Varela, A., Benimeli, F., Solaz, J., Rosario, H. De, Robertsson, Anders, Nilsson, K., ...
Resumen Este trabajo presenta un desarrollo de control de fuerza con robots industriales, utilizando para ello el robot IRB140 de ABB y un sensor de fuerza industrial JR3 de 6 grados de libertad....
Configuration Support and Kinematics for a Reconfigurable Gantry-Tau Manipulator (2008)
Isolde Dressler, Mathias Haage, Klas Nilsson, Rolf Johansson, Anders Robertsson
Abstract — Affordable and competitive industrial automation is of key importance for small and medium enterprises, in Europe and elsewhere. A key factor is the introduction of new robot automation...
Covariance Analysis, Positivity and the Yakubovich-Kalman-Popov Lemma (2007)
Rolf Johansson, Anders Robertsson
This paper presents theory and algorithms for covariance analysis and stochastic realization without any minimality condition imposed. Also without any minimality conditions, we show that several...
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
En aquellas operaciones robóticas en las que un robot manipulador interactúa con su entorno resulta de extremada importancia poder controlar la fuerza que aquél ejerce sobre este. Con este...
Blomdell, Anders, Bolmsjö, Gunnar, Brogårdh, Torgny, Cederberg, Per, Isaksson, Mats, Johansson, Rolf, ...
Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many...
Productive Robots and the SMErobot Project (2005)
Nilsson, Klas, Johansson, Rolf, Robertsson, Anders, Bischoff, Rainer, Brogårdh, Torgny, Hägele, Martin
The need for keeping manufacturing and workplacesin Europe calls for new ideas and concepts for productiverobots with focus on their usefulness for Small andMedium sized Enterprises (SMEs). The...
Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments (2005)
Olsson, Tomas, Johansson, Rolf, Robertsson, Anders
When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a...
Motion Planning and Dynamical Positioning for a Fleet of Underactuated Ships (2005)
Shiriaev, Anton, Robertsson, Anders, Freidovich, Leonid
Abstract not available
Shiriaev, Anton, Robertsson, Anders, Pacull, Paul, Fossen, Thor I.
The paper suggests a method for motion generating and stabilization with application to dynamical models for underactuated ships.
Force and Acceleration Sensor Fusion for Compliant Robot Motion Control (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force...
Automatic Calibration Procedure for a Robotic Manipulator Force Observer (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force...
Self Calibrating Procedure for a 3D Force Observer (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator....
Calibración Automática de un Observador de la Fuerza de Contacto para un Robot Manipulador (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
En aquellas operaciones robóticas en las que un robotmanipulador interactúa con su entorno resulta de extremadaimportancia poder controlar la fuerza que ésterealiza. Normalmente, para poder llevar...
Output Feedback Stabilization of the Moore-Greitzer Compressor Model (2005)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders, Freidovich, Leonid
This paper presents a number of facts related to theoutput feedback stabilization of the Moore-Greitzer compressor model. We show that quadratic feedback stabilization of the surge subsystem of the...
Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems (2005)
Shiriaev, Anton, Robertsson, Anders, Perram, John, Sandberg, Anders
The paper presents sufficient and almost necessary conditions for the presence of periodic solutions for zero dynamics of virtually constrained under-actuated Euler-Lagrange system. This result is...
Admission control for Web server systems - design and experimental evaluation (2004)
Robertsson, Anders, Wittenmark, Björn, Kihl, Maria, Andersson, Mikael
In communication systems, all service control nodes, such as for example Web sites or mobile switching centers, can be modeled as a server system with one or more servers processing the incoming...
Admission Control of the Apache Web Server (2004)
Andersson, Mikael, Kihl, Maria, Robertsson, Anders, Wittenmark, Björn
Web sites are exposed to high rates of incoming requests. The servers may become overloaded during temporary traffic peaks when more requests arrive than the server is designed for. An admission...
Design and evaluation of load control in web-server systems (2004)
Robertsson, Anders, Wittenmark, Björn, Kihl, Maria, Andersson, Mikael
Nonlinear discrete-time modeling of a Web server system is investigated. Server systems typically contain nonlinearities such as saturations and bounded queue lengths. The incoming traffic and...
Control Theoretic Modelling and Design of Admission Control Mechanisms for Server Systems (2004)
Kihl, Maria, Robertsson, Anders, Wittenmark, Björn
The admission control mechanism is an important part of many communication systems. In this paper we investigate load control mechanisms for server systems, that is systems that may be modelled as...
