Page 5079 Paper number 9604 Abstract: Typical tasks for robotic manipulators are specified in terms of an end-effector trajectory. On the other hand, the robot arm is actuated at the joints thus requiring control actions to be performed by the joint servos. Inverse kinematics algorithms map the desired task-space trajectory into a suitable joint-space trajectory. In this paper, a new second-order inverse kinematics algorithm is developed which takes into account joint velocity and acceleration limits while pursuing tracking of the assigned end-effector path. The proposed technique is designed for real-time operation and requires a light computational burden. This goal is achieved by properly modifying the time law with a time warp when joint limits are encountered. Case studies are developed to analyze the performance of the proposed method. CD009604.PDF (From Author) TOP Finite-Time Tracking for Robot Manipulators with Singularity-Free Continuous Control: A Passivity-Based Approach Authors: Vicente Parra-Vega, Gerd Hirzinger, Volume: 1, Page 5085 Paper number 9901 Abstract: Terminal attractors are introduced in dynamic sliding mode error coordinates in order to obtain two control schemes for robot manipulators that guarantee globally finite-time convergence of tracking errors. The simple passivity-based design yields a chattering-free controller with singularity-free closed-loop dynamics. The controllers render better stability properties in comparison to an ill-posed class of static terminal sliding mode control, with simpler control structures in comparison to a class of dynamic sliding mode controllers. Simulation data show the performance of the controllers. CD009901.PDF (From Author) TOP Automatic Elasticity Tuning of Industrial Robot Manipulators Authors: Einar Berglund, Geir E. Hovland, Volume: 1, Page 5091 Paper number 1468 Abstract: In this paper we present a new method for automatic elasticity tuning of industrial robot manipulators. The main contributions of the work are a) The parameters of a mechanical mass-spring-damper equivalent of any order are solved given only partial state information (motor encoder position and motor torque). b) The method is fully automatic with no operator input and can easily be applied in the field to update the dynamic model parameters. The ability to automatically update the elasticity parameters is particularly useful when the robot operators mount flexible tooling or equipment on the robot arms. c) The method separates friction and elasticity identification d) The method is demonstrated on an industrial ABB robot. e) In the paper we combine an important result from the vibration literature, [7], with the solution of inverse eigenvalue problems, [4]. To our knowledge, this is the first time that these methods have been combined and applied to the identification of flexible robot manipulators. The main advantage of the method compared to other identification methods is the fact that only motor encoder position and motor torque are required to identify the springs, masses and dampers of an Nth order system. CD001468.PDF (From Author) TOP A Simple Output Feedback PD Controller for Nonlinear Cranes Authors: Balint Kiss, Jean Lévine, Philippe Mullhaupt, Volume: 1, Page 5097 Paper number 1133 Abstract: A simple output feedback PD controller is proposed that stabilizes a nonlinear crane. Global asymptotic stability is achieved at any equilibrium point specified by the controller. The control scheme relies solely on the winches position and velocity and hence no cable angle measurement, or no direct measurement of the load position, is needed. The controller can be extended to many different kinds of existing cranes. CD001133.PDF (From Author) TOP