DSpace Community: Electrical Engineering

An Adaptive Outdoor Robotic Platform: Architecture, Communications, and Control

Wed, 29 Mar 2006 22:58:59 GMT

Title: An Adaptive Outdoor Robotic Platform: Architecture, Communications, and Control

Authors: Briggs, Matt; Baird, David; Ogg, Wade; Aafloy, Stian; El-Osery, Aly I.; Wedeward, Kevin

Abstract: This paper presents a robust, easily upgradeable robotic platform for research along with its accompanying low-bandwidth and long-distance communication system. The proposed solution is a man-portable platform with easily accessible electronics bays and a communication system that uses free software, the Internet, and a cellular network. The design is made with the goal of developing multiple robotic platforms for cooperative robotic research.

Singularity Robustness: Methods for Control Joint-Space and Task-Space Control

Sun, 28 Sep 1997 22:58:59 GMT

Title: Singularity Robustness: Methods for Control Joint-Space and Task-Space Control

Authors: Wedeward, K.; Colbaugh, R.; Engelmann, A.

Abstract: This paper presents methods for the robust handling of the kinematic singularities inherent in all revolute joint manipulators. For joint-space control, the method of damped-least-squares at both the velocity and acceleration levels is revisited and new stability results are presented; for task-space control a new task-space trajectory filter is presented. Simulation results are given for the PUMA 762 robot and the RRC K-1207 redundant arm, and demonstrate that the proposed methods handle singularities successfully.

Adaptive Compliance Control of Electrically-Driven Manipulators

Thu, 28 Nov 1996 22:58:59 GMT

Title: Adaptive Compliance Control of Electrically-Driven Manipulators

Authors: Colbaugh, R.; Glass, K.; Wedeward, K.

Abstract: This paper presents two adaptive schemes for compliant motion control of uncertain rigid-link, electrically-driven manipulators. The first strategy is developed using an adaptive impedance control approach and is appropriate for tasks in which the dynamic character of the end-effecter/environment interaction must be controlled, while the second scheme is an adaptive position/’ force controller and is useful for those applications that require independent control of end-effecter position and contact force. The proposed controllers are very general and computationally efficient, and can be implemented with virtually no a priori information concerning the manipulator/actuator dynamic model or the environment. It is shown that the schemes ensure (semiglobal) uniform boundedness of all signals, and that the ultimate size of the system errors can be made arbitrarily small.

Nonlinear Controllability of Singularly Perturbed Models of Power Flow Networks

Sun, 28 Nov 2004 22:58:59 GMT

Title: Nonlinear Controllability of Singularly Perturbed Models of Power Flow Networks

Authors: Barany, Ernest; Schaffer, Steve; Wedeward, Kevin; Ball, Steven

Abstract: A method based on differential geometric control theory is presented intended to provide insight into how the nodes of a power network can affect each other. In this preliminary report, we consider a simple model of a power system derived from singular perturbation of the power flow equations. It is shown that such a model is accessible, and that for simple chain topology the network is actually feedback linearizable. The result is illustrated numerically. This simple example is a precursor for more interesting models of networks.