On Behavioral Model Identification (2004)
Johansson, Rolf, Robertsson, Anders
This paper presents theory andalgorithms for system identification suitable for the framework of behavioral system theory. An algorithm basedon algebraic system theory and realization theory...
Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control (2004)
Johansson, Rolf, Robertsson, Anders, Nilsson, Klas, Brogårdh, Torgny, Cederberg, Per, Olsson, Magnus, ...
Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents...
Sensor Fusion of Force and Acceleration for Robot Force Control (2004)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it...
Some Comments on Output Feedback Stabilization of the Moore-Greitzer Compressor Model (2004)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders
This paper suggests a number of facts related to the modeling and output feedback stabilization of the Moore-Greitzer compressor model. It shows how to integrate the stall dynamics, and how to use...
Flexible Force-Vision Control for Surface Following using Multiple Cameras (2004)
Olsson, Tomas, Johansson, Rolf, Robertsson, Anders
A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an...
Control Theoretic Modelling and Design of Admission Control Mechanisms for Server Systems (2004)
Kihl, Maria, Robertsson, Anders, Wittenmark, Björn
The admission control mechanism is an important part of many communication systems. In this paper we investigate load control mechanisms for server systems, that is systems that may be modelled as...
Force Estimation and Control in Robot Manipulators (2004)
Alcocer, Alex, Robertsson, Anders, Valera, Angel, Johansson, Rolf
In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method...
Active Damping of a Flexible Beam (2004)
Olsson, Rasmus, Bindi, Alessandro, Robertsson, Anders
This paper describes the active damping of a flexible beamconnected to the end-effector of a robot manipulator. An observer-basedfeedback controller is developed and experimental results...
Friction Compensation for Nonlinear Systems Based on the LuGre Model (2004)
Robertsson, Anders, Shiriaev, Anton, Johansson, Rolf
Friction may be a major obstacle for stability and control performance. Based on a nominal control law, which stabilizes a nonlinear dynamical system to an equilibrium or to a desired limit cycle...
Shiriaev, Anton, Perram, John, Robertsson, Anders, Sandberg, Anders
The paper suggests an explicit form of a general integral of motion for some classes of dynamical systems including n-degree-of-freedom mechanical systems subject to (n-1) virtual holonomic...
Observer-based Strict Positive Real (SPR) Switching Output Feedback Control (2004)
Johansson, Rolf, Robertsson, Anders, Shiriaev, Anton
This paper considers switching output feedback control of linear systems and variablestructure systems. Theory for stability analysis and design for a class of observer-based feedback control systems...
Tomas Olsson, Rolf Johansson, Anders Robertsson
This thesis deals with feedback control using two different sensor types, force sensors and cameras. In many tasks in robotics compliance is required in order to avoid damage to the workpiece. Force...
Andersson, Mikael, Kihl, Maria, Robertsson, Anders
Web sites are exposed to high rates of incoming requests. Since web sites are sensitive to overload, admission control mechanisms are often implemented. The purpose of such a mechanism is to prevent...
Performance Modelling and Control of Server Systems using Non-linear Control Theory (2003)
Kihl, Maria, Robertsson, Anders, Wittenmark, Björn
All service control nodes, for example SCPs, HLRs, and MSCs, are constructed as a server system with one or more servers that process incoming requests. Since service control nodes are sensitive to...
Analysis and design of admission control systems in web-server systems (2003)
Robertsson, Anders, Wittenmark, Björn, Kihl, Maria
All service control nodes, for example Web sites or Mobile Switching Centers, can be modeled as server systems with one or more servers processing the incoming requests. To avoid overload at the...
Analysis of admission control mechanisms using non-linear control theory (2003)
Kihl, Maria, Robertsson, Anders, Wittenmark, Björn
All service control nodes can be modelled as a server system with one or more servers processing incoming requests. In this paper we show how non-linear control theory may be used when analyzing...
Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints (2003)
Olsson, Tomas, Bengtsson, Johan, Robertsson, Anders, Johansson, Rolf
In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye...
Robotic Force Control using Observer-based Strict Positive Real Impedance Control (2003)
Johansson, Rolf, Robertsson, Anders
This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often...
Friction Compensation for Passive Systems Based on the LuGre Model (2003)
Shiriaev, Anton, Robertsson, Anders, Johansson, Rolf
The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking friction into account) results from the...
