The development of modern industries calls for the
robotic manipulators with high speed and accurate tracking
performance. Many authors have paid attention to robust
control of robotic manipulators; however, only few authors
have also considered the control problem of manipulators
with power limitation.
In this dissertation, the robotic manipulator is...
For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are...
Practical bipedal robots need to be simultaneously efficient, robust, and versatile machines, but designing robots dynamically capable of these demands has been a significant bottleneck. We designed ATRIAS to be a highly dynamic biped capable of both walking and running untethered in real environments. To meet these goals, ATRIAS is...
As a result of the automation revolution, robots
are assuming ever more complex and demanding tasks.
Robot system control schemes for fast and precise robot
motion require utilization of the entirety of the robot
dynamic formulations and the ability to evaluate these
formulations in real-time. The dynamic formulations,
which take...
We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study...
The effectiveness of linear control of a planar manipulator is presented for
robot operation markedly exceeding the limits of linearity assumed in the design of
the linear controller. Wolovich's frequency domain pole placement algorithm is
utilized to derive the linear controller. The control scheme must include state
estimation since only...
Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest...
The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals....
Recent work has shown humanoid robots with spinal columns, instead of rigid torsos, benefit from both better balance and an increased ability to absorb external impact. Similarly, snake robots have shown promise as a viable option for exploration in confined spaces with limited human access, such as during power plant...
To design and precisely control a manipulator requires
developing an efficient dynamic model of the system. The
present work demonstrates how this can be accomplished by
employing Kane's dynamical equations. First, a detailed
manual derivation of the equations of motion for a
particular robot is presented in such way that...