Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller

Tents, tweets, and events: The interplay between ongoing protests and social media

Recent protests have fuelled deliberations about the extent to which social media ignites popular uprisings. In this article, we use time-series data of Twitter, Facebook, and onsite protests to assess the Granger causality between social media streams and onsite developments at the Indignados, Occupy, and Brazilian Vinegar protests. After applying Gaussianization to the data, we found contentious communication on Twitter and Facebook forecasted onsite protest during the Indignados and Occupy protests, with bidirectional Granger causality between online and onsite protest in the Occupy series. Conversely, the Vinegar demonstrations presented Granger causality between Facebook and Twitter communication, and separately between protestors and injuries/arrests onsite. We conclude that the effective forecasting of protest activity likely varies across different instances of political unrest

Intelligent Control of Flexible-Joint Robotic Manipulators

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking