r00010 robot komponenty (arm)
TRANSCRIPT
Aplikované servopohony: “Synchronní elektromotory- AC s permanentním magnetem”,“Elektromotory EC- elektronicky komutovaný motor”, “Bezkartáčový AC (DC) motor”.
Klíčová slova:
“Robot”. “Arm”.“Electronic control unit”.“Controller”.“Hardware”.
Firmy produkující roboty: “Kuka”, Kawasaki”, “Puma”, “Unimate”, Toshiba Scara”.Servopohony: “Siemens”, “Reliance Electronic”, “Danaher Motion”, Minimotors, “Kelvin” atd.
Servopohony: “Siemens”.
Databáze:www.elsevier.com/locate/mechatronics
www.springerlink.com
www.dialog.cvut.cz
www.acm.org/dlFirmy a jejich produkty: linky z vyhledávačů:
http://www-ee.eng.hawaii.edu/~zhen/ee466/proj2/robot.htm
http://whatis.techtarget.com/definition/0,,sid9_gci521693,00.html
http://www.robotics.com/robots.html
http://www.robotics-research.com/
http://www.cs.indiana.edu/robotics/world.html#web
http://www.industrial-robots.com/index.htm
http://www.industrial-robots.com/Robot_Types/art_rob.htm
http://www.bpesolutions.com/../conproduct.html
http://www.robotics.e-symposium.com/robots/toshiba/index.html
http://www.tritium.com.au/products/puma.html
http://www.labx.com/v2/spiderdealer2/vistaSearchDetails.cfm?LVid=2146045
http://tima.imag.fr/sls/documents/wvlsi.pdf
http://www.robotstoreuk.com/ROBOTS-/pages/Robot-Arm/arm-details-01.htm
http://five.nocrew.org/robot/
http://www.science.uva.nl/research/ias/research/learn/old_projects/pdp.html
http://strobotics.com/r17.htm
http://www.pololu.com/products/joinmax/0097/
http://www.eece.ksu.edu/~sdas/eece870/Project-4.pdf
http://www.ccec.ece.ucsb.edu/people/smith/student_projects/RiehlFinal238.pdf
http://chess.eecs.berkeley.edu/projects/ITR/2003/Yordan-NonesPaper.pdf
http://www.uoguelph.ca/~habdulla/courses/ENGG6/assignment1.pdf
http://www.itee.uq.edu.au/~wyeth/Publications/puma.PDF
robot PUMA:
HPS: http://www.ee.ualberta.ca/~jasmith/puma/pumasites.html#Theoretical%20Information%20&%20Papers
PUMA 560 Related Sites on the Internet
Last update: April, 2001
News! Check out the Simulink Robotic Toolkit for the Puma 560. (April, 2001)
General Topics General PUMA Pages
Research Institutions doing work with the PUMA 560 Theoretical Information & Papers
Hardware Purchase & Repair of PUMA equipment
Operating Systems / Environments
Chimera Operating System for the PUMA VAL II Operating System for the PUMA Windriver's Tornado (VxWorks) Operating System QMotor Robotic Toolkit . Added April, 2000.
Software Applications Other Software Tools
General Interest General Interest Robotics Pages
General PUMA pages
Richard Voyle's Page What's Available for PUMA Manipulators? "PUMA Manipulators"
Institutions doing work with the PUMA 560
Asia
Centre for Intelligent Products and Manufacturing (Signapore)
Australia
PUMA at the Australian National University
Canada
Advanced Robotics and Teleoperation Lab, University of Alberta Computer Science Videos at University of Alberta UBC's Mechanical Engineering Dept. Concordia University
Europe
European Robotics Network Technical University of Budapest TACnet (Finland) ICLab at ISR, Lisbon (Using Trident TRC004 board) Munich Technical University (TUM) Scuola Superiore S.Anna
United States
Clemson University:PUMA 560 Dual Arm Facility (Uses QNX Operating System) o Darren Dawson with the Clemson Mechatronic Research Group. Updated April, 2000.
UC Davis University of New Mexico VirtualTools and Robotics Lab (PSU) Stanford's SIMpact Simulator
Theoretical Information & Papers
PUMA 560 Kinematics and Dynamics (@ANU) PUMA 560 Simulator (April 8, 1997, at Bridgeport) Offline Programming and Simulation (July 26,1995 @ U Iowa) Standford's SIMpact simulator Ben van den Berg's Final Report: VAL II / Chimera Control System; (1996, @ U of Alberta) A META-STUDY OF PUMA 560 DYNAMICS: A CRITICAL APPRAISAL OF LITERATURE
DATA Video:Coordinated Dual-arm Manipulation using Robust Internal-Force Based Impedence
Control
Purchase & Repair of PUMA hardware; Modified PUMAs
Antenen Research Advanced Research and Robotics Servo Systems Co. Quality Real-Time Systems
Contacted me April, 2000. o Darren Dawson with the Clemson Mechatronic Research Group o Puma Retrofit so that you can run the Puma from a PC
Trident Research (VMEbus and ISAbus I/O interface for PUMA)Not sure if these guys are still around
o PUMA LSI/11 controller Replacement Manual o PUMA LSI/11 controller Replacement Manual
Puma 560 Robot Paper from CSIRO, Australia RP Automation, Inc.
Contacted me June, 1999 o Contact: Benjamin J Clark [email protected] o 1-800-FOR-PUMA (1-800-367-7862) o 1-203-790-5787
ANU's new PUMA Controller o General Purpose Controller Board
Chimera Operating System for the PUMA
This is pretty much a dead-end OS.
What is is Chimera? (Introduction) Chimera Modules Advanced Mechantronics Lab @ Carnegie Mellon University
Chimera vs. Windriver's VxWorks
VAL II Operating System for the PUMA
RP Automation Software Downloads
Windriver Tornado (VxWorks) Operating System
Windriver Site Puma Controller using Tornado at Hydro Qué bec VxWorks on ANU's PUMA Chimera vs. VxWorks
QMotor Robotic Toolkit
It runs on QNX and is released by QRTS, the same folks with Puma PC retrofit instructions
Toolkit details .
Other Software Tools
Cartool for the PUMA 760 (Hydro-Québec) MATLAB Robotics Toolbox Simulink Robotic Toolkit for the Puma 560 . The Simulink Robotic Toolkit (SRTK) for the Puma
560 is a set of MATLAB m-files, MATLAB-toolboxes, and Simulink-block diagrams that can be used for real-time simulation, control, and data-logging for the Puma 560 robot manipulator. Added April, 2001.
ANU's PUMA User's Manual -- VxWorks RCCL-5.0 Java-based PUMA Simulator added July, 2000.
General Interest Robotics Pages
Robotics Internet Resources Page Comp.Robotics.Research Home Page General Robot FAQs
This site is maintained by James Andrew Smith. I was a graduate student in the Advanced Robotics and Teleoperation Lab at the University of Alberta but have moved on to the Ambulatory Robotics Lab at McGill University. My research deals primarily with wheeled and legged mobile robots but I maintain this page because, judging by the email responses I've been getting, it's becoming a relatively popular reference page.
Nabídka robotů a manipulátorů:
http://www.ar2.com/default.htm
Puma:
http://www.ar2.com/puma.html
Kawasaki:
http://www.ar2.com/kawasaki.html
Unimate:http://www.ar2.com/unimate.html
http://www.ar2.com/ar2pages/casetudy.htm
http://www.robotics.utexas.edu/simulations/Subjects/Robotics/Puma%20Dynamic%20Control/
http://www.und.ac.za/und/mechatron/index.html
http://www.und.ac.za/und/mechatron/research.htm
Computer Integrated Manufacturing Cell Automated Visual Inspection Apparatus
Intelligent Generic Gripper Intelligent Electronic Component Inspection System
Intelligent Remote Centre Compliance Cordless Linear Motor Material Handling System
Coordinate Measuring Machine Sensor System for CIM
Virtual Reality Manufacturing Environment
PC-Based PUMA Robot
An Example of an Articulated Robot
The picture above portrays a Kuka Sixaxis Articulated Industrial Robot, with rotational axes and working envelope. At it's Base, arrows depict a possible further Degree of Freedom for Axis 7.
More axes are also frequently fitted on the robot's face-plate, on Axis 6, which is the mounting point for end-effectors (such as grippers or other manipulators and tools). Any and all axis can be built on to give a robot of multiple axes, often called a "Snake Robot". Sometimes, a Snake Robot is mobile, slithering snake-like for inspection and other purposes, or with grippers attached on either end, enabling it to move about on complex structures, even in outer-space.
The diagrams below show a Motoman Articulated Robot mounted on its seventh axis rail along with the kinematics for a Sixaxis Robot.
HERE IS A LISTING OF SITES THAT FEATURE ARTICULATED ROBOTS
To be included in this directory, join the industrial-robots.com WebRing and your site will be automatically listed according to the type of robot that is predominantly featured. Please note that all robotics links must be relevant to industrial or commercial robotics and CIM, AI or e-Manufacture. Full criteria are explained on the home page.
WWW LINK SITE DESCRIPTIONAcrobot Company Ltd.
Precision articulated robots for surgery.
American Robot Corporation
Industrial robots, and automation systems.
Antenen Research Inc.
New and used industrial robots of all makes.
Argus and Associates Inc.
Highly qualified, experienced robotic engineers and technicians to assist customers with all their robotic applications.
Autogem GmbHSystems integrators for articulated robots and line-building in the automotive industry.
Automated Concepts Inc.
Designers, manufacturers, programmers and integrators of complete robotic turnkey systems for welding, palletising, machine loading/unloading, material handling, material removal (deburring/chamfering) and assembly for markets ranging from automotive to newspaper and food-processing.
Autotech Robotics Ltd
Independent robotics systems house providing new and reconditioned equipment for sale and hire.
B4 Ltd. Robot Simulation and Calibration.
Barr & Paatz Ltd Industrial Robots
Technical data on Bosch and Mitsubishi Industrial Robot products. Photographs, movies and simulations of Robot installations designed and built by the company. Descriptions and examples of other production and automation services provided including Machine Vision Systems.
Barrett Technology Inc.
High-performance robotic arms and hands for emerging applications requiring superior adaptability, programmability, and dexterity.
CEGELEC France Systems Integrator automating with articulated robots.CTA Inc. Robotic Integration
Turn key robotics integrator specialising in the aerospace, military, DoD and any other speciality coating application.
