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Darren M. Dawson - One of the best experts on this subject based on the ideXlab platform.

  • Hybrid adaptive control for the tracking of Rigid-Link electrically-driven robots
    Advanced Robotics, 2012
    Co-Authors: Jürgen Guldner, Darren M. Dawson
    Abstract:

    In this paper, we design a hybrid adaptive/robust tracking controller for Rigid-Link electrically-driven (RLED) robot manipulators. The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties in the Rigid-Link equation while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure global asymptotic stability of the Link position tracking error.

  • Global adaptive partial state feedback tracking control of Rigid-Link flexible-joint robots
    Robotica, 2000
    Co-Authors: Warren E. Dixon, Darren M. Dawson, Erkan Zergeroglu, M.w. Hannan
    Abstract:

    This paper presents a solution to the global adaptive partial state feedback control problem for Rigid-Link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring Link and actuator position measurements. A nonlinear filter is employed to eliminate the need for Link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic Link position tracking. An output feedback controller that adapts for parametric uncertainty in the Link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

  • Global adaptive partial state feedback tracking control of Rigid-Link flexible-joint robots
    1999 IEEE ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399), 1999
    Co-Authors: Warren E. Dixon, Darren M. Dawson, Erkan Zergeroglu, M.w. Hannan
    Abstract:

    This paper presents a solution to the global adaptive partial state feedback control problem for Rigid-Link, flexible-joint robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring Link and actuator position measurements. A nonlinear filter is employed to eliminate the need for Link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic Link position tracking.

  • Robust neural-network control of Rigid-Link electrically driven robots
    IEEE Transactions on Neural Networks, 1998
    Co-Authors: Chiman Kwan, Frank L. Lewis, Darren M. Dawson
    Abstract:

    A robust neural-network (NN) controller is proposed for the motion control of Rigid-Link electrically driven (RLED) robots. Two-layer NN's are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of RLED robots without any modifications.

  • ICRA - Global output feedback tracking control for Rigid-Link flexible-joint robots
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998
    Co-Authors: Warren E. Dixon, Erkan Zergeroglu, M.s. De Queiroz, Darren M. Dawson
    Abstract:

    We present a global, output feedback, tracking controller for Rigid-Link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic Link position tracking despite the fact that only Link position measurements are available.

Ian D Walker - One of the best experts on this subject based on the ideXlab platform.

  • teleoperation mappings from Rigid Link robots to their extensible continuum counterparts
    International Conference on Robotics and Automation, 2016
    Co-Authors: Chase G Frazelle, Apoorva D Kapadia, Katelyn E Fry, Ian D Walker
    Abstract:

    We present a novel approach to teleoperation of continuum robots. In contrast to previous approaches restricted to three Degree-of-Freedom (DoF) joysticks, a six degree-of-freedom Rigid-Link manipulator is used as the input device. Mappings from the Rigid-Link arm to the continuum robot are synthesized and analyzed, focusing on their potential for creating a more intuitive operational interface. The approach was implemented using a six degree-of-freedom Rigid-Link manipulator as input device for teleoperation of a three section, nine degree-of-freedom continuum robot. Tests were conducted across a range of planar and spatial tasks, using fifteen participant operators. The results demonstrate the feasibility of the approach, and suggest that it can be effective independent of the prior robotics, gaming, or teleoperative experience of the operator.

  • ICRA - Teleoperation mappings from Rigid Link robots to their extensible continuum counterparts
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    Co-Authors: Chase G Frazelle, Apoorva D Kapadia, Katelyn E Fry, Ian D Walker
    Abstract:

    We present a novel approach to teleoperation of continuum robots. In contrast to previous approaches restricted to three Degree-of-Freedom (DoF) joysticks, a six degree-of-freedom Rigid-Link manipulator is used as the input device. Mappings from the Rigid-Link arm to the continuum robot are synthesized and analyzed, focusing on their potential for creating a more intuitive operational interface. The approach was implemented using a six degree-of-freedom Rigid-Link manipulator as input device for teleoperation of a three section, nine degree-of-freedom continuum robot. Tests were conducted across a range of planar and spatial tasks, using fifteen participant operators. The results demonstrate the feasibility of the approach, and suggest that it can be effective independent of the prior robotics, gaming, or teleoperative experience of the operator.

  • teleoperation control of a redundant continuum manipulator using a non redundant Rigid Link master
    Intelligent Robots and Systems, 2012
    Co-Authors: Apoorva D Kapadia, Ian D Walker, Enver Tatlicioglu
    Abstract:

    In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, Rigid-Link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

  • IROS - Teleoperation control of a redundant continuum manipulator using a non-redundant Rigid-Link master
    2012 IEEE RSJ International Conference on Intelligent Robots and Systems, 2012
    Co-Authors: Apoorva D Kapadia, Ian D Walker, Enver Tatlicioglu
    Abstract:

    In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, Rigid-Link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

D.m. Dawson - One of the best experts on this subject based on the ideXlab platform.

  • Position and force tracking control of Rigid-Link electrically driven robots actuated by switched reluctance motors
    International Journal of Systems Science, 1995
    Co-Authors: M. D. Leviner, D.m. Dawson
    Abstract:

    Abstract In this paper, we design a tracking controller for Rigid-Link electrically driven (RLED) robot manipulators actuated by switched reluctance (SR) motors operating under constrained and unconstrained conditions. Using models of the robot dynamics and environmental constraints, a reduced-order dynamic model is obtained for the mechanical subsystem with respect to a set of constraint variables. A tracking control is then formulated for the reduced-order manipulator dynamics and the SR motor dynamics. The control assumes exact model knowledge and requires measurement of the robot Link positions, Link velocities and motor currents. The proposed controller yields global exponential stability (GES) for the position, velocity and force tracking errors on and off a Rigid, frictionless constraint surface.

  • Adaptive control of Rigid-Link electrically-driven robots actuated with switched reluctance motors
    Proceedings of 1995 American Control Conference - ACC'95, 1995
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    In this paper, we extend the previous work of Dawson et al. (1992, 1993) to design an adaptive controller for Rigid-Link electrically-driven (RLED) robot manipulators specifically actuated with switched reluctance (SR) motors. Specifically, the controller presented in the previous paper (1993) is redesigned from a robust algorithm to an adaptive algorithm in order to guarantee globally asymptotically stable Link position tracking error. In particular, this paper fuses the designed commutation strategies with several newly developed modifications to the integrator backstepping technique to create a controller that guarantees the desired position tracking performance in spite of parametric uncertainty throughout the entire electro-mechanical model.

  • Redesign of robust controllers for Rigid-Link flexible-joint robotic manipulators actuated with harmonic drive gearing
    IEE Proceedings - Control Theory and Applications, 1995
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    The authors have redesigned a previously developed robust tracking controller for Rigid-Link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically induced by harmonic drive gearing. A more realistic, and consequently more complex model for the torque transmission dynamics which includes frictional losses, kinematic error and nonlinear compliance is utilised. The stability result achieved for the authors' proposed controller ensures that the Link tracking error is 'globally uniformly ultimately bounded' (GUUB), in spite of additive bounded disturbances, parametric uncertainty, and the presence of complex nonnegligible actuator dynamics.

  • Adaptive control of Rigid-Link electrically-driven robots actuated with brushless DC motors
    Proceedings of 1994 33rd IEEE Conference on Decision and Control, 1994
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    Extends the work of Bridges, Dawson and Gao (1993) and Hu and Dawson (1993) to design an adaptive controller for Rigid-Link electrically-driven (RLED) robot manipulators specifically actuated with brushless direct current (BLDC) motors. In particular the adaptive controller presented in the second paper is tailored to handle the multi-Link dynamics of a Rigid-Link robot as opposed to a simple inertial load. Furthermore, the linear electrical dynamics of brushed DC motors used in the development of the first paper, are replaced with the multiple input nonlinear dynamics of BLDC motors. The result is an adaptive controller that guarantees globally asymptotic convergence of the Link position tracking error in spite of parametric uncertainty throughout the entire electro-mechanical model. >

  • Robust control of Rigid-Link flexible-joint robots with redundant joint actuators
    IEEE Transactions on Systems Man and Cybernetics, 1994
    Co-Authors: M.m. Bridges, D.m. Dawson, Zhihua Qu, S.c. Martindale
    Abstract:

    Presents an approach for designing robust tracking controllers for Rigid-Link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, the authors prove that the Link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. The authors also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller.

M.m. Bridges - One of the best experts on this subject based on the ideXlab platform.

  • Adaptive control of Rigid-Link electrically-driven robots actuated with switched reluctance motors
    Proceedings of 1995 American Control Conference - ACC'95, 1995
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    In this paper, we extend the previous work of Dawson et al. (1992, 1993) to design an adaptive controller for Rigid-Link electrically-driven (RLED) robot manipulators specifically actuated with switched reluctance (SR) motors. Specifically, the controller presented in the previous paper (1993) is redesigned from a robust algorithm to an adaptive algorithm in order to guarantee globally asymptotically stable Link position tracking error. In particular, this paper fuses the designed commutation strategies with several newly developed modifications to the integrator backstepping technique to create a controller that guarantees the desired position tracking performance in spite of parametric uncertainty throughout the entire electro-mechanical model.

  • Contril of Rigid-Link, flexible-joint robots:a survey of backstepping approaches
    Journal of Robotic Systems, 1995
    Co-Authors: M.m. Bridges, Darren M. Dawson, Chaouki T. Abdallah
    Abstract:

    The purpose of this article is to show how the design procedure commonly referred to as integrator backstepping can be used to design globally stable trajectory tracking controllers for Rigid-Link Flexible-Joint (RLFJ) robot manipulators. Three different types of controllers are developed: (1) an exact model knowledge-based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework. © 1995 John Wiley & Sons, Inc.

