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The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects(More)
The homogeneous charge compression ignition (HCCI) combustion principle lacks direct ignition timing control, instead the auto-ignition depends on the operating condition and fast combustion phasing control is necessary for reliable operation. A six-cylinder heavy-duty HCCI engine was controlled on a cycle-to-cycle basis in real time using a variety of(More)
Control of orthograde posture and use of adaptive adjustments constitutes essential topics of human movement control, both in maintenance of static posture and in ensuring body stability during locomotion. The objective was to investigate, in twelve normal subjects, how head, shoulder, hip and knee movements and torques induced towards the support surface(More)
— This paper looks at the problem of estimating the coefficients of a continuous-time transfer function given samples of its input and output data. We first prove that any n n nth-order continuous-time transfer function can be written as a fraction of the form n n n k k k = = = 0 b b b k k k L L L k k k (s)= (s)= (s)= n n n k k k = = = 0 a a a k k k L L L k(More)
As robot control systems are traditionally closed, it is difficult to add supplementary intelligence. Accordingly, as based on a new notion of user views, a layered system architecture is proposed. Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional(More)
A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigid-body tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and(More)