Center for Robotics and Manufacturing Systems
The USA's University of Kentucky facility on robotics and the industrial use of Articulated Robots.
CRS Robotics Inc. Articulated robot systems for advanced manufacturing applications.Destiny Automation Inc.
Automation integration and CIM support.
Dynalog Inc.Providers of flexible robotic measurement systems for robotics and robot manufacturers.
EES Engineering Inc.
Design-build systems and solutions for paint application and circulation. This includes mechanical, electrical, and pneumatic designs, automation, robotics end-of-arm tooling, closed loop fluid control, pumping systems, fabrication and integration.
FANUC Robotics UK Ltd.
Robots can be used in virtually every application from assembly to Welding.
Greif Robot Schleifsystem GmbH
Specialists in polishing, buffing, finishing, grinding and surface grinding machines and abrasive belt grinders for robot cells and end-effectors.
JCD Robotics: Pre-owned Industrial Robots
Providers of robotic solutions for factory automation, including remanufacturing industrial robots, full integration, turnkey solutions, welding cells, preventive maintenance, training and more.
Jigs and Fixtures Ltd.
Kawasaki robot supplier and also high quality jigs, fixtures and special purpose tooling to industry.
KC Robotics Specialising in new and used robotics systems.KRC1 Utilities for KUKA Robots
KRC1 utilities for KUKA robots is a tool to edit, format and modify KUKA robot programs. Get the free version here.
KUKA Robots GmbH
Kuka robots, linear units, controllers and control software are not only in action at car manufacturing plants all over the world, but are used in almost every branch of industry.
Lamb Technicon A range of standard metal forming and automation products.
MD Robotics Inc.
The neuroArm robotic system comprises two robotic arms, each with at least 6 degrees-of-freedom, and a third arm equipped with two cameras providing 3-D stereoscopic views. The system will function under the direct control of a surgeon at the robotic workstation for all intra-cranial functions.
Merlin Control Systems Ltd.
A large part of our business is based around refurbishment.
Mitsubishi Electric Automation Inc.
All purpose industrial articulated robot manufacturers.
Motoman Inc.A wide variety of robots for a broad range of applications. Selectable, menu-driven, application-specific programming environments make integration simple.
Nachi Robotic Systems Inc.
Dedicated to the implementation of robotic solutions that enhance customers' productivity, quality and profitability.
PaR Systems Robotic water-jet cutting, high precision gantry robots, material and nuclear handling systems,
PIK Power Distributor of PIK controls. Website has SKC link.Rixan Associates Inc.
Authorized North American supplier of Mitsubishi light to medium payload robots.
RobotAgents.Online robotic products marketplace. Will help you find new customers and distribute used robots and robotic cells.
Roboter.com German robotics directory and systems house.RobotsDotCom Inc Suppliers of the CRS Thermo range of new and used articulated robots.
Robotix CompanyNew and used industrial robots. Development of robot grippers/end-effectors and special purpose machines.
RobotoolMakes tools for robots. We are handles everything from the idea and construction to manufacturing and implementation.
Robtec Robotic Systems
Complete robotic systems for palletising, handling, assembly and welding for the whole market.
Rynex Robotics Specialising in robotic handling, packaging and palletising projects.Sarcos Inc Dextrous limbs and hands. Surgical implanted automatic devices.
Samsung RoboticsFamily of Faraman robots are built to satisfy the most demanding modern manufacturing requirements, from high speed and high precision assembly to flexible manufacturing systems.
Servo Robot Inc
Laser cameras and sensors are used for joint finding by articulated robots in situations where there are repetitive short welds to be performed by the robot and where there is little variation in the seam orientation along the joint.
Servo Systems IncIntegration and sales of robots manufactured by Adept, Motoman, Seiko, and Stäubli into a wide variety of applications as required by the customer.
Sixaxis Ltd: Robot Programmers
An industrial robotics and automation company specialising in the provision of robotics, robot programming, systems engineering, PLC's, computer aided design, quality systems, project management, consulting, business process re-engineering, production management and freelancing services for computer integrated manufacturing systems.
Stäubli High speed and precision robots for industrial, painting, cleanroom and all automation needs.
TEC ManufacturingSpecial purpose machines and robotic systems for assembly, paint spraying, inspection and test etc. In house design for CIM and most robotic applications.
TIARobotic tooling solutions and grippers, tool changers and anti-crash methods etc.
Trueforce Robotics directory
TSI (UK) LtdCompany provides design, manufacturing and programming of industrial robotics and integration solutions.
URC Automation Robot Systems
Builders and designers of robotic cells for CNC machine tending and plastic material removal.
Wartelle et FilsFrench supplier of articulated robots, tooling and industrial automation systems.
WeldReality Robotics welding consultancy.Workspace5 PC based robot simulation and offline programming software. First
released 15 years ago and now established with industrial and educational users worldwide. The site provides the latest information on
releases and functionality.Return to top of list
Industrial Robots WebRing [ Join Now | Ring Hub | Random | << Prev | Next >> ]
This site is a member of WebRing. To browse visithttp://ss.webring.com/navbar?
f=l&y=industrialrobots&u=98147609610243777
This site is maintained by industrial-robots.com |BACK|
DBZ WOS.CESNET a INOV.
Variable structure control for a two-link robot armHuang YJ
ELECTRICAL ENGINEERING 85: (4) 195-204 SEP 2003
Document type: Article Language: English Cited References: 21 Times Cited: 0
Abstract:In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.
Author Keywords:variable structure control, sliding mode, robustness, robotics, look-up table
KeyWords Plus:SLIDING MODE CONTROL, TRACKING CONTROL, MANIPULATORS, SYSTEMS, SPACE
Addresses:Huang YJ, Yuan Ze Univ, Dept Elect Engn, 135 Far E Rd, Chungli, Taiwan.Yuan Ze Univ, Dept Elect Engn, Chungli, Taiwan.
Publisher:SPRINGER-VERLAG, NEW YORK
IDS Number:726LZ
ISSN:0948-7921
--- Unsupervised learning of a kinematic arm model
Hoffmann H, Moller RARTIFICAIL NEURAL NETWORKS AND NEURAL INFORMATION
PROCESSING - ICAN/ICONIP 2003 LECTURE NOTES IN COMPUTER SCIENCE
2714: 463-470 2003
Document type: Article Language: English Cited References: 10 Times Cited: 0
Abstract:An abstract recurrent neural network trained by an unsupervised method is applied to the kinematic control of a robot arm. The network is a novel extension of the Neural Gas vector quantization method to local principal component analysis. It represents the manifold of the training data by a collection of local linear models. In the kinematic control task, the network learns the relationship between the 6 joint angles of a simulated robot arm, the corresponding 3 end-effector coordinates, and an additional collision variable. After training, the learned approximation of the 10-dimensional manifold of the training data can be used to compute both the forward and inverse kinematics of the arm. The inverse kinematic relationship can be recalled even though it is not a function, but a one-to-many mapping.
KeyWords Plus:PRINCIPAL-COMPONENT ANALYSIS, NETWORK
Addresses:Hoffmann H, Max Planck Inst Psychol Res, Amalienstr 33, D-80799 Munich, Germany.Max Planck Inst Psychol Res, D-80799 Munich, Germany.
Publisher:SPRINGER-VERLAG BERLIN, BERLIN
IDS Number:BX47F
ISSN:0302-9743
--- An experimental study on compliance control for a redundant personal robot arm
Zollo L, Siciliano B, Laschi C, Teti G, Dario PROBOTICS AND AUTONOMOUS SYSTEMS
44: (2) 101-129 AUG 31 2003
Document type: Article Language: English Cited References: 39 Times Cited: 0
Abstract:Human-robot interaction represents a critical factor in the design of personal robots as well as in the implementation of robot behavior and control. This work investigates and proposes solutions to the problem of controlling an anthropomorphic robot arm for personal assistance, by dealing with the peculiarities of its design, i.e. the mechanics of its cable-actuated, intrinsically compliant structure, and by emphasizing its potential in applications of physical and functional interaction with the environment and with human users.
To satisfy the requirements of increasing the safety in the interaction and the robot functionality in tasks performed in cooperation with humans, three solutions are developed and tested for the considered personal robot. The initial idea is aimed at developing an efficient as well as computational convenient interaction control strategy, i.e. a compliance control scheme in the Cartesian space. The analysis of its limited performance suggests two further control strategies, i.e. a compliance control scheme in the joint space and an impedance-compliance control scheme. Their compared analysis points out that all the three solutions can safely operate in the human environment, but from a functional point of view only the last two schemes can effectively control the personal robot arm in its whole workspace.
The paper describes the mechanics of the considered robot arm, with special regard to its anthropomorphism and cable-actuation and presents in details the three control schemes. They are critically evaluated through the experimental results achieved in tasks of physical and functional interaction with the environment and with human users. The impedance-compliance controller emerges as the more appropriate to the addressed application as well as to the peculiar cable-actuated structure. (C) 2003 Elsevier Science B.V. All rights reserved.
Author Keywords:compliance control, robot arm, cable-actuation, personal robot
KeyWords Plus:MANIPULATORS
Addresses:Zollo L, Scuola Super Sant Anna, ARTS Lab, Polo Sant Anna Valdera, Viale Rinaldo Piaggio 34, I-56025 Pontedera, Italy.Scuola Super Sant Anna, ARTS Lab, I-56025 Pontedera, Italy.Univ Naples Federico II, Dipartimento Informat & Sistemist, PRISMA Lab, I-80125 Naples, Italy.
Publisher:ELSEVIER SCIENCE BV, AMSTERDAM
IDS Number:713XP
ISSN:0921-8890
----
An efficient constraint force computation in multibody systemsKim SS, You JY
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING
46: (2) 476-482 JUN 2003
Document type: Article Language: English Cited References: 12 Times Cited: 0
Abstract:An efficient method for constraint force analysis of specified joints has been developed in a serially connected open chain multibody system. In the method, the system equations of motion are derived using the recursive formulation, but constraint forces are computed non-recursively for specified joints. The efficiency of the proposed formulation has been compared with the recursive Newton-Euler formulation by the operational counting and the CPU time measure. To validate solution accuracy of the proposed method, the 7 d.o.f RRC robot arm simulation has been carried out. Essentially the same simulation results are obtained from the proposed method and from the commercial dynamics analysis program DADS.
