NDLI: Resolved Motion Adaptive Control for Mechanical Manipulators

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Dedication: Aleksondr Ya. Lerner

Operating Committee

Program Committee

ACC 1984 Program at a Glance

Table of contents and Program

The modeling of human cognitive decision processes in the intelligent machine model $(TIMM^{TM})$

A Research Paradigm for Multi-Human Decision Making

ASW Commander Tactical Decision Simulation Model

An Accuracy Test Procedure for Robotic Manipulators Utilizing a Vision based, 3-D Position Sensing System

Structures for Sensor-Based Robot Motion Control

Simplified Grasping and Manipulation with Dextrous Robot Hands

Force Feedback Control in Insertion Process using Pattern Analysis Techniques

Ultrasonic Sensors in Robotic Seam Tracking

Practical Experience with Kamyr Digester Level Self-Tuning Control

A Self-Tuning Strategy for Moisture Control in Papermaking

MIMO Self-Tuning Control of Chemical Process Operation

Auto-Selection of the Sampling Period for a Class of Pole-Placement Controllers

Automatic Tuning of PID and Other Simple Regulators in a Digital Process Automation System

A Dynamic Model of a Condenser in a Closed Rankine Cycle Power Plant

THEDA-2 Code Verification with Data from Model Tests of a Once-Through Steam Generator

Modeling and Dynamics of Two-Phase Flow Heat Exchangers using Temperature - Entropy Bond Graphs

Transient Simulation and Experimental Verification of Gas-Steam and Liquid-Steam, Shell, and Tube Type Heat Exchangers

Parameter Space Design of Control Systems using Interactive Computer Graphics

Control Engineers Workbench, A Methodology for Microcomputer Implementation of Controls

An Expert System Scenario for Computer-Aided Control Engineering

Hierarchical Optimization of Large-Scale Time-Delay Systems - A Brief Overview

Model Reduction in the Presence of Parameter Uncertainty

Singular Value Analysis, Balancing, and Model Reduction of Large Space Structures

A Unifying Tool for Comparing Stochastic Realization Algorithms and Model Reduction Techniques

Order Reduction via Multiple Singular Parameters

A Reduced Order Controller: Canonical Correlation Analysis of Deterministic/Stochastic Systems

Concepts and Algorithms for Terminal-Area Traffic Management

The Flight Planning - Flight Management Connection

Application of Cost Index to Fleet Hub Operation

Simulation of Time-Control Procedures for the Advanced Air Traffic Control System

Time-Controlled Aircraft Guidance in Uncertain Winds and Temperatures

Feedback Control for Fuel-Optimal Descents using Singular Perturbation Techniques

An Intelligent Robotics Control Scheme

On the Detection and Tracking of a Class of Narrowband Sources

Modeling of Two Dimensional Fields with Autoregressive Lattice Parameters

A Parallel Structure for Adaptive Line Enhancement

A Comparison of Methods for Estimating Coherence

Adaptive Delay Tracking with a Varying SNR

Bifurcating Equilibria of Adaptive Control Systems

A Comparative Study of Linear and Nonlinear MIMO Feedback Configurations

Phase Portrait of the Riccati Equation from the Periodic Control Problem

The Melnikov Technique and Arnold Diffusion for a Class of Perturbed Dissipative Systems

A Fault Detection and Isolation Methodology Theory and Application

Instrument Failure Detection in Nonlinear Systems

An Informational Scheme for Monitoring of Power System's Disturbances

Optimal Control of a Robot with Obstacles

The Configuration Space Approach to Robot Path Planning

An Efficient Minimum-Time Robot Path Planning under Realistic Conditions

Impedance Control: An Approach to Manipulation

Resolved Motion Adaptive Control for Mechanical Manipulators

Precise Trajectory Following for Robotic Manipulators

A Globally Stable Adaptive Algorithm for Discrete Time Systems with Fast Unmodeled Dynamics

Assessment and Application of Adaptive Controllers

Robust Adaptive Control

Persistent Excitation in Dynamical Systems

Application of a Multivariable Self-Tuning Controller to a Power Plant Boiler

On Line Analyzers, Key to Effective Chemical Process Control

Control of Oil-Whirl by Pole Assignment

Eigenvalue Spectra and Bounds for Certain Classes of Dynamic Systems having Tree Bond Graphs

