Intelligent passive control in robotic assembly

CASIA OpenIR > 09年以前成果

	Intelligent passive control in robotic assembly
	Qiao H(乔红); Qiao, H
	2002
会议名称	IEEE International Symposium on Intelligent Control
会议录名称	PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL
会议日期	OCT 27-30, 2002
会议地点	VANCOUVER, CANADA
摘要	It is clear that if a bean drops in a bowl, the bean would approach to the bottom of the bowl (a unique state) with its gravity, if the frictional coefficient is not very large. This provides an example of eliminating positional uncertainty with a unique constant input. From another point of view, the height of the bean in the bowl can be considered as an energy function V of position X of the bean in the horizontal plane when the bean touches the bowl. V is a proper function of \\X\\. The gravity input decreases V in all the region of the bowl. Therefore the system is asymptotically stable at the bottom of the bowl, because V is a Lyapunov's function. In practice, if the motion region of the system in the configuration space has one or more bowl-like region, a unique constant input can be designed to reduce the uncertainty of the system state. In this paper, the works in two important traditional areas are shown. It proves that there are always some attractive regions in the motion regions of a general peg-hole system with a fixed angle and also of the polyhedral part in 3D. Therefore, it is possible to design a unique constant sensor-less input to reduce the uncertainty of the systems with no any additional advice.
关键词	Regular Polyhedral Objects Operations
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12841
专题	09年以前成果
通讯作者	Qiao, H
推荐引用方式 GB/T 7714	Qiao H,Qiao, H. Intelligent passive control in robotic assembly[C],2002.