Author Keywords:recursive multibody dynamics, constraint force, joint relative coordinates
KeyWords Plus:RECURSIVE FORMULATION
Addresses:Kim SS, Chungnam Natl Univ, Dept Mech Engn, 220 Kung Dong, Taejon 305764, South Korea.Chungnam Natl Univ, Dept Mech Engn, Taejon 305764, South Korea.Seoul Natl Univ, Seoul 151742, South Korea.
Publisher:JAPAN SOC MECHANICAL ENGINEERS, TOKYO
IDS Number:704XH
ISSN:1344-7653
--- A feedback control and a simulation of a torsional elastic robot arm
Hou XZ, Tsui SKAPPLIED MATHEMATICS AND COMPUTATION
142: (2-3) 389-407 OCT 10 2003
Document type: Article Language: English Cited References: 14 Times Cited: 0
Abstract:A feedback control is designed for a torsional elastic robot arm to be exponentially stable
and to arrive at any designated position. An eigenvalue problem is discussed, and a finite-dimensional approximation theorem is proposed and proved. Based on the numerical analysis and the approximation theorem we can simulate the system and show that the bending vibration, the torsional vibration, the rigid turning angle, and the bending moment of the robot arm can be controlled in a short period of time. (C) 2002 Elsevier Science Inc. All rights reserved.
Author Keywords:Euler-Bernoulli model, torsional vibration, nonlinear control systems, exponential stability, eigenfunction approximation, modal analysis, simulations
KeyWords Plus:STABILIZATION, BEAMS
Addresses:Hou XZ, Towson State Univ, Dept Math, Baltimore, MD 21252 USA.Towson State Univ, Dept Math, Baltimore, MD 21252 USA.Oakland Univ, Dept Math & Stat, Rochester, MI 48309 USA.
Publisher:ELSEVIER SCIENCE INC, NEW YORK
IDS Number:688WX
ISSN:0096-3003
-- Topological complexity of motion planning
Farber MDISCRETE & COMPUTATIONAL GEOMETRY
29: (2) 211-221 MAR 2003
Document type: Article Language: English Cited References: 11 Times Cited: 0
Abstract:In this paper we study a notion of topological complexity TC(X) for the motion planning problem. TC(X) is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely, TC(X) is the minimal number k such that there are k different "motion planning rules," each defined on an open subset of X x X, so that each rule is continuous in the source and target configurations. We use methods of algebraic topology (the Lusternik-Schnirelman theory) to study the topological complexity TC(X). We give an upper bound for TC(X) (in terms of the dimension of the configuration space X) and also a lower bound (in terms of the structure of the cohomology algebra of X). We explicitly compute the topological complexity of motion planning for a number of configuration spaces: spheres, two-dimensional surfaces, products of spheres. In particular, we completely calculate the topological complexity of the problem of motion planning for a robot arm in the absence of obstacles.
Addresses:Farber M, Tel Aviv Univ, Sch Math Sci, IL-69978 Ramat Aviv, Israel.Tel Aviv Univ, Sch Math Sci, IL-69978 Ramat Aviv, Israel.
Publisher:SPRINGER-VERLAG, NEW YORK
IDS Number:642EG
ISSN:0179-5376
-- An incremental finite element analysis of mechanisms and robots
Spentzas KN, Kanarachos SAFORSCHUNG IM INGENIEURWESEN-ENGINEERING RESEARCH
67: (5) 209-219 DEC 2002
Document type: Article Language: English Cited References: 11 Times Cited: 0
Abstract:In this paper, we present an incremental finite element method of analysis of mechanisms/robots. Our method is based on the idea to decompose any large displacement of a mechanism or robot arm in a series of successive small displacements, so small that the linear finite element method can be applied in their analysis between two successive positions. Evidently, at the end of any small displacement, the position of a deformed member of the mechanism gives us the initial conditions for the following small displacement. After presentation of all the theoretical background of the method, we illustrate it by application to the crank-slider mechanism and to the four-bar-linkage mechanism.
Addresses:Spentzas KN, Natl Tech Univ Athens, Dept Mech Engn, Bldg M, Athens 15780, Greece.Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece.
Publisher:SPRINGER-VERLAG BERLIN, BERLIN
IDS Number:639BQ
ISSN:0015-7899
---Two-way fuzzy adaptive identification and control of a flexible-joint robot arm
Gurkan E, Erkmen I, Erkmen AMINFORMATION SCIENCES
145: (1-2) 13-43 AUG 2002
Document type: Article Language: English Cited References: 23 Times Cited: 0
Abstract:The objective in this paper is to apply our proposed two-way fuzzy adaptive system that makes use of intuitionistic fuzzy sets to the identification and model-based control of a flexible-joint robot arm. Uncertainty and inconsistency are modelled in the proposed system such as uncertainty is the width of the interval introduced by the independent assignment of membership and nonmembership functions of the intuitionistic fuzzy sets; and inconsistency is the violation of the consistency inequality in this assignment. We reduce uncertainty and inconsistency through a two phase training. The first phase is to reduce inconsistency introduced by the inconsistent assignment of membership and nonmembership functions. The resultant system is an almost consistent two-way fuzzy adaptive system. Thus, an evaluation of the degree of reduction of inconsistency is needed and is carried out at the end of this phase by forming the shadowed set patterns of the membership and nonmembership functions after first phase of training. The system is further trained for a second phase in order to reduce uncertainty. The system performance has shown that this second phase of training renders the system totally one-way fuzzy adaptive. (C) 2002 Elsevier Science Inc. All rights reserved.
Author Keywords:inconsistency modelling and evaluation, uncertainty reduction, intuitionistic fuzzy sets, shadowed sets, fuzzy adaptive identification for control
KeyWords Plus:SHADOWED SETS, MANIPULATORS, INCONSISTENCY, VAGUENESS, MODELS
Addresses:Erkmen AM, Middle E Tech Univ, Dept Elect & Elect Engn, TR-06531 Ankara, Turkey.Middle E Tech Univ, Dept Elect & Elect Engn, TR-06531 Ankara, Turkey.
Publisher:ELSEVIER SCIENCE INC, NEW YORK
IDS Number:610GJ
ISSN:0020-0255
-- The SOF-PID controller for the control of a MIMO robot arm
Kazemian HBIEEE TRANSACTIONS ON FUZZY SYSTEMS
10: (4) 523-532 AUG 2002
Document type: Article Language: English Cited References: 30 Times Cited: 0
Abstract:The application of a self-organizing fuzzy proportional-integral-derivative (SOF-PID) controller to a multiple-input-multiple-output (MIMO) nonlinear revolute-joint robot arm is studied in this paper. The SOF controller is a learning supervisory controller, making small
changes to the values of the PID gains while the system is in operation. In effect, the SOF controller replaces an experienced human operator, which otherwise would have readjusted the PID gains during the system operation. The three PID gains are tuned using classical tuning techniques prior to the application of the SOF controller at the supervisory level. Two trajectories of step input and path tracking were applied to the SOF-PID controller at the setpoint. For comparison purposes, the same experiments were repeated by using the self-organizing, fuzzy controller (SOFC) and the PID controller subject to the same information supplied at the setpoint. For the step input, the SOF-PID controller produced a faster rise time, a smaller steady state error, and an insignificant overshoot than the SOFC and the PID controller. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the required path closer and smoother than the output trajectories of the SOFC and the PID controller.
Author Keywords:performance index table, self-organizing fuzzy proportional-integral-derivative (SOF-PID) controller, Ziegler-Nichols method and robotics
KeyWords Plus:FUZZY CONTROLLERS
Addresses:Kazemian HB, London Metropolitan Univ, London EC3N 1JY, England.London Metropolitan Univ, London EC3N 1JY, England.
Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK
IDS Number:582VW
ISSN:1063-6706
--- Fuzzy controller for flexible-link robot arm by reduced-order techniques
Lin J, Lewis FLIEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
149: (3) 177-187 MAY 2002
Document type: Article Language: English Cited References: 26 Times Cited: 1
Abstract:The design and analysis of a large-scale control system should be based on the best available knowledge instead of the simplest available model when treating uncertainties in the system. Therefore, a large-scale system is better treated by knowledge-based methods such as fuzzy logic, neural networks, expert systems, etc. This paper concentrates on fuzzy logic using the singular perturbation approach for flexible-link robot arm control. To reduce the spillover effect, we will introduce a singular perturbation approach to derive the slow and fast subsystems. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied to the system. The fast-subsystem controller will damp out the
vibration of the flexible structure by an optimal control method. Hence, the slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations. Various case studies are given to verify the control algorithm. It appears that the fuzzy control method is quite useful in terms of reliability and robustness.
KeyWords Plus:SINGULAR PERTURBATION APPROACH, LOGIC CONTROL, MANIPULATORS, SYSTEMS
Addresses:Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jung Li 320, Taiwan.Ching Yun Inst Technol, Dept Mech Engn, Jung Li 320, Taiwan.Univ Texas, Automat & Robot Res Inst, Arlington, TX USA.
Publisher:IEE-INST ELEC ENG, HERTFORD
IDS Number:568KM
ISSN:1350-2379
---
A via-point time optimization algorithm for complex sequential trajectory formationWada Y, Kawato M
NEURAL NETWORKS 17 (3): 353-364 APR 2004
Document type: Article
Language: English Cited References: 19
Times Cited: 0
Explanation
Abstract:In our previous research, we proposed a method for the reproduction of complex movement trajectories and robot arm control that could mimic fast, skilled human movements. That method is based on bi-directional theory and uses a representation of a set of via-points as boundary conditions or control variables to perform robot arm trajectory control. The via-points are extracted from human movement data and the resultant via-point representation is able to regenerate handwritten characters, control a Kendama toy, and perform a tennis serve. The via-point information contains both spatial and temporal information, that is, the position on the trajectory and the time of passing through the via-point position, respectively. Trajectory generation is performed using the trajectory formation model based on the optimal criterion, namely, the smoothness criterion, for which the boundary conditions are both the position and the timing of the via-point information. However, generating a smooth trajectory at different movement speeds is quite difficult if the time of passing through the via-point position is unknown or different from the extracted via-point time. In this paper, we therefore propose a new algorithm which can determine temporal via-point information. Our proposed algorithm can generate roughly the same trajectory as the
measured human trajectory from only the spatial information of via-point locations. The optimality and the convergence of the new algorithm are investigated theoretically, and the trajectory generated by the algorithm is shown in numerical experiments. It is shown that starting from arbitrary temporal information the proposed algorithm can produce an appropriate trajectory. (C) 2004 Elsevier Ltd. All rights reserved.