A Result on the Placement of Infinite Eigenvalues in Descriptor Systems

Eigenstructure Assignment by State Feedback

A New Approach to the Problem of Pole Assignment through Output Feedback

On the Conceptual Implications of Some Recent Results on Pole Assignment

Design of Optimal Low-Sensitivity Controllers with Prespecified Eigenvalues: Application to Aircraft Lateral Motion

Model Order Reduction of Stochastic Interconnected Systems for Decentralized Control

Obtaining Reduced-Order Stochastic Models

A Generalization of the Cover-Algorithm for Controller Reduction

On the Eigenvalue Placement of Discrete-Time Systems with Slow and Fast Modes

Decoupling of Large Scale Systems

Design of Decoupled Longitudinal Flight Control Laws Utilizing Eigensystem Assignment

Adaptive Control Techniques for a Class of Large-Scale Systems

A Likelihood Function Method for Multiple Aircraft Maneuver Tracking

Selection of Slow and Fast Variables in Three-Dimensional Flight Dynamics

A Modern Control Approach to Inertial Instrument Capture Loop Design

Design of a Pitch Orientation Control System for Aircraft Control in Stall Region

Optimal Nonlinear BTT Control in a CLOS Guidance System

An Adaptive Control of an Electro-Hydraulic Position Control System

Digital Control Algorithms for Electrohydraulic Machine Tool Feed Drive Servomechanisms

Normal Modes in Hydraulic Lines

On the Development of a Modified On-Off Controller for Pneumatic Servo Mechanisms

Simulation and Discrete Time Modeling of Machine Tool Feed Drive Dynamics

Machine Tool Adaptive Control

Distributed Asynchronous Deterministic and Stochastic Gradient Optimization Algorithms

Control Effort Considerations in the Stabilization of Uncertain Dynamical Systems

Minimal Order Estimation of Multivariable Continuous Time Stochastic Linear Systems

Stochastic Control with Searching a Randomly Moving Target

Mechanical Pulp Refiner Transfer Function Identification, a Stochastic Approach

Conditionally Stable Tuning of PI and PID Controllers on Common Processes

A Study of Pole Placement in Linear Control Design

A General Purpose Digital Control Algorithm

Control Sensitivity to Process Variation

Stability of the Dahlin Digital Controller in the Presence of Deadtime Variations

Simulation-Study of Adaptive First Order with Deadtime Compensators

A Survey of Uncertainty Measures: Structures and Applications

Combination of Non Distinct Evidences

Klein Groups in Fuzzy Inference

Measures of Fuzziness and Separating Power in Ecological Sampling Problems

On the Combination of Fuzzy Quantifiers in Natural Languages

A Programming Language for Real-Time Automotive Control Applications

A Real-Time Fortran Implementation of a Sensor Failure Detection, Isolation and Accommodation Algorithm

PLM Implementation of a Multiple Closed-Loop Control Strategy for a Microprocessor-Controlled Respirator

The Effect of Energy Crisis on Technology: The Role of Control Engineering

Control Engineering and Energy Conservation: An Example Project of How Both Disciplines can Coexist

An Experience with Dynamic Simulation of an Industrial Steam System

Energy Conservation Efforts at Inland Steel Company

An Approach to the Target Data Association Problem using Subjective and Statistical Information

Localization of Multiple Targets from Doppler Measurements

Hierarchical Multitarget Tracking and Classification - A Bayesian Approach

Track Segment Association with a Distributed Field of Sensors

A Tracking Algorithm for Dense Target Environments

Adaptive Detection Threshold Optimization for Tracking in Clutter

A Fast Computational Scheme for Dynamic Control of Manipulators

Dynamic Simulation of a Flexible Robot Arm and Controller

Computerized Energy Management in an Integrated Steel Plant

The Application of Dynamic Process Models to the On-Line Supervisory Control of the Kamyr Digester

