scholarly journals Stable Contact Control of Robotic Manipulator Based on Unified Approach

1993 ◽  
Vol 11 (5) ◽  
pp. 677-692 ◽  
Author(s):  
Yasumasa SHOJI ◽  
Makoto INABA ◽  
Toshio FUKUDA
Keyword(s):  
Robotic Manipulator ◽  
Unified Approach ◽  
Contact Control

Impact/contact control of a robotic manipulator

1992 ◽  
Vol 18 (1) ◽  
pp. 99-108 ◽  
Author(s):  
Yasumasa Shoji ◽  
Makoto Inaba ◽  
Toshio Fukuda
Keyword(s):  
Robotic Manipulator ◽  
Contact Control

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

2019 ◽  
Author(s):  
Adam Pettinger ◽  
Mitch Pryor
Keyword(s):  
Robotic Manipulator ◽  
Level Control ◽  
Compliance Control ◽  
Uncertain Environments ◽  
Stiffness Matrices ◽  
Pill Bottle ◽  
Compliant Control ◽  
Contact Control ◽  
Mechanical Tool ◽  
Contact Tasks

Abstract In this paper we introduce the Generalized Contact Control Framework (GCCF) implemented on a compliant robotic manipulator. We demonstrate that the combined joint compliance and GCCF-based compliance control enable the completion of complex contact tasks in uncertain environments, where complex refers to the need to meet different contact force requirements involving multiple steps and output axes. Operating in uncertain environments means limited knowledge of the location or material properties of contact objects. The demonstrated tasks include opening a pill bottle and rigidly connecting to a purely mechanical tool changer. The GCCF simplifies the definition and modification of contact control parameters and allows for on-the-fly definition and completion of new tasks. Unlike hybrid force/impedance controllers, we do not need to define large damping and stiffness matrices, and we decouple the joint level control gains from the compliance control. The result is a robotic manipulator that can dynamically switch between unconstrained motion and contact tasks and provides a lot of versatility to perform a wide variety of tasks.

A Unified Approach to Study the Thermal Dynamics in Multilongitudinal Mode Semiconductor Lasers

2001 ◽  
Vol 20 (2) ◽  
pp. 159-169 ◽  
Author(s):  
M. Ganesh Madhan ◽  
P. R. Vaya ◽  
N. Gunasekaran
Keyword(s):  
Semiconductor Lasers ◽  
Unified Approach ◽  
Thermal Dynamics

Formal Verification of Control System Software

2019 ◽  
Author(s):  
Pierre-Loïc Garoche
Keyword(s):  
Control System ◽  
Formal Verification ◽  
Formal Analysis ◽  
Critical Systems ◽  
System Software ◽  
Unified Approach ◽  
Verification Methods ◽  
Autonomous Cars ◽  
Computer Scientists ◽  
Verification Techniques

The verification of control system software is critical to a host of technologies and industries, from aeronautics and medical technology to the cars we drive. The failure of controller software can cost people their lives. This book provides control engineers and computer scientists with an introduction to the formal techniques for analyzing and verifying this important class of software. Too often, control engineers are unaware of the issues surrounding the verification of software, while computer scientists tend to be unfamiliar with the specificities of controller software. The book provides a unified approach that is geared to graduate students in both fields, covering formal verification methods as well as the design and verification of controllers. It presents a wealth of new verification techniques for performing exhaustive analysis of controller software. These include new means to compute nonlinear invariants, the use of convex optimization tools, and methods for dealing with numerical imprecisions such as floating point computations occurring in the analyzed software. As the autonomy of critical systems continues to increase—as evidenced by autonomous cars, drones, and satellites and landers—the numerical functions in these systems are growing ever more advanced. The techniques presented here are essential to support the formal analysis of the controller software being used in these new and emerging technologies.

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