Author Keywords:via-point, time trajectory formation, optimization
KeyWords Plus:NEURAL-NETWORK MODEL, TORQUE-CHANGE MODEL, BIDIRECTIONAL THEORY, ARM, GENERATION, MOVEMENTS
Addresses:Wada Y, Nagaoka Univ Technol, 1603-1 Kamitomioka, Nagaoka, Niigata 9402188, Japan Nagaoka Univ Technol, Nagaoka, Niigata 9402188, JapanATR Computat Neurosci Labs, Kyoto 6190288, Japan
Publisher:PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
IDS Number: 808ER ISSN: 0893-6080
---
Effect of prismatic joint inertia on dynamics of kinematic chainsStoenescu ED, Marghitu DB
MECHANISM AND MACHINE THEORY 39 (4): 431-443 APR 2004
Document type: Article
Language: English Cited References: 15
Times Cited: 0
Explanation
Abstract:In this paper the effect of prismatic joint inertia on dynamics of planar kinematic chains with friction is investigated. The mathematical model of a planar kinematic chain consisting of a prismatic joint sliding along a link that is connected to a revolute joint is developed using Lagrange's equations. The influence of the slider inertia on the position of the application point of the joint forces is analyzed. The influence of the slider link inertia on the dynamic response of a spatial robot arm with feedback control is analyzed using Kane's formulation. Larger values of the initial condition response characteristics are observed for larger values of the slider link inertia. Also, the effect of the prismatic joint inertia on the dynamic parameters of a planar mechanism is exemplified using inverse dynamics based on the Newton-Euler method. Numerical results are obtained and compared for zero and larger values of the prismatic joint inertia at different speeds. The numerical simulations reveal that the effect of slider inertia may be negligible at low speeds, but becomes significant at high speeds. (C) 2003 Published by Elsevier Ltd.
KeyWords Plus:MANIPULATORS, ROBOT
Addresses:Marghitu DB, Auburn Univ, Dept Mech Engn, 202 Ross Hall, Auburn, AL 36849 Publisher:PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
IDS Number:806RT ISSN:0094-114X
--
Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task
Erden MS, Leblebicioglu K, Halici UJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
39 (3): 287-306 MAR 2004
Document type: Article
Language: English Cited References: 15
Times Cited: 0
Explanation
Abstract:This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal and vertical distances between the human and robot hands. These are input to all three agents. In developing the fuzzy control rules, effective delivery and avoidance of contact with humans, not to cause physical damage, are considered. The membership functions of the fuzzy controllers are tuned by using genetic algorithms. In tuning, the performance is calculated considering the distance deviation from the direct path, time spent to reach the human hand and energy consumed by the actuators. The proposed multi-agent system structure based on fuzzy control for the object delivery task succeeded in both effective and safe delivery.
Author Keywords: agents, distributed control, fuzzy control, genetic algorithms, membership functions, delivery systems, robot arm
KeyWords Plus: AGENTS
Addresses: Erden MS, Middle E Tech Univ, Dept Elect & Elect Engn, Comp Vis & Intelligent Syst Res Lab, TR-06531 Ankara, TurkeyPublisher:KLUWER ACADEMIC PUBL, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
IDS Number: 805XJ ISSN: 0921-0296
---
Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment
Roy J, Goldberg RP, Whitcomb LLIEEE-ASME TRANSACTIONS ON MECHATRONICS
9 (1): 10-19 MAR 2004
Document type: Article
Language: English Cited References: 21
Times Cited: 0
Explanation
Abstract:This paper reports the mechanical design, structural analysis, and experimental verification of a new high-performance semi-direct drive robot arm. A design-optimization methodology employing finite element analysis (FEA) is reviewed, and a resulting arm design is reported. FEA simulations of the final design predict high structural vibration frequencies throughout the arms workspace. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the arm's workspace. Position-tracking experiments show that the manipulator accurately tracks fast time-varying reference trajectories-peak tip velocities greater than 6 m/s and peak tip accelerations greater than 7 g.
Author Keywords: direct drive robot, finite element analysis (FEA), robot structural design
Addresses: Roy J, Image Guide Inc, Baltimore, MD 21231 USAJohns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA
Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855 USA
IDS Number: 805II ISSN: 1083-4435
A slider crank mechanism based robot arm performance and dynamic analysisKoser K
MECHANISM AND MACHINE THEORY 39 (2): 169-182 FEB 2004
Document type: Article
Language: English Cited References: 16
Times Cited: 0
Explanation
Abstract:This study is concerned with kinematic performance analysis of a slider crank mechanism based robot arm. A new closed kinematic chain robot arm is introduced as an alternative robot manipulator and its structure is presented. The kinematic performance of the robot arm is analyzed by means of robot arm's generalized Jacobian matrix. Inplane manipulability and isotropy of the robot arm are examined. The robot arm's performance is compared with the open chain two link 2R planar robot manipulator. It is shown that slider crank based robot arm has almost full isotropic kinematic performance characteristic and its performance is much better than the best 2R robot arm. Besides, direct and inverse kinematic solutions of the an idealized version of SC robot arm are given. The dynamic equations of motion of the robot arm are derived from Lagrangian formulation. (C) 2003 Elsevier Ltd. All rights reserved.
KeyWords Plus:MANIPULATORS, DESIGN, MANIPULATABILITY, OPTIMIZATION
Addresses:Koser K, Istanbul Tech Univ, Fac Mech Engn, TR-80191 Istanbul, TurkeyIstanbul Tech Univ, Fac Mech Engn, TR-80191 Istanbul, Turkey
Publisher:PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
IDS Number:773DJ ISSN: 0094-114X
----
Intelligent optimal control of single-link flexible robot armWai RJ, Lee MC
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 51 (1): 201-220 FEB 2004
Document type: Article
Language: English Cited References: 26
Times Cited: 0
Explanation
Abstract:This paper addresses the design and properties of an intelligent optimal control for a nonlinear flexible robot arm that is driven by a permanent-magnet synchronous servo motor. First, the dynamic model of a flexible robot arm system with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. In this paper, the vibration states of the nonlinear system are assumed to be unmeasurable, i.e., only the actuator position can be acquired to feed into a suitable control system for stabilizing the vibration states indirectly. Then, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Moreover, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. In addition, numerical simulation and experimental results are given to verify the effectiveness of the proposed control scheme.
Author Keywords:flexible robot arm, fuzzy neural network (FNN), intelligent control, optimal control, permanent-magnet (PM) synchronous, servo motor
KeyWords Plus:NEURAL-NETWORK CONTROL, NONLINEAR-SYSTEMS, FEEDBACK-CONTROL, SLIDING-MODE, DESIGN, MOTOR, TRACKING
Addresses:Wai RJ, Yuan Ze Univ, Dept Elect Engn, Chungli 320, TaiwanYuan Ze Univ, Dept Elect Engn, Chungli 320, Taiwan
Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855 USA
IDS Number: 771WB ISSN: 0278-0046
--
An open-loop control scheme for minimization of residual vibrations of a flexible robotJang WS, Kim KS, Lee SK
EXPERIMENTAL MECHANICS 43 (4): 387-395 DEC 2003
Document type: Article
Language: English Cited References: 8
Times Cited: 0
Explanation
Abstract:The aim of this study is to develop a practical control scheme, called the three-step input method, whereby a flexible robot arm is moved from one position to another with a minimum of residual vibration when the arm reaches its defined endpoint. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self-adjusting input command function that is obtained during real-time processing. The practicality of this control scheme is demonstrated by using an analog computer to simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method requires little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.
Author Keywords: three-step input, flexible robot, residual vibration, self-adjusting input, point-to-point movement, minimum computational effort
Addresses:Jang WS, Chosun Univ, Dept Engn Mech, Kwangju 501759, South KoreaPublisher:SAGE PUBLICATIONS LTD, 6 BONHILL STREET, LONDON EC2A 4PU, ENGLAND
IDS Number: 750NX ISSN: 0014-4851
--
A flexible-arm as manipulator position and force detection unitGu M, Piedboeuf JC
CONTROL ENGINEERING PRACTICE 11 (12): 1433-1448 DEC 2003
Document type: Article
Language: English Cited References: 9
Times Cited: 0
Explanation
Abstract: This paper presents a self-sensory robot arm to two basic sensing problems in control of flexible manipulators: detection of the position and orientation variations due to structural deformation and detection of the contact force of end-effector when manipulator interacts with its environment. Taking advantage of structural flexibility, a flexible robot arm with strain gauges distributed on it acts as a sensing unit. The position and orientation of
flexible arm are expressed as a function of curvature of the arm. An interpolation technique gives this continuous curvature function from a finite set of measurements made with strain gauges. A relation between strain measurements and endpoint force of flexible arm is developed and the contact force of end-effector is then determined using a force propagation algorithm. The proposed technique and algorithm were implemented and evaluated in a laboratorial flexible arm. Experimental validations using a vision system and two force sensors have shown that the self-sensory flexible arm can provide accurate endpoint position and force in both static and dynamic loading situations. (C) 2003 Elsevier Science Ltd. All rights reserved.
Author Keywords: flexible arm, manipulator, endpoint, force detection, estimation algorithms, experimental validation
Addresses: Gu M, Canadia Space Agcy, Space Technol, 6767 Route Aeroport, St Hubert, PQ J37 8Y9, CanadaPublisher: PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
IDS Number: 747PQ ISSN: 0967-0661
---
Databáze Dialog- KS: /dotaz/ (robot and arm) not (mobil? or huma? or training? or hydraulic? or inter? or telerobot? or biolog? or medic? or vision?)
