The simplicity of Transpose Jacobian (TJ) control is a significant characteristic of this algorithm for controlling robotic manipulators. Nevertheless, a poor performance may result in tracking of fast trajectories, since it is not dynamics-based. Use of high gains can deteriorate performance seriously in the presence of feedback measurement noise. Another drawback is that there is no prescribed method of selecting its control gains. In this paper, based on feedback linearization approach a Modified TJ (MTJ) algorithm is presented which employs stored data of the control command in the previous time step, as a learning tool to yield improved performance. The gains of this new algorithm can be selected systematically, and do not need to be large, hence the noise rejection characteristics of the algorithm are improved. Based on Lyapunov’s theorems, it is shown that both the standard and the MTJ algorithms are asymptotically stable. Analysis of the required computational effort reveals the efficiency of the proposed MTJ law compared to the Model-based algorithms. Simulation results are presented which compare tracking performance of the MTJ algorithm to that of the TJ and Model-Based algorithms in various tasks. Results of these simulations show that performance of the new MTJ algorithm is comparable to that of Computed Torque algorithms, without requiring a priori knowledge of plant dynamics, and with reduced computational burden. Therefore, the proposed algorithm is well suited to most industrial applications where simple efficient algorithms are more appropriate than complicated theoretical ones with massive computational burden.

Abstract: This paper is concerned with the evaluation of effects of modeled object changes at development of product in virtual space. Modeling of engineering objects such as elements and structures of products, results of analyses and tests, processes for production, and customer services has reached the level where sophisticated descriptions and modeling procedures serve lifecycle management of product information (PLM). However, effective utilization of highly associative product models is impossible in current modeling because techniques are not available for tracking and evaluation of high number of associative relationships in large product model. The author analyzed the above problem and considered inappropriate organization of product information as its main cause. In order to gain a solution in current modeling systems, a new method is proposed in this paper for change management. In this method, joint modeling of design objectives and human intent is applied for shape-centered products. As background information for the proposed modeling, paper discusses research results in change management for product development in modeling environments. Following this, integrated modeling of closely related engineering objects is proposed as extension to current industrial PLM systems. Next, design objective driven product change management is detailed. Finally, virtual space is outlined as a possible advanced application of the proposed change management with the capability of representation of human intent.

Abstract: Modeling of engineering objects such as product elements and structures, analyses and tests, production environments, production processes, customer services has been developed to a level where sophisticated descriptions and modeling procedures serve lifecycle management of product information. The problem is that effects of a change of an engineering object are still hard to follow and evaluate in large product model systems. The authors consider inappropriate organization of product information management as the main cause of this situation. They proposed a new design objective and human intent based method for change management at engineering for shape-centered products. In this paper, brief characterization of recent professional product modeling and several related researches introduce discussion about the problem. Next, a new approach to product development in virtual emphasizes key issues in the proposed modeling. Following this, a method is proposed for product change management. Finally, virtual space as an advanced environment for product development by using of the proposed method is conceptualized.