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Full-Text Articles in Computer Engineering
Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh
Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh
Electrical & Computer Engineering Faculty Research
We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.
Tolerance Specification Of Robot Kinematic Parameters Using An Experimental Design Technique, Y.H. Andrew Liou, Paul P. Lin, Richard R. Lindeke, Hsiang-Dih Chiang
Tolerance Specification Of Robot Kinematic Parameters Using An Experimental Design Technique, Y.H. Andrew Liou, Paul P. Lin, Richard R. Lindeke, Hsiang-Dih Chiang
Mechanical Engineering Faculty Publications
This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method. The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot.
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
Electrical and Computer Engineering Faculty Publications
Interpolation of minimum jerk robot joint trajectories through an arbitrary number of knots is realized using a hardwired neural network. Minimum jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical rather than analytic functions of time. This application formulates the interpolation problem as a constrained quadratic minimization problem over a continuous joint angle domain and a discrete time domain. Time is discretized according to the robot controller rate. The neuron outputs define the joint angles (one neuron for each discrete value of time) and the Lagrange …
Suboptimal Robot Joint Interpolation Within User-Specified Knot Tolerances, Daniel J. Simon, Can Isik
Suboptimal Robot Joint Interpolation Within User-Specified Knot Tolerances, Daniel J. Simon, Can Isik
Electrical and Computer Engineering Faculty Publications
Approximation of a desired robot path can be accomplished by interpolating a curve through a sequence of joint-space knots. A smooth interpolated trajectory can be realized by using trigonometric splines. But, sometimes the joint trajectory is not required to exactly pass through the given knots. The knots may rather be centers of tolerances near which the trajectory is required to pass. In this article, we optimize trigonometric splines through a given set of knots subject to user-specified knot tolerances. The contribution of this article is the straightforward way in which intermediate constraints (i.e., knot angles) are incorporated into the parameter …