Remote controlled robot arm Safaric, R.; Hedrih, I.; Klobucar, R.; Sorgo, B. Fac. of Electr. Eng. & Comput. Sci., Maribor Univ., Slovenia Conference: 2003 IEEE International Conference on Industrial Technology (IEEE Cat. No.03TH8685) Part: Vol.2 , Page: 1202-7 Vol.2 Publisher: IEEE , Piscataway,NJ, USA , 2003 , 1364 Pages Conference: 2003 IEEE International Conference on Industrial Technology , Sponsor: IEEE Industrial Electronics Soc., Univ. of Maribor , 10-12 Dec. 2003 , Maribor, Slovenia Language: English
Abstract: The paper describes a method of education and training involving off-line usage of virtual environments (VE) for task planning. When programmed tasks of a robot arm in the virtual world are developed to the satisfaction of the trainee, they are exported to a remote physical hardware, via the Internet, for the real world execution. The on-line feedback data from the robot arm and live video picture are sent back to the remote client via Internet. Development of the Remote Laboratory (RLab) system connected with a remote controlled on-line video system and the training experiments are discussed, along with some of the issues raised for telerobotics. (10 References)
Optimal and stable fuzzy controllers for nonlinear systems based on an improved genetic algorithm Leung, F.H.F.; Lam, H.K.; Ling, S.H.; Tam, P.K.S. Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., Kowloon, China IEEE Transactions on Industrial Electronics , vol.51, no.1 , Page: 172-82 Publisher: IEEE , Feb. 2004 Language: English
Abstract: This paper addresses the optimization and stabilization problems of nonlinear systems subject to parameter uncertainties. The methodology is based on a fuzzy logic approach and an improved genetic algorithm (GA). The TSK fuzzy plant model is employed to describe the dynamics of the uncertain nonlinear plant. A fuzzy controller is then obtained to close the feedback loop. The stability conditions are derived. The feedback gains of the fuzzy controller and the solution for meeting the stability conditions are determined using the improved GA. In order to obtain the optimal fuzzy controller, the membership functions are further tuned by minimizing a defined fitness function using the improved GA. An application example on stabilizing a two-link robot arm will be given. (19 References)
Intelligent optimal control of single-link flexible robot arm Rong-Jong Wai; Meng-Chang Lee Dept. of Electr. Eng., Yuan Ze Univ., Chung Li, Taiwan IEEE Transactions on Industrial Electronics , vol.51, no.1 , Page: 201-20 Publisher: IEEE , Feb. 2004 Language: English Abstract: This paper addresses the design and properties of an intelligent optimal control for a nonlinear flexible robot arm that is driven by a permanent-magnet synchronous servo motor. First, the dynamic model of a flexible robot arm system with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. In this paper, the vibration states of the nonlinear system are assumed to he unmeasurable, i.e., only the actuator position can be acquired to feed into a suitable control system for stabilizing the vibration states indirectly. Then, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Moreover, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. In addition, numerical simulation and experimental results are given to verify the effectiveness of the proposed control scheme.
Analysis on a flexible forging cell Aksakal, B. Mech. Eng. Fac., Ataturk Univ., Erzurum, Turkey Indian Journal of Engineering and Materials Sciences , vol.10, no.2 , Page: 113-22 Publisher: CSIR , April 2003 Language: English
Abstract: Forging and pressing in manufacturing industry has not been adapted to flexible manufacturing systems (FMS). Predictions on the metal flow and required power have been made here through the upper bound analysis by applying various amounts of deformation in an incremental manner. In order to observe the final dimensions and the structural changes during open die forging, the 6082 aluminium billets (annealed at 425 degrees C for two hours and cooled in the air) have been subjected to cold deformation between simple flat tools. The TEM observations have been made for different parts of the locally deformed aluminium billets to show dislocation behaviour during multi-cycle cold open die forging process. Formation of a flexible forging cell (FFC), as an initial step to FMS is also described here. A simple control system is proposed to enable a communication link between computer, press and robot arm. The robot ann manipulates workpiece between upper and lower dies, where fixed on the press, to run multi compression and rotation cycles in forging of simple rectangular and square cross-section components.
Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra Gurkan, E.; Banks, S.P.; Erkmen, I. Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey Conference: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Part: Vol.5 , Page: 4717-22 Vol.5 Publisher: IEEE , Piscataway, NJ, USA , 2003 , ciii+6583 Pages Conference: 42nd IEEE International Conference on Decision and Control , Sponsor: Honeywell Lab., Xerox, Nat. Instruments, Math Works , 9-12 Dec. 2003 , Maui, HI, USA Language: English
Abstract: In this paper, we develop a novel approach for the stability of T-S fuzzy systems using the Lie algebra generated by the linear subsystems used in the T-S model. The theory is illustrated on the T-S fuzzy model of a flexible joint robot arm. We use our approach to design a controller satisfying our Lie algebra based stability criteria and demonstrate its performance on the robotic system.
Application fo genetic algorithm in optimum route planning of SCARA model assemble robot Wang Yu-Yan; Yab Bao-Ding; Yuan Hui Electron. & Inf. Eng. Coll., Henan Univ. of Sci. & Technol., Luoyang, China Journal of Luoyang Institute of Technology , vol.24, no.3 , Page: 79-81 Publisher: Editorial Dept. J. Luoyang Inst. Technol , 2003 Language: Chinese
Abstract: The overall route planning problem of a SCARA type assembly robot is a kind of typical robot route planning problem. Through the analysis to this problem's characteristic, this problem is turned into a Traveling Salesman Problem. Then, by optimizing the choice, crossing, genetic variation algorithm and relevant parameters, a good overall route planning algorithm is obtained. Emulation and experiment indicate that optimum and sub-optimum answers can be got with the use of this algorithm.
Variable structure control for a two-link robot arm Huang, Y.J. Dept. of Electr. Eng., Yuan-Ze Univ., Chung-li, Taiwan
Electrical Engineering , vol.85, no.4 , Page: 195-204 Publisher: Springer-Verlag , Sept. 2003 Language: English
Abstract: In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.
Analysis of the effect of backlash and joint acceleration measurement noise in the adaptive control of electro-mechanical systems Tar, J.K.; Rudas, I.J.; Bito, J.F.; Horvath, L.; Kozlowski, K. Budapest Polytechic, Hungary Conference: 2003 IEEE International Symposium on Industrial Electronics ( Cat. No.03TH8692) Part: vol. 1 , Page: 286-91 vol. 1 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 2 vol. 1159 Pages Conference: 2003 IEEE International Symposium on Industrial Electronics , Sponsor: Ind. Electron. Soc., IEEE, COPPE-Federal Univ. of Rio de Janeiro , 9-11 June 2003 , Rio de Janeiro, Brazil Language: English
Abstract: A new branch of computational cybernetics was developed on the principles akin to that of the traditional soft computing (SC). At the costs of limited expired circle of applications a priori known, uniform, lucid structure of reduced size can replace the normally enormous structures of traditional soft computing. Furthermore, traditional deterministic, semi-stochastic or stochastic machine learning can be replaced by simple and short explicit algebraic procedures especially fit to real time applications since in this way considerable computational advantages can be achieved. The key element of the approach the modified renormalization Transformation supported by the application of a simple linear transformations, and the use of some simple interpolation or prediction technique. It is analysed how the quality of control is influenced by the backlash of the robot's joints and by the noise of the joint acceleration measurements in the presence of unmodeled internal mechanical and electric degrees of freedom. Simulation examples are presented for the control of DC electric motors driven 3 DOF SCARA arm by the use of a special family of symplectic transformations. It is concluded that the method is surprisingly robust against considerable noise and backlash.
Compensation for dead-zone of actuators in mechatronic servo systems by nonlinear separation control Goto, S.; Motoyama, Y.; Nakamura, M. Graduate Sch. of Sci. & Eng., Saga Univ., Japan Transactions of the Institute of Electrical Engineers of Japan, Part C , vol.123-C, no.11 , Page: 1996-2002 Publisher: Inst. Electr. Eng. Japan , Nov. 2003 Language: Japanese
Abstract: This paper described a compensation method for actuator dead-zone in mechatronic servo systems. The proposed compensation method used a concept of the nonlinear separation control, and diminished dead-zone defect by taking an inversion of the dead-zone characteristics. The proposed dead-zone compensation by nonlinear separation control has been successfully applied to contour control of a pantograph type robot arm and stability control of an inverted pendulum.
Input shaping with robustness to perturbation of system parameters and its application for flexible robot arm Kezobo, I.; Ogata, K.; Sugawara, Y.; Hayakawa, Y. Fac. of Eng., Nagoya Univ., Japan Transactions of the Society of Instrument and Control Engineers , vol.39, no.11 , Page: 1039-47 Publisher: Soc. Instrum. & Control Eng , 2003 Language: Japanese
Abstract: This paper presents a new input shaping design for flexible system with perturbation of system parameters. Typical input shaping is designed by modal parameters and robust to the modal parameter uncertainties. However, robustness to perturbation of certain interesting system parameters has not been explicitly provided. We formulate the input shaping design problem which minimizes the probable residual vibration under the existence of uncertain parameters, and translate this problem into LMI problem. The new input shaper we propose is experimentally verified on the flexible robot arm.
Flexible motion realized by force-free control: pull-out work by an articulated robot arm Kushida, D.; Nakamura, M.; Goto, S.; Kyura, N. Dept. of Adv. Syst. Control Eng., Saga Univ., Japan International Journal of Control, Automation, and Systems , vol.1, no.4 , Page: 464-73 Publisher: Korean Inst. Electr. Eng.; Inst. Control, Automation, & Syst. eng , Dec. 2003 Language: English
Abstract: A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.
Robust regulator design for an arm manipulator Gonzalez, L.; Rodriguez, J. IPN, CITEDI, Tijuana, Mexico Conference: IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Part: vol.1 , Page: 472-7 vol.1 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 3224 Pages Conference: IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society , Sponsor: IEEE Industrial Electronics Soc , 2-6 Nov. 2003 , Roanoke, VA, USA Language: English
Abstract: We consider the design of a robust regulator for a 3 DOF robot that is affected by poor repeatability. Instead of applying a nonlinear control an Hoo design was superposed on top of the manufacturer's. From previous recommended methods and a good understanding of the plant a set of weights were selected as to guarantee the solution of the optimization problem. A robust system with excellent regulation properties was reach showing also good tracking features.
Model-based fault detection and isolation method using ART2 neural network Lee, I.S.; Kim, J.T.; Lee, J.W.; Lee, D.Y.; Kim, K.Y. Sch. of Electron. & Electr. Eng., Sangju Nat. Univ., Kyungpook, South Korea International Journal of Intelligent Systems , vol.18, no.10 , Page: 1087-100 Publisher: Wiley , Oct. 2003 Language: English
Abstract: We present a model-based fault diagnosis method to detect and isolate faults in the robot arm control system. The proposed algorithm is composed functionally of three main parts: parameter estimation, fault detection, and isolation. When a change in the system occurs, the errors between the system output and the estimated output cross a predetermined threshold, and once a fault in the system is detected, the estimated parameters are transferred to the fault classifier by the adaptive resonance theory 2 neural network (ART2 NN) with uneven vigilance parameters for fault isolation. The simulation results show the effectiveness of the proposed ART2 NN-based fault diagnosis method.
