This report contains a study on inertial parameter estimation for application in robot control. Symbolic manipulation using Maple is applied to support the estimation efforts.

In this thesis a visual servoing approach for uncalibrated systems with 6 degrees of freedom (DOF) is evaluated. Assuming weak perspective, the observed motions of the robot end-effector are constrained to affine trans-formations in the image space. This allows us to express the control error directly in terms of an affine transformation in the camera images. By this approach, visual servoing is r

In order to minimise development time it is important to be able to implement and test control functions at an early stage in a project, even before the electronic hardware of the new product is available. For this purpose, a PC based rapid prototyping system including a graphical modelling/simulation tool and automatic C code generation for real-time simulations with hardware in the loop may be u

In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this fo

Robot control systems and other manufacturing equipment are traditionally closed systems. This circumstance has hampered system integration of manipulators, sensors as well as other equipment, and such system integration has often been made at an unsuitably high hierarchical level. With the aid of vision, visual feedback is used to guide the robot manipulator to the target. This hand-to-target tas

Robot control systems are traditionally closed system. With the aid of vision, visual feedback is used to guide the robot manipulator to the target in a similar manner as humans do. This hand-to-target task is fairly easy if the target is static in Cartesian space. However, if the target is dynamics in motion, a model of this dynamical behaviour is required in order for the robot to predict or tra

The development of steer-by-wire involves an increased amount of possibilities for control in future cars. For example, the experimental vehicle available has both front and rear wheel steering. This enables a simultaneous multivariable control of both the yaw rate and the side slip angle. The today existing control approach is designed in the time domain and it has a decoupled control structure,

This report summarizes a master-thesis project where the goal has been to control a submarine vehicle. The vehicle is used to take video films of the bottom of the sea. For this reason, it is desired to keep the vehicle at a constant distance over the sea bottom. The workconsist of a model-building phase, where a frequency-response experiment is performed on the vehicle. Based on this model, sever

Recent progress in parameterization of linear robust controllers has made it possible to investigate advanced controller specifications numerically using convex optimization. The main focus of this thesis project is to investigate how to design a LTI controller for a LTI plant using convex optimization, particularly Linear Programming technique. The concerned performance specification is defined a

This master's thesis involves design and implementation of an infrared link between an air diffuser and a Palm handheld computer. The diffuser, IDCC (Intelligent Diffuser for Climate Control), is developed by LindinVent AB. The application can download current controller variables and parameters and send new parameters to the diffuser. For adjusting parameters on the Palm an intuitive graphica

This master thesis evaluates control algorithms for control applications using Bluetooth in the loop. It is done in order to investigate whether Bluetooth can be used in hard real-time control loops or not. The control algorithms suggested in this work are evaluated on a real process, the Furuta pendulum, due to the unstable nature of the process. This will assure that the Bluetooth communication

In order to maximize the biomass yield in fed-batch cultivations of Saccharomyces cerevisiae, a pulse feeding strategy originally developed by Mats Åkesson at the department of automatic con-trol (Åkesson, 1999), was implemented. The controller was intended to keep the specific glucose uptake rate, qs, below the critical specific glucose uptake rate qs crit , to avoid over-flow metabolism. Simulat