Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
SCIE-ISI SCOPUS (1971-2023)
0022-0434
1528-9028
Mỹ
Cơ quản chủ quản: The American Society of Mechanical Engineers(ASME) , ASME
Lĩnh vực:
InstrumentationInformation SystemsControl and Systems EngineeringComputer Science ApplicationsMechanical Engineering
Các bài báo tiêu biểu
Impedance Control: An Approach to Manipulation: Part I—TheoryManipulation fundamentally requires the manipulator to be mechanically coupled to the object being manipulated; the manipulator may not be treated as an isolated system. This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. In Part I this approach is developed by considering the mechanics of interaction between physical ... ...
Tập 107 Số 1 - Trang 1-7 - 1985
Hybrid Position/Force Control of ManipulatorsA new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The “hybrid” technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controll... ...
Tập 103 Số 2 - Trang 126-133 - 1981
On-Line Computational Scheme for Mechanical ManipulatorsIndustrial robots are mechanical manipulators whose dynamic characteristics are highly nonlinear. To control a manipulator which carries a variable or unknown load and moves along a planned path, it is required to compute the forces and torques needed to drive all its joints accurately and frequently at an adequate sampling frequency (no less than 60 Hz for the arm considered). This paper ... ...
Tập 102 Số 2 - Trang 69-76 - 1980
Preshaping Command Inputs to Reduce System VibrationA method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncert... ...
Tập 112 Số 1 - Trang 76-82 - 1990
Mô Hình Hóa và Điều Khiển Robot Có Khớp Nún Dịch bởi AI Trong bài báo này, chúng tôi nghiên cứu mô hình hóa và điều khiển các robot manipulators có khớp nún. Đầu tiên, chúng tôi suy diễn một mô hình đơn giản để mô tả động lực học của các manipulators có khớp nún. Mô hình được suy diễn dưới hai giả định về sự kết nối động lực giữa các bộ truyền động và các thanh nối, và mô hình này hữu ích trong các trường hợp mà độ đàn hồi trong các khớp quan t... ...
Tập 109 Số 4 - Trang 310-318 - 1987
Zero Phase Error Tracking Algorithm for Digital ControlA digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response bet... ...
Tập 109 Số 1 - Trang 65-68 - 1987
Computer Simulation of Stick-Slip Friction in Mechanical Dynamic SystemsStick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented wi... ...
Tập 107 Số 1 - Trang 100-103 - 1985
Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator ControlThe singularity problem is an inherent problem in controlling robot manipulators with articulated configuration. In this paper, we propose to determine the joint motion for the requested motion of the endeffector by evaluating the feasibility of the joint motion. The determined joint motion is called an inverse kinematic solution with singularity robustness, because it denotes feasible sol... ...
Tập 108 Số 3 - Trang 163-171 - 1986
Recent Research in Cooperative Control of Multivehicle SystemsThis paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some ... ...
Tập 129 Số 5 - Trang 571-583 - 2007
Cross-Coupled Biaxial Computer Control for Manufacturing SystemsBiaxial control systems for generating predetermined paths under load disturbances, such as encountered in NC and CNC systems for machine tools, are conventionally designed such that the control of each axis is independent of the other. The present paper is concerned with providing cross-couplings for biaxial control systems, whereby an error in either axis affects the control loops of bot... ...
Tập 102 Số 4 - Trang 265-272 - 1980