An efficient constraint force computation in multibody system Sung-Soo Kim; Jin Young You Dept. of Mechatronics Eng., Chungnam Nat. Univ., Daejon, South Korea JSME International Journal, Series C (Mechanical Systems, Machine Elements and Manufacturing) , vol.46, no.2 , Page: 476-82 Publisher: JSME , June 2003 Language: English
Abstract: An efficient method for constraint force analysis of specified joints has been developed in a serially connected open chain multibody system. In the method, the system equations of motion are derived using the recursive formulation, but constraint forces are computed non-recursively for specified joints. The efficiency of the proposed formulation has been compared with the recursive Newton-Euler formulation by the operational counting and the CPU time measure. To validate solution accuracy of the proposed method, the 7 d.o.f RRC robot arm simulation has been carried out. Essentially the same simulation results are obtained from the proposed method and from the commercial dynamics analysis program DADS.
Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm Kennedy, C.W.; Desai, J.P. MEM Dept., Drexel Univ., Philadelphia, PA, USA Conference: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) Part: vol.3 , Page: 3331-6 vol.3 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 4 vol.lxxiv+3828 Pages Conference: 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ,
Sponsor: IEEE Robotics & Autom. Soc., IEEE Ind. Electron. Soc., Robotics Soc. Japan, Soc. Instrum. & Control Eng., New Technol. Found , 27-31 Oct. 2003 , Las Vegas, NV, USA Language: English
Abstract: The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using very low feedback gains. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based control. We have chosen the elbow pitch joint (joint 4) of the PA-10 robot arm for estimation and modeling purposes. We have done several experiments to identify the various parameters of the harmonic drive system. We conclude with a sample trajectory tracking task whereby the feedback torque required to do trajectory tracking with and without the parameter identification of the HDT is significantly different.
An open-loop control scheme for minimization of residual vibrations of a flexible robot Jang, W.S.; Kim, K.S.; Lee, S.K. Dept. of Mech. Eng., Chosun Univ., Kwangju, South Korea Experimental Mechanics , vol.43, no.4 , Page: 387-95 Publisher: Sage Science Press , Dec. 2003 Language: English
Abstract: The aim of this study is to develop a practical control scheme, called the three-step input method, whereby a flexible robot arm is moved from one position to another with a minimum of residual vibration when the arm reaches its defined endpoint. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self-adjusting input command function that is obtained during real-time processing. The practicality of this control scheme is demonstrated by using an analog computer to simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method requires little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.
A design of servo controller for nonlinear systems using state dependent Riccati equation Terashima, S.; Iwase, M.; Furuta, K.; Suzuki, S.; Hatakeyama, S. Dept. of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama, Japan Conference: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Part: vol.4 , Page: 3864-9 vol.4 Publisher: IEEE , Piscataway, NJ, USA , 2003 , ciii+6583 Pages Conference: 42nd IEEE International Conference on Decision and Control , Sponsor: Honeywell Lab., Xerox, Nat. Instruments, Math Works , 9-12 Dec. 2003 , Maui, HI, USA Language: English
Abstract: In this paper, we present a new servo controller for nonlinear manipulator system designed by using the idea of the model-following servo controller. The control method proposed does not require the linearization but can consider the internal forces at joints. In order to derive the nonlinear model including the internal forces at each joints during the control, the projection method proposed by W. Blajer et al.(1992) is employed. The nonlinear control input is given by repeated computation of the Riccati equation depending on the state,
called State Dependent Riccati Equation. To verify the effectiveness of the approach, we have designed and realized the proposed tracking controller for two link SCARA type robot.
Manipulator velocity field control with dynamic friction compensation Moreno, J.; Kelly, R. Div. de Fisica Aplicada, CICESE, Ensenada, Mexico Conference: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Part: vol.4 , Page: 3834-9 vol.4 Publisher: IEEE , Piscataway, NJ, USA , 2003 , ciii+6583 Pages Conference: 42nd IEEE International Conference on Decision and Control , Sponsor: Honeywell Lab., Xerox, Nat. Instruments, Math Works , 9-12 Dec. 2003 , Maui, HI, USA Language: English
Abstract: A velocity field controller for robot manipulators is proposed in this paper. The control structure is based on the use of a velocity field kinematic control scheme for joint velocity resolution and a joint velocity controller. Since dynamic friction is considered at the robot joints, the inner joint velocity, controller uses an observer for friction compensation. The proposed scheme has been implemented on a two degrees-of-freedom direct-drive arm, illustrating the performance of the proposed observer-based controller.
Adaptive gain sliding observer based sliding controller for uncertain parameters nonlinear systems. Application to flexible joint robots Filipescu, A.; Dugard, L.; Dion, J.-M. Dept of Autom. Appl. Inf. & Electron., Univ. "Dunarea de Jos" of Galati, Galat, Romania Conference: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Part: vol.4 , Page: 3537-42 vol.4 Publisher: IEEE , Piscataway, NJ, USA , 2003 , ciii+6583 Pages Conference: 42nd IEEE International Conference on Decision and Control , Sponsor: Honeywell Lab., Xerox, Nat. Instruments, Math Works , 9-12 Dec. 2003 , Maui, HI, USA Language: English
Abstract: An adaptive gain smooth sliding controller, based on a smooth sliding observer, is developed to control nonlinear SISO affine systems with uncertain parameters and state functions. Furthermore, an adaptively updated parameter term is introduced in the steady state space model of the controlled system in order to obtain useful information despite fault detection. Using a sliding observer with smooth switching function and adaptive gain increases the robustness w.r.t. uncertainties. The adaptive gains smooth sliding observer and controller are designed to fulfill the attractiveness condition on the corresponding switching surfaces. An application to a single arm, flexible joint robot is presented. In order to alleviate chattering in the observer and the controller, a parameterized tangent hyperbolic is used as a switching function, instead of a pure relay one. The gain of the switching function is adaptively updated, depending on the estimation error or on tracking error.
Dynamic neuro-fuzzy adaptive control for flexible-link manipulators based on dynamic inversion Fu-Chun Sun; Ling-Bo Zhang; Hua-Ping Liu; Zeng-Qi Sun Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China Conference: Proceedings of the 2003 IEEE International Symposium on Intelligent Control
(IEEE Cat. No.03CH37461) , Page: 432-7 Publisher: IEEE , Piscataway, NJ, USA , 2003 , xv+1038 Pages Conference: Proceedings of the 2003 IEEE International Symposium on Intelligent Control , Sponsor: IEEE Control Syst. Soc , 5-8 Oct. 2003 , Houston, TX, USA Language: English
Abstract: A dynamic neuro-fuzzy (DNF) adaptive control system is presented in this paper for the trajectory tracking of a flexible-link manipulator with poorly known dynamics, where the robot tip vibration is measured by position sensitive detectors (PSDs). Based on the singular perturbation method and two time-scale decompositions, the robot dynamics is approximated by a slow subsystem of an equivalent rigid arm and a fast subsystem of flexible mode. Then, the DNF adaptive controller based on dynamic inversion is designed for the tracking control of the equivalent rigid arm, while a fuzzy proportional derivative (PD) type controller is used to stabilize the elastic dynamics using PSDs measurement feedback. The NF learning algorithm and the stability proof of the closed-loop system are given, and an upper bound for the singular perturbation parameter is also obtained. Finally, the real-time experiment is conducted to show the viability and effectiveness of the proposed control approach.
Design and kinematic analysis of a modular hybrid parallel-serial manipulator Guilin Yang; Weihai Chen; Edwin Hui Leong Ho Div. of Autom. Tech., Singapore Inst. of Manuf. Technol., Singapore Conference: 2002 7th International Conference on Control, Automation, Robotics and Vision (IEEE Cat. No.02EX649) Part: vol.1 , Page: 45-50 vol.1 Publisher: Nanyang Technological Univ , Singapore , 2002 , 3 vol.1718 Pages Conference: ICARV 2002: The Seventh International Conference on Control, Automation, Robotics and Vision , 2-5 Dec. 2002 , Singapore Language: English
Abstract: In this paper, we propose a novel design of a hybrid 6-DOF parallel-serial manipulator. It consists of a 3-DOF planar parallel platform (lower part) and a 3-DOF serial robot arm (upper part). Benefiting from the hybrid kinematic structure, the manipulator possesses compromised performance between the serial robot and the parallel one, e.g., larger reachable and dexterous workspace (comparing with a parallel robot), and higher rigidity and loading capacity (comparing with a serial robot). It order to rapidly deploy the system, the modularity design concept is employed in the system development. Based on the modular and symmetric design, the symbolic closed-form solutions for both forward and inverse displacement analysis are derived, which are great helps for the motion planning, computer simulation, and on-line control of the hybrid manipulator. Computation examples are provided to verify the proposed kinematic analysis algorithms.
Tracking control for two link robot arm using neural network with simultaneous perturbation learning rule Maeda, Y.; Onishi, H. Fac. of Eng., Kansai Univ., Suita, Japan Transactions of the Institute of Electrical Engineers of Japan, Part C , vol.123-C, no.9 , Page: 1605-11
Publisher: Inst. Electr. Eng. Japan , Sept. 2003 Language: Japanese
Abstract: Neural networks are widely used for many fields including control problems. When we use a neural network as a controller, the direct inverse control scheme is the simplest approach. However, the scheme using the back-propagation method requires information, e.g. Jacobian, of an objective. If the objective is nonlinear, it will be difficult to know the information. Using the simultaneous perturbation learning rule, we can construct a neuro-controller, which is an inverse system of the objective or a proper controller, under the direct inverse control scheme without any information on the objective. In this paper, we report a tracking control for a two link robot arm using a neuro-controller with the simultaneous perturbation learning rule. Details of the proposed control scheme are described. Some simulation results and a result for a real two link robot arm show that the control scheme is feasible and useful.
