Differential Geometry and Control: Summer Research Institute by G. Ferreyra, R. Gardner, H. Hermes, Hector J. Sussmann

By G. Ferreyra, R. Gardner, H. Hermes, Hector J. Sussmann

This quantity offers choices from talks given on the AMS summer time examine Institute on Differential Geometry and keep watch over held on the collage of Colorado (Boulder). integrated articles have been refereed in accordance with the top criteria. This assortment offers a coherent worldwide viewpoint on fresh advancements and significant open difficulties in geometric keep watch over thought. Readers will locate during this ebook a very good resource of present hard study difficulties and effects

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Extra resources for Differential Geometry and Control: Summer Research Institute on Differential Geometry and Control, June 29-July 19, 1997, University of Colorado, Boulder

Sample text

I.............. 23 Compensation of unknown load by force-torque feedback. 8 kg, were lifted by the dual-arm system without force feedback in their controllers. It is shown that an increase of the load significantly reduces the accuracy of the coordination. 23, the effect of increased load on the coordination is very small. 52) can automatically compensate for the unknown load. Therefore, high-accuracy force measurement and feedback play important roles in a multirobot system coordinated control.

20 - - 100 ' 5 0 , J 10 - ,~, 15 . 10 Two-circle tracking based on a minimum-energy plan, tI = 12 s. 2 Event-Based Coordination An event-based m o t i o n planning and control scheme was successfully applied to a single robot arm system in the preceding section. It is extended here for c o o r d i n a t i o n planning and control of m u l t i r o b o t systems. The most i m p o r t a n t step is to introduce a p r o p e r m o t i o n reference variable to carry the coordination information efficiently to the planner such that the best coordination can be achieved.

Two different controllers, one with consideration of the joint motor dynamics (third-order model) and the other without consideration of the joint motor dynamics (second-order model), were used to perform various tasks. 16, t h e c o n s t a n t d e s i r e d f o r c e w a s t r a c k e d . It c a n be s e e n t h a t t h e t h i r d - o r d e r controller gave better force tracking. In addition, b o t h controllers m a i n t a i n e d g o o d x a n d y p o s i t i o n t r a c k i n g . Since t h e z p o s i t i o n w a s n o t c o m m a n d e d , t h e e r r o r in t h e z d i r e c t i o n w a s m u c h b i g g e r t h a n t h a t in x a n d y.

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