Applications of Real-Time Interactive Graphics

New Operational Principles for Multi-Computer Control Environment

Implications of Internal Model Control for PID Controllers

A Linear Programming Approach to Constrained Multivariable Control

IDCOM Hierarchical Control of an Oil Refinery Reactor

Model Algorithmic Control of a Nonlinear Three Phase Electric Arc Furnace

A Perspective on the Use of Semi-Infinite Optimization in Control System Design

Design of Nonlinear Multivariable Feedback Controls by Total Synthesis

A Feedback Theory of Two-Degree-of-Freedom Optimal Wiener-Hopf Design

Identification of the Dynamics of a Two-Dimensional Grid Structure using Least Square Lattice Filters

Exact Nonlinear Command Generation and Tracking for Robot Manipulators and Spacecraft Slewing Maneuvers

How Autopilot Requirements Constrain the Aerodynamic Design of Homing Missiles

Requirements for the Map in a Map-Matching Guidance System

Optimal Controller for Homing Missile

Correlation of linear and nonlinear radome error induced miss distance predictions

New Missile Guidance and Control Technology Panel Discussion

The Application of Control Theory to the Automation of I.C. Manufacturing: Progress and Problems

Automation of Electronics Testing and Data Analysis for Process Control

Computer Aided Control of the Integrated Circuit Manufacturing Process

Quasi-Kalman Decomposition and its Relation to State Feedback

State Space Decomposition into Cyclic Subspaces and Transformation to the Jordan Form

Pseudo-Decoupling and Control of Unidentified Plant

Decentralized Control via the Block Sequential Return Difference Method

Robust Decentralized Control for Nonlinear Interconnected Systems using Optimal Control

Decentralized Decoupled State Detection in Linear Systems

Application of NQG Control with Uncertain and Incomplete Measurements

Limit Cycle Computation and Stability for Multivariable Nonlinear Systems

Multiple Solutions for Continuous Nonlinear Systems (A Catastrophe)

Applications of a Nonlinear Controller Design Approach based on Quasilinear System Models

Stability Criteria for Nonlinear Differential-Integral Systems Arising from Nuclear Reactor Dynamics

Automated Rule-Base Control for Nuclear Power Plants

A Discrete Model Approach to Power System Transient Performance Simulation

Implementation of Digital Controllers using Fixed Point Arithmetic; Some Stability Consideration

The 2.D Faddeva Algorithm Revised

On the Input- Output Modeling of Nonperiodic Sampling Systems

Dynamic Cartesian Coordinate Control of a Manipulator

Dynamic Control Models of a Robot for High Speed and High Precision Assembly with Tolerance Constraints

On the Implementation of Manipulator Control

A Computer Control Structure for Coordination of Two Robot Arms

Characterization and Control of Object Acquisition with a Sensored Robot Hand

Life with Pattern Adaptation

Experimental Investigation of Adaptive Control of a Distillation Column

Multivariable Self-Tuning Controllers Applicable to Systems with Measurements of Differing Time Delays

A Self-Tuning Controller for Systems with Unknown or Varying Time Delays

The Effect of Interaction on Tuning and Operability of Classically Controlled Systems

Robust Controller Tuning

Singular Value Decomposition Controller Design using a Reduced Order Model

Advanced Control Techniques Applied to a Fossil Power Plant

Further Application of Output Predictive Algorithmic Control to Terrain Following

Nonlinear Reduced-Order Models for Staged Processes with Discrete Legendre Orthogonal Polynomials

Modal Insensitivity with Optimality

Stability Robustness Measures Utilizing Structural Information

Robustness of Luenberger Observers: Linear Systems Stabilized via Nonlinear Control

Time Domain Robustness Analysis for Linear Regulators

On the Design of Robust LQ Regulators

Estimation of Regions of Attraction and Ultimate Boundedness for Multiloop LQ Regulators

Limitations on Feedback Properties Imposed by Unstable Open Loop Poles

Techniques and Applications of Experimental Modal Analysis in Modeling and Control

Study of a Local Eigenvalue Modification Procedure using a Generalized Beam Element

Electrotopographic Modal Analysis for Modeling Adaptive Control Systems

Eigenvector Modification through Design Changes

A New Approach to Control System Analysis using Experimental Data

An Analysis of Squeeze-Film Damping in a Piezoelectric Bender ElectroFluid Converter

