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Proceedings Papers

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Amin Ghorbanpour, Hanz Richter
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3200
https://doi.org/10.1115/DSCC2020-3200
View Paper titled, Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives
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Topics: Motors, Robotics, Capacitors, Energy consumption, Control equipment, Manipulators, Motion control, Optimization, Pendulums, Robots
Proceedings Papers

Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators

Xu Jin
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T01A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3117
https://doi.org/10.1115/DSCC2020-3117
View Paper titled, Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators
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Topics: Manipulators, Teams, Errors, Iterative learning control, Robotics, Robots, Simulation
Proceedings Papers

Modelica-Based Control of a Delta Robot

Ahmed Okasha, Scott A. Bortoff
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3158
https://doi.org/10.1115/DSCC2020-3158
View Paper titled, Modelica-Based Control of a Delta Robot
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Topics: Robots, Control algorithms, Simulation, Collisions (Physics), Computer simulation, Design, Differential algebraic equations, Dynamic models, Feedback, Kinematics
Proceedings Papers

Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator

Rafael Barreto Gutierrez, Martin Garcia, Joan McDuffie, Courtney Long, Ayse Tekes
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T18A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3198
https://doi.org/10.1115/DSCC2020-3198
View Paper titled, Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator
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Topics: Compliant mechanisms, Grippers, Manipulators, Wire
Proceedings Papers

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

Alexander Bertino, Peiman Naseradinmousavi, Atul Kelkar
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3181
https://doi.org/10.1115/DSCC2020-3181
View Paper titled, Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator
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Topics: Adaptive control, Manipulators, Robots, Control equipment, Simulation, Tracking control, Trajectories (Physics)
Proceedings Papers

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

Michael John Chua, Yen-Chen Liu
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A012, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3291
https://doi.org/10.1115/DSCC2020-3291
View Paper titled, Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators
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Topics: Force control, Manipulators
Proceedings Papers

Experimental and Analytical Nonzero-Sum Differential Game-Based Control of a 7-DOF Robotic Manipulator

Mostafa Bagheri, Alexander Bertino, Peiman Naseradinmousavi
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T04A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3114
https://doi.org/10.1115/DSCC2020-3114
View Paper titled, Experimental and Analytical Nonzero-Sum Differential Game-Based Control of a 7-DOF Robotic Manipulator
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Topics: Manipulators, Feedback, Control equipment, Equations of motion, Equilibrium (Physics), Optimal control, Simulation, Stability, Trajectories (Physics)
Proceedings Papers

Effect of Manipulator’s Joints Flexibility on the Positioning Precision of the End-Effector of the UVMS

Umer Hameed Shah, Mansour Karkoub, Hong-Du Wang, Deniz Kerimoglu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9077
https://doi.org/10.1115/DSCC2019-9077
View Paper titled, Effect of Manipulator’s Joints Flexibility on the Positioning Precision of the End-Effector of the UVMS
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Topics: End effectors, Manipulators, Vortex-induced vibration, Drilling, Dynamics (Mechanics), Engineering simulation, Equations of motion, Fluid-dynamic forces, Grasping, Simulation
Proceedings Papers

Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator

Alex Bertino, Mostafa Bagheri, Miroslav Krstić, Peiman Naseradinmousavi
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T14A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8951
https://doi.org/10.1115/DSCC2019-8951
View Paper titled, Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator
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Topics: Manipulators, Path planning, Artificial neural networks, Computers, Errors, Trajectories (Physics)
Proceedings Papers

Dynamic Control of Soft Robots Using Reinforcement Learning

Ben Pawlowski, Charles W. Anderson, Jianguo Zhao
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T14A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9181
https://doi.org/10.1115/DSCC2019-9181
View Paper titled, Dynamic Control of Soft Robots Using Reinforcement Learning
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Topics: Robots, Control modeling, Degrees of freedom, Manipulators, Simulation results, Trajectories (Physics)
Proceedings Papers

Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor

Mostafa Bagheri, Peiman Naseradinmousavi, Miroslav Krstić
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T16A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8915
https://doi.org/10.1115/DSCC2019-8915
View Paper titled, Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor
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Topics: Feedback, Manipulators, Time delay systems, Delays, Control equipment, Algorithms, Control algorithms, Design, Engineering systems and industry applications, Equations of motion
Proceedings Papers

Self-Reflective Learning Strategy for Persistent Autonomy of Aerial Manipulators

Xu Zhou, Jiucai Zhang, Xiaoli Zhang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A005, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9086
https://doi.org/10.1115/DSCC2019-9086
View Paper titled, Self-Reflective Learning Strategy for Persistent Autonomy of Aerial Manipulators
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Topics: Manipulators
Proceedings Papers

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Jonathan S. Terry, Justin Whitaker, Randal W. Beard, Marc D. Killpack
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9037
https://doi.org/10.1115/DSCC2019-9037
View Paper titled, Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads
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Topics: Adaptive control, Manipulators, Control equipment, Robots, Degrees of freedom, End effectors, Nonlinear dynamics, Pneumatic actuators, Predictive control, System dynamics
Proceedings Papers

Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

Stephen Mascaro
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A012, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9245
https://doi.org/10.1115/DSCC2019-9245
View Paper titled, Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor
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Topics: Force control, Force sensors, Manipulators, Robots, Robotics, Additive manufacturing, Hybrid control, Matlab, Mechanical admittance, Motion control
Proceedings Papers

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Hui Xiao, Xu Chen
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9022
https://doi.org/10.1115/DSCC2019-9022
View Paper titled, Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach
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Topics: Feedback, Kalman filters, Delays, Robotics, Dynamics (Mechanics), Algorithms, Manipulators, Modeling, Navigation, Robots
Proceedings Papers

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

Adam Pettinger, Mitch Pryor
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9062
https://doi.org/10.1115/DSCC2019-9062
View Paper titled, Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies
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Topics: Control equipment, Damping, Manipulators, Materials properties, Stiffness, Switches
Proceedings Papers

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9173
https://doi.org/10.1115/DSCC2019-9173
View Paper titled, Assembly Planning Using a Two-Arm System for Polygonal Furniture
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Topics: Manufacturing, Algorithms, Robotics, Collisions (Physics), Computer-aided design, Finishing, Manipulators, Path planning, Simulation
Proceedings Papers

Contact Force and Position Tracking With a Planar Aerial Manipulator

Varun R. Mittal, Vivek Sangwan
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A010, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9132
https://doi.org/10.1115/DSCC2019-9132
View Paper titled, Contact Force and Position Tracking With a Planar Aerial Manipulator
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Topics: Manipulators, Unmanned aerial vehicles, Control equipment, Rotors, Vehicles, Aircraft, Construction, Engineering simulation, Imaging, Kinematics
Proceedings Papers

A Passivity-Based Regressor-Free Adaptive Controller for Robot Manipulators With Combined Regressor/Parameter Estimation

Donald Ebeigbe, Dan Simon
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T21A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9010
https://doi.org/10.1115/DSCC2018-9010
View Paper titled, A Passivity-Based Regressor-Free Adaptive Controller for Robot Manipulators With Combined Regressor/Parameter Estimation
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Topics: Control equipment, Manipulators, Parameter estimation, Robots, Function approximation, Gravity (Force), Inertia (Mechanics), Degrees of freedom, Design, Equations of motion
Proceedings Papers

Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors

Amin Ghorbanpour, Hanz Richter
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8972
https://doi.org/10.1115/DSCC2018-8972
View Paper titled, Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors
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Topics: Manipulators, Motors, Control equipment, Torque, Currents, Optimization, Ultracapacitors, Control algorithms, Dynamics (Mechanics), Motion control