Corpus ID: 117941873

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

  title={Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E},
  author={J. Lowrie and Al Fermelia and Dennis Haley and Keith D. Gremban and Jeffrey VanBaalen and Roberta W. Walsh},
The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links… Expand


Resolved-acceleration control of mechanical manipulators
Position control of a manipulator involves the practical problem of solving for the correct input torques to apply to the joints for a set of specified positions, velocities, and accelerations. SinceExpand
An adaptive control strategy for mechanical manipulators
This paper focuses on the study of an adaptive perturbation control which tracks a desired time-based trajectory as close as possible for all times over a wide range of manipulator motion andExpand
Compliance and Force Control for Computer Controlled Manipulators
  • M. T. Mason
  • Computer Science
  • IEEE Transactions on Systems, Man, and Cybernetics
  • 1981
A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control. Expand
Hybrid position/force control of manipulators
A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented. Expand
The objective of this paper is to present how recent model reference adaptive control schemes can be used for the dynamic control of mechanical manipulkators. Expand
Robot Arm Kinematics, Dynamics, and Control
  • C. Lee
  • Computer Science
  • Computer
  • 1982
Active stiffness control of a manipulator in cartesian coordinates
  • J. Salisbury
  • Engineering
  • 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes
  • 1980
A method of actively controlling the apparent stiffness of a manipulator end effecter is presented. The approach allows the programmer to specify the three transnational and three rotationalExpand
Resolved Motion Force Control of Robot Manipulator
  • Chi-haur Wu, R. Paul
  • Computer Science
  • IEEE Transactions on Systems, Man, and Cybernetics
  • 1982
A new Cartesian position control called resolved motion force control (RMFC) has been developed for robot manipulator. It adapts force convergence concept to control the Cartesian force and positionExpand
Analysis of mechanisms and robot manipulators
The Cognitive Driving Framework: Joint Inference for Collision Prediction and Avoidance in Autonomous Vehicles, and Proceedings of the 15th International Conference on Control, Automation, and Systems, Busan, Korea, Oct 2015. Expand
Mechanisms and Robots
A general method for constructing mechanisms and robots and their relation to computers are described and Mathematical notions are used rather than the methods of formal logic and, consequently, much irrevelant discussion is avoided. Expand