Teaching Publications Laboratory Education
Puren Ouyang, Ph.D. P.Eng.
ENG144, George Velari Engineering Building
The high complexity, nonlinearity, and wide applications of robotic systems have led to extensive research in the field of robot control. Many control methods have been developed with the goal of achieving high contour tracking and reliable performances. In the applicant’s recent research, the concept of position domain control was introduced in a simple form of PD/PID control laws for robotic systems to improve contour tracking performance as a superior alternative to time domain control.
To build the position domain control system, a
multiaxis robotic system is viewed as a master–slave motion system. The
master motion is measured and used as a reference that will not produce
any error to the final contour error, and the slave motions are
described as functions of the master motion according to the contour
trajectory requirements. Slave motion control is implemented in position
domain based on the master motion.
The long-term goal of this research program is to
make position domain control as a core control technology for contour
tracking of robotic systems and to improve product quality in
(1) Theoretical study of position domain control to build a united system architecture that can integrate position domain control and time domain control. (2) Development of advanced position domain control systems to expand the control methods developed in time domain to position domain. (3) Testing, verification, and application of the position domain control system in hybrid macro-micro motion systems and hybrid actuation systems.
Past Research Project: Hybrid Macro-Micro Robotic Systems
There are three general research issues in the HMMRS technology. The first issue is about the design of the architecture of the HMMRS. Currently, in macro-micro systems, it seems that the so-called serial architecture is mostly used. The second issue is about the technology to implement the architecture of HMMRS, in particular the technology of control and / or coordination of the whole system. The third issue is the tailoring of the general HMMRS technology to a specific application to further optimize the performance of the specific HMMRS system.
The short-term objectives are proposed to address the aforementioned issues, and they are described as follows:
PhD and Master students positions are avaiable in Mechatronics, Robotics, and Micro manipulation systems. To pursue research in these areas, the candidates should have a bachelor/master’s degree in Aerospace/ Mechanical/ Electrical engineering with a strong background in design, dynamics and control systems, as well as high GPA and TOEFL score.
Interested candidates may contact Dr. Ouyang for details and should send their resumes and three references as well as copies of research papers to firstname.lastname@example.org.