  • Redesign of robust controllers for Rigid-Link flexible-joint robotic manipulators actuated with harmonic drive gearing
    IEE Proceedings - Control Theory and Applications, 1995
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    The authors have redesigned a previously developed robust tracking controller for Rigid-Link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically induced by harmonic drive gearing. A more realistic, and consequently more complex model for the torque transmission dynamics which includes frictional losses, kinematic error and nonlinear compliance is utilised. The stability result achieved for the authors' proposed controller ensures that the Link tracking error is 'globally uniformly ultimately bounded' (GUUB), in spite of additive bounded disturbances, parametric uncertainty, and the presence of complex nonnegligible actuator dynamics.

  • Adaptive control of Rigid-Link electrically-driven robots actuated with brushless DC motors
    Proceedings of 1994 33rd IEEE Conference on Decision and Control, 1994
    Co-Authors: M.m. Bridges, D.m. Dawson
    Abstract:

    Extends the work of Bridges, Dawson and Gao (1993) and Hu and Dawson (1993) to design an adaptive controller for Rigid-Link electrically-driven (RLED) robot manipulators specifically actuated with brushless direct current (BLDC) motors. In particular the adaptive controller presented in the second paper is tailored to handle the multi-Link dynamics of a Rigid-Link robot as opposed to a simple inertial load. Furthermore, the linear electrical dynamics of brushed DC motors used in the development of the first paper, are replaced with the multiple input nonlinear dynamics of BLDC motors. The result is an adaptive controller that guarantees globally asymptotic convergence of the Link position tracking error in spite of parametric uncertainty throughout the entire electro-mechanical model. >

  • Robust control of Rigid-Link flexible-joint robots with redundant joint actuators
    IEEE Transactions on Systems Man and Cybernetics, 1994
    Co-Authors: M.m. Bridges, D.m. Dawson, Zhihua Qu, S.c. Martindale
    Abstract:

    Presents an approach for designing robust tracking controllers for Rigid-Link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, the authors prove that the Link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. The authors also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller.

Chao Liu - One of the best experts on this subject based on the ideXlab platform.

  • Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties
    IFAC Proceedings Volumes, 2016
    Co-Authors: Chao Liu, Xianbo Xiang, Philippe Poignet
    Abstract:

    Abstract Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both Link and actuator dynamics of the Rigid-Link flexible-joint (RLFJ) robot system. Adaptive observers are designed to avoid acceleration measurements due to the fourth-order overall system dynamics. Convergence of both end-effector tracking errors and observing errors are proven and sufficient conditions are presented to guarantee system's asymptotic stability.

  • Observer-based adaptive tracking control of Rigid-Link flexible-joint robot manipulators
    2010
    Co-Authors: Chao Liu, Xianbo Xiang, Philippe Poignet
    Abstract:

    Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of Rigid-Link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both Link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

  • Adaptive Task-Space Regulation of Rigid-Link Flexible-Joint Robots with Uncertain Kinematics
    Automatica, 2008
    Co-Authors: Chao Liu, Chien Chern Cheah, Jean-jacques E. Slotine
    Abstract:

    In this paper, an adaptive control scheme is proposed for the regulation problem of Rigid-Link flexible-joint (RLFJ) robots with uncertain kinematics. Existing research works in literature on RLFJ robot control assume exact knowledge of the kinematics of robot, and no result that can deal with kinematics uncertainty in RLFJ robot has been proposed so far. This paper presents the first study addressing this problem. The adaptive control scheme proposed can deal with the kinematics uncertainty and uncertainties in both Link and actuator dynamics of the RLFJ robot system. A nonlinear observer is designed to avoid the use of acceleration due to the fourth-order overall dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability. Simulation results are provided to illustrate the effectiveness of the proposed control method.

  • brief paper adaptive task space regulation of Rigid Link flexible joint robots with uncertain kinematics
    Automatica, 2008
    Co-Authors: Chao Liu, Chien Chern Cheah, Jean-jacques E. Slotine
    Abstract:

    In this paper, an adaptive control scheme is proposed for the regulation problem of Rigid-Link flexible-joint (RLFJ) robots with uncertain kinematics. Existing research works in literature on RLFJ robot control assume exact knowledge of the kinematics of robot, and no result that can deal with kinematics uncertainty in RLFJ robot has been proposed so far. This paper presents the first study addressing this problem. The adaptive control scheme proposed can deal with the kinematics uncertainty and uncertainties in both Link and actuator dynamics of the RLFJ robot system. A nonlinear observer is designed to avoid the use of acceleration due to the fourth-order overall dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability. Simulation results are provided to illustrate the effectiveness of the proposed control method.

  • Adaptive Jacobian tracking control of Rigid-Link electrically driven robots based on visual task-space information
    Automatica, 2006
    Co-Authors: Chao Liu, Chien Chern Cheah, Jean-jacques E. Slotine
    Abstract:

    This paper studies stable adaptive tracking control of Rigid-Link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics. A new task-space control method using visual task-space information is proposed to overcome the uncertainties adaptively. Accelerations measurements are avoided in the control voltage inputs by constructing observers to specify desired armature currents. Simulation results illustrate the performance of the proposed control method.

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