The Design of Drift-Free, Fabrication-Fault-Tolerant Fluidic Sensors by Closed Loop Error Suppression

A Novel Opto-Fluidic Interface

Wear Measurement and Chip Detection of a Moving Shear Blade using Fluid Proximity Sensors

The Open and Blocked Distributed Air Transmission Lines by the Fast Fourier Transform Method

Perturbation Analysis of Discrete Event Dynamical Systems with Applications to Manufacturing

Control Principles in Flexible Manufacturing

Design of Hierarchical Control Systems for Automated Job Shops

Modeling Robot Contour Processes

Validation of State Space Models in Non-Gaussian Systems

The Modified Gain Extended Kalman Filter and Parameter Identification in Linear Systems

Efficient Maximum Likelihood Identification of a Positive Semi-Definite Covariance of Initial Population Statistics

Parallel Partitioning Estimation

Robust Fault Detection: The Effect of Model Error

Dead Time Compensation via the Time Domain Predictor Method

Generalized Linear-Least-Squares Recursive Estimators for Systems with Uncertain Observations

An Exact Recursive 2SLS Version of the Instrumental Variable Estimator. Stability Analysis

On-Line Repair of a Fault Tolerant Computer

Validation of Fault-Free Behavior of a Reliable Multiprocessor System FTMP: A Case Study

Fault Tolerant Computing in Real-Time Control

Computing in the Presence of Soft Bit Errors

Dataflow Models for Fault-Tolerant Control Systems

A Fault and Damage Tolerant Network for an Advanced Transport Aircraft

A Large System Approach Toward Operating the Electric Power System by Decision and Control

On the Decentralized Control of Large-Scale Power Systems

Analysis of Small Disturbance Stability Regions of Power System Models with Real and Reactive Power Flows

Improving Distribution System Performance through Static Compensation

Modeling Unbalanced Power Systems for Supervisory Monitoring and Control

Enhancement of Robot Accuracy using Endpoint Feedback and a Macro-Micro Manipulator System

Experimental Evaluation of Adaptive Control Methods on a Pilot Plant Evaporator

Frost Bulb Growth with or without Groundwater Flow on a Buried Chilled Alaskan Pipe

Adaptive Corrective Alignment for a Carouseling Strapdown INS

Sensors and Controls for the Steel Industry; A Department of Energy View

Feed Forward Predictive and Adaptive Control by the Dynamic Matrix

The Kinematics of Open Loop Manipulators using IMP (Integrated Mechanisms Program)

The Use of High Order Languages in Microprocessor-Based Systems

Active Control Performance Enhancement for Reduced Order Models of Large Scale Systems: Part I. Model Reduction & Enhancement

Participant Index

1983 American Control Conference

1982 American Control Conference

Resolved Motion Adaptive Control for Mechanical Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Lee, C. S. G. Lee, B. H.
Copyright Year	1984
Description	Author affiliation: Department of Electrical and Computer Engineering, The University of Michigan, Ann Arbor, Michigan 48109 (Lee, C. S. G.; Lee, B. H.)
Abstract	This paper presents the development of a resolved motion adaptive control which adopts the ideas of "resolved motion rate control" [4] and "resolved motion acceleration control" [6] to control a manipulator in Cartesian coordinates for various loading conditions. The proposed adaptive control is performed at the hand level and is based on the linearized perturbation system along a desired hand trajectory. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component resolves the specified positions, velocities, and accelerations of the hand into a set of values of joint positions, velocities, and accelerations from which the nominal joint torques are computed using the Newton-Euler equations of motion to compensate all the interaction forces among the various joints. The feedback component consisting of recursive least square identification scheme and an optimal adaptive self-tuning controller for the linearized system computes the perturbation torques which reduce the manipulator hand position and velocity errors along the nominal hand trajectory. The feasibility of implementing the proposed adaptive control using present day low-cost microprocessors is explored.
Starting Page	314
Ending Page	319
File Size	571845
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1984-06-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Adaptive control Manipulators Motion control Acceleration Control systems Feedback Equations Least squares methods Programmable control Optimal control
Content Type	Text
Resource Type	Article

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