This paper deals with the design of control schemes for a robot manipulator in contact with a compliant surface. A passivity-based approach is adopted in the task space, where the control law contains a nonlinear model-based term and a linear term obtained as the sum of a position action and a force action. The force control action dominates the position control action along the constrained tas...

Two biological control agents, Bacillus subtilis AP-01 (Larminar(™)) and Trichoderma harzianum AP-001 (Trisan(™)) alone or/in combination were investigated in controlling three tobacco diseases, including bacterial wilt (Ralstonia solanacearum), damping-off (Pythium aphanidermatum), and frogeye leaf spot (Cercospora nicotiana). Tests were performed in greenhouse by soil sterilization prior to i...

This paper presents a robot control system using force control on a redundant industrial robot. The control system is based upon an active force feedback system using six axes force sensor attached to the robot’s end effector. The redundancy is used to explore a model for singularity avoidance based on different states of redundancy. The system is implemented and tested experimentally for one o...

Building a basketball robot is a recently launched project at the Institute of Automatic Control Engineering (LSR) for investigating fast manipulation with non-negligible dynamics and changing contact situation. This video presents some preliminary results of the project which is balancing a basketball on a plate. An aluminium plate of which the size is 25 × 40 cm is mounted on the end-effector...

This paper presents an algorithm to track an industrial robot hand during its movement. Based on acquired image and knowing the robot hand model, the pose is obtained. This information is used to move a pan-tilt camera and keep the robot hand centered in the image every time using an adaptive fuzzy logic controlled. This control law is used combined with a position prediction technique to impro...

As robot control systems are traditionally closed, it is difficult to add supplementary intelligence. Accordingly, as based on a new notion of user views, a layered system architecture is proposed. Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional operators consisting of pieces of compi...

The use of industrial control systems in simulators facilitates the execution of engineering activities related with the installation and the optimization of the control systems in real plants. "Industrial control system" intends to be a valid term that would represent all the control systems which can be installed in an industrial plant, ranging from complex distributed control systems and SCA...

There are four major components in industrial automation including PLC controllers, HMI panels, industrial drives and sensors. The PLC controller is the brain of an industrial automation system; it provides relay control, motion control, industrial input and output process control, distributed system, and networking control. PLCs often need to work in harsh environmental conditions, withstandin...