Adaptive Strategies in Compliant Motion Control
{'Code': '07030000', 'Directorate': {'LongName': 'Directorate For Engineering'}, 'Division': {'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh'}
There is a strong current research interest in adaptive control of              robots, that is, control strategies which would allow a robot                   manipulator to automatically adapt to changes in its environment,               loads, or to exceptional disturbances in order to successfully                  complete manipulation or assembly tasks.  Some controller designs               rely on approximations of system dynamics while others require                  measurements of joint accelerations and inversion of inertia                    matrices.  This project further develops a new method which utilizes            system kinetic energy rather than the fully expanded system dynamics.           The method's strengths include guaranteed global convergence of the             tracking, and computational simplicity.  The project's focus is                 external control of unknown dynamic parameters, the problem of                  controlling the end effector of a passive mechanism along a desired             trajectory using an active robot.  This problem represents a large              class of important practical applications involving motion control of           complex mechanisms or mobile environments.  Opening a door, turning a                                                                                           crank, as well as more complex problems in industrial settings belong           to this class.  The controlled mechanism has its own nonlinear                  dynamics which are generally unknown.  The research will concentrate            on transient performance of the control algorithms, and on trade-offs           between joint space and Cartesian                                               space formulations.
{'FirstName': 'Jean-Jacques', 'LastName': 'Slotine', 'EmailAddress': 'jjs@mit.edu', 'StartDate': '08/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Massachusetts Institute of Technology', 'CityName': 'Cambridge', 'ZipCode': '021394301', 'PhoneNumber': '6172531000', 'StreetAddress': '77 MASSACHUSETTS AVE', 'CountryName': 'United States', 'StateName': 'Massachusetts', 'StateCode': 'MA'}
[{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}, {'Code': '1454', 'Text': 'SYSTEMS THEORY'}]
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8803767.xml'}