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Model-Based Friction Compensation
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for...
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Fuzzy-Neural Impedance Control for Robots
In conventional impedance control, the difficulties encountered in obtaining an exact system dynamic model and selecting its impedance parameters...
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Coordination and Control of Multiarm Nonholonomic Mobile Manipulators
This chapter deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motin of a supported manipulation...
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Adaptive Robust Fuzzy Tracking Control for a Class of Nonlinear Systems
The tracking control problem for a class of nonlinear systems with uncertain system function and uncertain gain function, which are the unstructured...
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Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators
In this chapter we provide a high performance solution to the anti-windup problem for control systems of robot manipulators undergoing actuator...
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Robust Stability of Interval Lur’e Systems: A Bilinear Matrix Inequality Approach
This paper provides a sufficient condition for an interval Lur’e system to be globally exponentially stable with a dam** factor. The Lur’e system...
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3-D Grasp Analysis and Synthesis Using the Ray-Shooting Technique
The ray-shooting technique is a powerful tool for handling geometric information in Computational Geometry and Computer Graphics. This chapter...
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Intelligent Technologies for Robotic Welding
This paper discusses intelligent technologies for the robotic welding, which contains computer vision sensing, automatic programming for weld path...
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The Seam Tracking System for Submerged Arc Welding
The structure and the principle of seam tracking for submerged arc welding were introduced in this paper. The method of seam recognition with...
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3 Prototy** and control of the nonholonomic manipulator
Since a nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical...
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Preliminary Probe of Embedded Real-Time Operating System and Its Application in Welding Control
This paper firstly introduces the concept of real-time and embedded system, then analyses the character of welding and the advantages of adopting...
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Simulating a Motorcycle Driver
Controlling a riderless bicycle or motorcycle is a challenging problem because the dynamics are nonlinear and non-minimum phase. Further difficulties...
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Minimax Nonlinear Control under Stochastic Uncertainty Constraints
We consider in this paper a class of stochastic nonlinear systems in strict feedback form, where in addition to the standard Wiener process there is...
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Stability of Nonlinear Hybrid Systems
This work is devoted to stability of nonlinear hybrid systems (or nonlinear systems with regime switching). The switching regime is described by a...
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Symmetries and Minimal Flat Outputs of Nonlinear Control Systems
Consider a nonlinear control system of the form $\Pi : \dot{x}=F(x,u)$ ,...
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On Absolute Stability of Convergence for Nonlinear Neural Network Models
This paper deals with a class of large-scale nonlinear dynamical systems, namely the additive neural networks. It is well known that convergence of...
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Gyroscopic Forces and Collision Avoidance with Convex Obstacles
This paper introduces gyroscopic forces as an tool that can be used in addition to the use of potential forces in the study of collision and convex...
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Appendix D: Image Processing Implementation on DSP
This appendix describes the basic elements of the implemented image processing software on the DSP-C40 (digital signal processor).