Muddiest Point -; erfarenheter och reflektioner (2003)
Åkesson, Johan, Robertsson, Anders
I en stor del av kurserna på Institutionen för Reglerteknik är traditionella räkneövningar en av de vanligast förekommande undervisningsformerna. Övningarna är traditionellt upplagda och går...
Kamratgranskning av laborationsförberedelser i reglerteknik (2003)
Hagander, Per, Åkesson, Johan, Robertsson, Anders
Laborationer är ett frekvent återkommande inslag i kurserna vid Institutionen för Regerteknik. Laborationerna tar mycket resurser i anspråk, och det är därför viktigt att skapa...
Calugi, Francesco, Robertsson, Anders, Johansson, Rolf
In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive...
Sufficient Conditions for Dynamical Output Feedback Stabilization Via the Circle Criterion (2003)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders
This paper suggests sufficient conditions for asymptotically stable dynamical output feedback controller design based on the circle criterion. It is shown that a dynamic output feedback stabilization...
Analysis and Design of Admission Control in Web-Server Systems (2003)
Anders Robertsson, Björn Wittenmark, Maria Kihl
All service control nodes, for example web sites or Mobile Switching Centers, can be modeled as server systems with one or more servers processing the incoming requests. To avoid overload at the...
Observer-based Strict Positive Real (SPR) Feedback Control System Design (2002)
Johansson, Rolf, Robertsson, Anders
This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the...
Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping (2002)
Calugi, Francesco, Robertsson, Anders, Johansson, Rolf
In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping...
Kolesnichenko, Olga, Shiriaev, Anton, Robertsson, Anders
The paper is devoted to an extension of one particular fact withintheory of partial stability, the so-called Pozharitsky Theorem,to the case of partial stabilization of nonlinear controlled system.It...
Using Cascaded Iterative Learning Control for Improved Task Execution (2002)
Robertsson, Anders, Scalamogna, Domenico, Grundelius, Mattias, Johansson, Rolf
Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to...
Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control (2002)
Robertsson, Anders, Scalamogna, Domenico, Grundelius, Mattias, Johansson, Rolf
Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to...
Observer-Based SPR Feedback Control System Design (2002)
Johansson, Rolf, Robertsson, Anders
This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the...
Observer-Based Impedance Control in Robotics (2002)
Henriksson, Dan, Johansson, Rolf, Robertsson, Anders
This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric...
Stabilization of Rotational Modes for the Furuta Pendulum (2001)
Shiriaev, Anton, Paramonov, L., Sørensen, A., Robertsson, Anders
This paper deals with the construction and orbital stabilization of periodic solutions for a particular underactuated mechanical system with 2 degrees of freedom, the Furuta pendulum. It is shown...
Residual Models and Stochastic Realization in State-Space Identification (2001)
Johansson, Rolf, Verhaegen, Michel, Chou, C.T., Robertsson, Anders
This paper presents theory and algorithms for validation in system identification of state-space models from finite input-output sequences in a subspace model identification framework. Our...
A Robot Playing Scrabble Using Visual Feedback (2001)
Bengtsson, Johan, Ahlstrand, Anders, Nilsson, Klas, Robertsson, Anders, Olsson, Magnus, Heyden, A., ...
Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems,...
Covariance Analysis, Positivity and the Yakubovich-Kalman-Popov Lemma (2000)
Johansson, Rolf, Robertsson, Anders
This paper presents theory and algorithms for covariance analysis and stochastic realization without any minimality condition imposed. Also without any minimality conditions, we show that several...
On-Line Reconfiguration of Real-Time Robot Motion and Force Control (2000)
Robertsson, Anders, Valera, Angel, Nilsson, Klas, Johansson, Rolf
Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much...
State-Space System Identification of Robot Manipulator Dynamics (2000)
Johansson, Rolf, Robertsson, Anders, Nilsson, Klas, Verhaegen, Michel
We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools...
Linear Controllers for Exponential Tracking of Systems in Chained Form (2000)
Lefeber, E., Robertsson, Anders, Nijmeijer, H.
In this paper we address the tracking problem for a class of non-holonomic chained-form control systems. We present a simple solution for both the state feedback and the dynamic output feedback...
On Observer-Based Control of Nonlinear Systems (1999)
Filtering and reconstruction of signals play a fundamental role in modern signal processing, telecommunications, and control theory and are used in numerous applications. The feedback principle is an...
Anders Robertsson, Rolf Johansson
The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed in [1] and [2],...