Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave

1992 ◽  
Vol 114 (4) ◽  
pp. 641-649 ◽  
Author(s):  
J. F. Jansen ◽  
R. L. Kress ◽  
S. M. Babcock
Keyword(s):  
Controller Design ◽  
Mathematical Problem ◽  
Degree Of Freedom ◽  
Euler Angles ◽  
Euler Parameters ◽  
Liapunov Stability ◽  
Basic Properties ◽  
Control Scheme ◽  
Stiffness Control ◽  
Six Degree Of Freedom

The purpose of this paper is to develop a controller for a force-reflecting teleoperator system having kinematically dissimilar master and slave. The controller is a stiffness controller for both the master and the slave. A mathematical problem associated with representing orientations using Euler angles is described, and Euler parameters are proposed as a solution. The basic properties of Euler parameters are presented, specifically those pertaining to stiffness control. The stiffness controller for both the master and the slave is formulated using Euler parameters to represent orientation and a Liapunov stability proof is presented for the controller. The master portion of the control scheme is implemented on a six-degree-of-freedom master.

Active disturbance rejection guidance and control scheme for homing missiles with impact angle constraints

2018 ◽  
Vol 233 (3) ◽  
pp. 1133-1146
Author(s):  
Jian Hua Wang ◽  
Yuan Wen Cai ◽  
Long Cheng ◽  
Yan Li ◽  
Chao Jun Xin ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Three Dimensional ◽  
Impact Angle ◽  
Degree Of Freedom ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Control Scheme ◽  
Homing Missiles ◽  
Six Degree Of Freedom ◽  
And Control

An active disturbance rejection guidance and control scheme for homing missiles with three-dimensional impact angle constraints is proposed. The six-degree-of-freedom dynamical and kinematical models containing model uncertainties and disturbances are established. A strict feedback relative dynamics between the target and homing missile in three-dimensional space are deduced. A reconstructed reduced-order attitude controller design model is proposed. A two-loop control structure with respect to the centroid guidance loop and rotational control loop is conducted to implement the six-degree-of-freedom guidance and control system with the help of second-order sliding mode approach and extended state observers. The tracking loop of the Euler angles of the missile can be elided and the number of six-degree-of-freedom control parameters can be reduced. Finally, the effectiveness and robustness of the newly proposed guidance and control scheme are investigated and verified via six-degree-of-freedom nonlinear simulation studies.

Multiple Cooperating Robot Dynamics and Fuzzy Logic Control for Internal Force Minimization

2003 ◽  
Author(s):  
Manish Kumar ◽  
Devendra P. Garg
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Internal Force ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Robot Dynamics ◽  
Logic Control ◽  
Control Scheme ◽  
Internal Forces ◽  
Six Degree Of Freedom

This paper presents formulation and application of a strategy for control of two six degree-of-freedom robots carrying a common object in a cooperative mode. The paper focuses on control of internal forces that are generated when two or more robots carry an object in coordination. A combined position-force control scheme based on fuzzy logic is proposed. The controller scheme developed has been implemented successfully on two six degree-of-freedom ABB industrial robots. The simulations and the experiments performed demonstrate that the proposed control strategy is able to considerably decrease the internal forces.

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