Two-time scale fuzzy logic controller of flexible link robot arm Lin, J.; Lewis, F.L. Dept. of Mech. Eng., Ching Yun Inst. of Technol., Jung-Li, Taiwan Fuzzy Sets and Systems , vol.139, no.1 , Page: 125-49 Publisher: Elsevier , 1 Oct. 2003 Language: English
Abstract: A flexible link arm is a distributed system of infinite order, but due to onboard computer limitations, sensor inaccuracy, and system noise, it must be approximated by a lower-order model and controlled by a finite-order controller. The main object of this paper is concentrated on the hierarchical fuzzy logic by the singular perturbation approach for flexible-link robot arm control. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller is applied for such system. In this paper, the fast-subsystem controller damps out the vibration of the flexible structure using two hierarchical fuzzy logic controllers. Moreover, the other slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations. In addition, various case studies are given to verify the control algorithm. It appears that the fuzzy control method is quite useful as regards to reliability and robustness.
Time-scaling of trajectories for point-to-point robotic tasks Moreno-Valenzuela, J. Centro de Investigacion y Desarrollo de Technologia Digital, CITEDI-IPN, Tijuana, Mexico Conference: Proceedings of the IASTED International Conference on Circuits, Signals, and Systems , Page: 128-33 Editor: Rashid, M.H. Publisher: ACTA Press , Anaheim, CA, USA , 2003 , iv+436 Pages Conference: Proceedings of the IASTED International Conference on Circuits, Signals, and Systems , Sponsor: IASTED , 19-21 May 2003 , Cancun, Mexico Language: English
Abstract: This paper addresses the problem of robotic tasks consisting in time-optimal point-to-point motion under limited torque input. This class of tasks can be performed by the classical approach of trajectory tracking control using a minimum-time trajectory. However, the tracking of the time-optimal trajectory leaves no control faculty to compensate for
tracking errors entailed by model uncertainties. In order to overcome the performance errors, we introduce an algorithm that search for online time-scaling of the time-optimal point-to-point trajectory. A numerical example for a two degrees-of-freedom arm is provided, illustrating the tracking accuracy of the proposed method.
Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: theory and experiment Roy, J.; Goldberg, R.P.; Whitcomb, L.L. Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA IEEE/ASME Transactions on Mechatronics , vol.9, no.1 , Page: 10-19 Publisher: IEEE , March 2004 Language: English
Abstract: This paper reports the mechanical design, structural analysis, and experimental verification of a new high-performance semi-direct drive robot arm. A design-optimization methodology employing finite element analysis (FEA) is reviewed, and a resulting arm design is reported. FEA simulations of the final design predict high structural vibration frequencies throughout the arms workspace. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the arm's workspace. Position-tracking experiments show that the manipulator accurately tracks fast time-varying reference trajectories-peak tip velocities greater than 6 m/s and peak tip accelerations greater than 7 g.
Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm Burkan, R.; Uzmay, I. Vocational Coll. of Kayseri, Erciyes Univ., Kayseri, Turkey Robotics and Autonomous Systems , vol.45, no.2 , Page: 99-110 Publisher: Elsevier , 30 Nov. 2003 Language: English
Abstract: In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies, uncertainty bound is determined with the estimation law to control the system properly and the estimation law is written as an exponential function of robot kinematics, inertia parameters and tracking error. Due to asymptotic stability and increasing convergence rate, tracking performance for the case of transient and steady-state are increased.
Hierarchical velocity field control for robot manipulators Moreno, J.; Kelly, R. Tecnologia Digital, Centro de Investigacion y Desarrollo, Leon, Mexico Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Part: vol.3 , Page: 4374-9 vol.3 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 3 vol.lii+4450 Pages Conference: IEEE International Conference on Robotics and Automation. IEEE ICRA 2003
Conference Proceedings , Sponsor: IEEE Robotics & Autom. Soc., Nat. Sci. Council, Taiwan,, Ministr. Educ., Taiwan , 14-19 Sept. 2003 , Taipei, Taiwan Language: English
Abstract: This paper concerns the velocity field control in operational space of robot manipulators. Velocity field control is a recent control formulation in robotics. A velocity field defines the desired robot velocity in the operational space as a function of its current position, thus the robot performs the desired motions. In this paper, a controller is proposed for operational space velocity field control. The proposed controller is based on a hierarchical structure that result of using the kinematic control concept and a joint velocity controller. Experimental results on a two degrees-of-freedom direct-drive robot arm illustrate the viability of the proposed scheme.
Planning multi-goal tours for robot arms Saha, M.; Sanchez-Ante, G.; Latombe, J.-C. Dept. of Comput. Sci., Stanford Univ., CA, USA Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Part: vol.3 , Page: 3797-803 vol.3 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 3 vol.lii+4450 Pages Conference: IEEE International Conference on Robotics and Automation. IEEE ICRA 2003 Conference Proceedings , Sponsor: IEEE Robotics & Autom. Soc., Nat. Sci. Council, Taiwan,, Ministr. Educ., Taiwan , 14-19 Sept. 2003 , Taipei, Taiwan Language: English
Abstract: This paper considers the following multi-goal motion planning problem: a robot arm must reach several goal configurations in some sequence, but this sequence is not given. Instead, the robot's planner must compute an optimal or near-optimal path through the goals. This problem occurs, for instance, in spot-welding, inspection, and measurement tasks. It combines two computationally hard sub-problems: the shortest-path and traveling-salesman problems. This paper describes a greedy algorithm that operates under the assumption that the number of goals is relatively small (a few dozen at most) and the computational cost of finding a good path between two goals dominates that of finding a good tour in a graph with edges of given costs. Although the algorithm computes a quadratic number of goal-to-goal paths in the worst case, it is much faster in practice.
A Jacobian-based redundant control strategy for the 7-DOF WAM Lau, H.Y.K.; Wai, L.C.C. Dept. of Ind. & Manuf. Syst. Eng., Hong Kong Univ., China Conference: 2002 7th International Conference on Control, Automation, Robotics and Vision (IEEE Cat. No.02EX649) Part: vol.2 , Page: 1060-5 vol.2 Publisher: Nanyang Technological Univ , Singapore , 2002 , 3 vol.1718 Pages Conference: ICARV 2002: The Seventh International Conference on Control, Automation, Robotics and Vision , 2-5 Dec. 2002 , Singapore Language: English
Abstract: The mapping between the Cartesian space and joint space of robot manipulators has long been a difficult task for redundant robots. Two main methods are used in the classical approach. One is by using direct kinematic inversion in the position regime; the other
is to use Jacobian Transformation in the velocity regime. However, for a redundant robot, a non-squared Jacobian matrix is resulted when mapping between the two spaces. This results in using appropriate optimization algorithms to compute along with the Jacobian matrix. Taking the second approach, the Jacobian matrix for a redundant robot will be non-square. One approach to obtain a solution is to use pseudo inverse, this approach is however computational intensive. This paper presents a pragmatic approach by which a joint of a 7-DOF whole arm manipulator (WAM) is initially fixed to facilitate the computation of the squared Jacobian matrix. Based on this approach, appropriate optimization strategies that are outlined in the paper, can then be applied to determine the optimal value of the 'fixed' joint in real time. Experiments are performed to verify the viability of this approach, and the results established that a robust and flexible Cartesian trajectory planning framework can be achieved for general redundant manipulators.
Mechanical design for assembly of a 4-DOF robotic arm utilizing a top-down concept Banka, N.; Lin, Y.J. Dept. of Mech. Eng., Akron Univ., OH, USA Robotica , vol.21, pt.5 , Page: 567-73 Publisher: Cambridge University Press , Sept.-Oct. 2003 Language: English
Abstract: This paper proposes an effective top-down design approach for the mechanical design for assembly of a four degree-of-freedom revolute jointed robotic arm. The design process begins by specifying top-level design criteria and passing down these criteria from the top level of the manipulator's structure to all of the subsequent components. With this proposed approach, the sequential design intents are captured, organized and implemented based on the entire system's objectives, as opposed to the conventional design process which aims at individual components' optimization. By considering the mechanical arm's performance objectives, the design starts with modeling the integration of all the individual links constituting the manipulator. During the design process, modifications are made based on the integrated information of kinematics, dynamics, and structural analyses of the desired robot configurations as a whole. An optimum assembly design is then achieved with workable subdesigns of the manipulator components. As a result, the proposed approach for manipulator design yields substantially less number of iterations, automatic propagation of design changes, and great saving of design efforts. Thus, it is suitable and can be used as a guideline for design automation purposes of complex systems such as robotic arms.
Intelligent control of non-linear plants using type-2 fuzzy logic and neural networks Melin, P.; Castillo, O. Dept. of Comput. Sci., Tijuana Technol. institute, Mexico Conference: Proceedings of the International Joint Conference on Neural Networks 2003 (Cat. No.03CH37464) Part: vol.2 , Page: 1558-62 vol.2 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 4 vol. (lxiv+3261) Pages Conference: 2003 International Joint Conference on Neural Networks , Sponsor: Int. Neural Network Soc., IEEE Neural Networks Soc , 20-24 July 2003 , Portland, OR, USA Language: English
Abstract: We describe in this paper adaptive model-based control of non-linear plants using type-2 fuzzy logic and neural networks. First, the general concept of adaptive model-based control is described. Second, the use of type-2 fuzzy logic for adaptive control is described.
Third, a neuro-fuzzy approach is proposed to learn the parameters of the fuzzy system for control. A specific non-linear plant is used to test the hybrid approach for adaptive control. A specific plant was used as test bed in the experiments. The non-linear plant that was considered is the "Pendubot", which is a non-linear plant similar to the two-link robot arm. The results of the type-2 fuzzy logic approach for control were good, both in accuracy and efficiency.
Dynamic sliding PID control for tracking of robot manipulators: theory and experiments Parra-Vega, V.; Arimoto, S.; Yun-Hui Liu; Hirzinger, G.; Akella, P. Mechatronics Div.-CINVESTAV, Mexico City, Mexico IEEE Transactions on Robotics and Automation , vol.19, no.6 , Page: 967-76 Publisher: IEEE , Dec. 2003 Language: English
Abstract: For a class of robot arms, a proportional-derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional-integral-derivative (PID) controllers guarantee local regulation without gravity cancellation. However, these controllers cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed. A dynamic sliding mode without reaching phase is enforced, and terminal attractors, as well as saturated ones, are considered. A comparative experimental study versus PD control, PID control, and adaptive control for a rigid robot arm validates our design.
Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm Goto, S.; Nakamura, N.; Kyura, N. Dept. of Adv. Syst. Control Eng., Saga Univ., Japan Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Part: vol.3 , Page: 4386-91 vol.3 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 3 vol.lii+4450 Pages Conference: IEEE International Conference on Robotics and Automation. IEEE ICRA 2003 Conference Proceedings , Sponsor: IEEE Robotics & Autom. Soc., Nat. Sci. Council, Taiwan,, Ministr. Educ., Taiwan , 14-19 Sept. 2003 , Taipei, Taiwan Language: English
Abstract: Forcefree control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the forcefree control was extended to realize flexible motion emulating operational circumstance free of inertia, friction and gravity through the independent compensation of inertia, friction and gravity. The property of the forcefree control with independent compensation was also investigated by experimental study of an actual industrial articulated robot arm, where the external force was measured with a force sensor which was attached to the tip of the robot arm.
High speed and high accuracy control of industrial articulated robot arms with jerk restraint by spline interpolated taught data Goto, S.; Iwagana, T.; Kyura, N.; Nakamura, M. Adv. Syst. Control Eng., Saga Univ., Japan
Transactions of the Institute of Electrical Engineers of Japan, Part D , vol.123-D, no.9 , Page: 1071-80 Publisher: Inst. Electr. Eng. Japan , Sept. 2003 Language: English
Abstract: In industrial robot arms, high speed and high accurate operation is required. However in case of high speed operation, it often arises high jerk, i.e., rapid change of acceleration. Jerk causes deterioration of control performance such as vibration of a tip of a robot arm. It is, therefore, important to reduce jerk during robot arm operation. In this research, spline interpolation is used to reduce jerk under torque and speed constraints. Effectiveness of the proposed method was assured by experimental results and simulation results of an actual robot arm.
Velocity control of robot manipulators: analysis and experiments Moreno, J.; Kelly, R. Div. de Fisica Aplicada, CICESE, Ensenada, Mexico International Journal of Control , vol.76, no.14 , Page: 1420-7 Publisher: Taylor & Francis , 20 Sept. 2003 Language: English
Abstract: This paper addresses the velocity control of robot manipulators in joint space, assuming Lagrangian non-linear dynamics, by three control schemes resulting as extensions of proportional-integral velocity regulators of direct current motors. The feasibility of these control strategies is evaluated through experiments on a two degree-of-freedom direct-drive arm.
Predictive controller design for flexible link manipulator Shipitko, I.A.; Zmeu, K.V. Conference: Proceedings of the 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists. Modern Technique and Technologies. MTT'2002 (Cat. No.02EX550) , Page: 69-70 Publisher: IEEE , Piscataway, NJ, USA , 2002 , 212 Pages Conference: Modern Technique and Technologies. MTT'2002. 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists , 8-12 April 2002 , Tomsk, Russia Language: English
Abstract: The manipulating system of modern high-speed industrial robot may often contain the links with lowered mechanical rigidity. As the result, such a manipulating system possesses the increased level of vibrations and link's deformations under it's own weight and load. This leads to additional trajectory control and positioning error of the manipulator arm. So the control of flexible links manipulator is a complex problem. The control algorithm for the flexible link manipulator is offered for further explores. The algorithm is build with the use of model predictive control technique.
Kinematics of service robot bionics arm Shi Kai-fei; Li Rui-feng Robot Res. Inst., Harbin Inst. of Technol., China Journal of the Harbin Institute of Technology , vol.35, no.7 , Page: 806-8
Publisher: Harbin Inst. Technol , July 2003 Language: Chinese
Abstract: The kinematics analysis on a service robot bionics arm is presented and the kinematics inverse solution for 7-degrees of freedom (DOF) arm is gained in two ways: l) degenerating 7-DOF to 6-DOF, 2) dividing the manipulator into arm and wrist. The orientation and the position of spherical wrist are resolved in this way, while the properties of redundancy are kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.
Implementation of artificial intelligent control in single-link flexible robot arm Rong-Jong Wai; Rou-Yong Duan; Wen-Hung Wang; Li-Wei Liu Dept. of Electr. Eng., Yuan-Ze Univ., Chung-li, Taiwan Conference: Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694) Part: vol.3 , Page: 1270-5 vol.3 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 3 vol.xlvi+1556 Pages Conference: Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation , Sponsor: IEEE Robotics & Automation Soc , 16-20 July 2003 , Kobe, Japan Language: English
Abstract: This study addresses the design and properties of an intelligent optimal control of a nonlinear flexible robot arm that is driven by a permanent magnet (PM) synchronous servo motor. The dynamic model of a flexible robot arm system with a tip mass is introduced initially. Moreover, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximate error. In addition, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The effectiveness of the proposed control scheme is verified by both the numerical simulation and experimental results.
A new design of hierarchical fuzzy hybrid position/force control for flexible link robot arm Lin, J.; Tung-Sheng Chiang Dept. of Mech. Eng., Ching Yun Inst. of Technol., Jung-Li City, Taiwan Conference: Proceedings of the 2003 American Control Conference (Cat. No.03CH37465) Part: vol.6 , Page: 5239-44 vol.6 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 6 vol.(lxix+lxi+5426) Pages Conference: Proceedings of 2003 American Control Conference , Sponsor: American Automatic Control Council, IFAC , 4-6 June 2003 , Denver, CO, USA Language: English
Abstract: The subject of this article is the examination of dynamics and a control issue of a robotic manipulator modeled with link structural flexibility during execution of a task that requires the robot tip to contact fixed rigid objects in the work environment. In this paper, the hybrid position/force control for a flexible link robot arm is adopted. Therefore, a multi-time scale fuzzy logic controller will be applied for such system. Using this methodology, the
control of the force and the position of the end point are possible while the end effector moves on the constraint surface.
Lyapunov-based piezoelectric control of flexible cartesian robot manipulators Dadfarnia, M.; Jalili, N.; Xian, B.; Dawson, D.M. Dept. of Mech. Eng., Clemson Univ., SC, USA Conference: Proceedings of the 2003 American Control Conference (Cat. No.03CH37465) Part: vol.6 , Page: 5227-32 vol.6 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 6 vol.(lxix+lxi+5426) Pages Conference: Proceedings of 2003 American Control Conference , Sponsor: American Automatic Control Council, IFAC , 4-6 June 2003 , Denver, CO, USA Language: English
Abstract: A Lyapunov-based control strategy is proposed for regulating problem of a Cartesian robot manipulator, which is modeled as a flexible cantilever beam arm with a translational base support. The arm cross-sectional area is assumed to be uniform and Euler-Bernoulli beam theory assumptions are considered. Moreover, two types of damping mechanisms; namely viscous and structural dampings, are considered for the arm material properties. A piezoelectric (PZT) patch actuator is bonded on the surface of the flexible beam for suppressing residual beam vibrations. The equations of motion for the system are obtained using Hamilton's principle, which are based on the original infinite dimensional distributed system. Utilizing the Lyapunov method, the control force acting on the base and control voltage for the PZT actuator are designed such that the base is regulated to a desired set-point and the exponential stability of the system is attained. The feasibility of the controller is validated through numerical simulations.
An identification of body segment parameters in the upper extremity Kodek, T.; Munih, M. Electr. Eng. Fac., Ljubljana Univ., Slovenia Conference: IEEE Region 8 EUROCON 2003. Computer as a Tool. Proceedings (Cat. No.03EX655) Part: vol.2 , Page: 197-200 vol.2 Editor: Zajc, B.; Tkalcic, M. Publisher: IEEE , Piscataway, NJ, USA , 2003 , 2 vol.(xxii+520+xx+441) Pages Conference: IEEE Region 8 EUROCON 2003. Computer as a Tool. Proceedings , 22-24 Sept. 2003 , Ljubljana, Slovenia Language: English
Abstract: This paper presents a method for identifying static parameters of all three upper extremity segments. An industrial robot was used for moving the subject's arm along a specified sagittal trajectory during which measurements of the shoulder, elbow and wrist angles and forces in the contact point were collected. An identification procedure was developed in analogy with those performed on industrial robots, which assumes the upper extremity model of a 3DOF planar structure in a closed kinematic chain. At first, a suitable trajectory had to be obtained in all three joints with appropriate low speed and with very small angle deviations around an operating point. The arm was assumed to be linear in this point since passive properties of the arm showed no nonlinearities for such small angular deviations. Since the imposed movements were very slow all dynamic effects could be discarded, which simplified the mathematical complexity. By programming a suitable trajectory into the robot controller the ill conditioning problem could be improved
significantly. The algorithm eventually identifies masses and mass center coordinates for the lower arm and palm segments, their products for the upper arm and the operating point passive moments (summed elasticities and Coulomb frictions) for all three joints in the sagittal plane. The results are eventually compared to the literature estimations which are based on average population.
Control design for robust performance of a direct-drive robot Kostic, D.; de Jager, B.; Steinbuch, M. Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands Conference: CCA 2003. Proceedings of 2003 IEEE Conference on Control Applications (Cat. No.03CH37418) Part: vol.2 , Page: 1448-53 vol.2 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 2 vol.xxxi+1504 Pages Conference: Conference on Control Applications , 23-25 June 2003 , Istanbul, Turkey Language: English
Abstract: An experimental approach to achieve robust performance of direct-drive robot motion control is presented in this paper. It consists of: (i) decoupling the robot dynamics via feedback linearisation; (ii) frequency domain identification of the decoupled dynamics; (iii) compensation of these decoupled dynamics using feedback controllers designed via mu -synthesis. The designed controllers ensure robust performance, i.e., guaranteed accuracy of robot motions despite uncertainty in its dynamics and disturbances affecting the robot operation. Theoretical aspects of the control design are formulated. Its practical implementation on a direct-drive robotic arm is demonstrated in detail. Experimental investigation confirms the quality of the design: specifications on performance and robustness are practically realized
Position control of a single-link robot-arm using a multi-loop PI controller Soylemez, M.T.; Gokasan, M.; Bogosyan, O.S. Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey Conference: CCA 2003. Proceedings of 2003 IEEE Conference on Control Applications (Cat. No.03CH37418) Part: vol.2 , Page: 1001-6 vol.2 Publisher: IEEE , Piscataway, NJ, USA , 2003 , 2 vol.xxxi+1504 Pages Conference: Conference on Control Applications , 23-25 June 2003 , Istanbul, Turkey Language: English
Abstract: In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the close loop system arbitrarily and guarantee that the remaining pole is not affecting the performance of the system. The freedom in design is also used to restrict the control signal up to a certain level, to reject disturbances and to increase robustness for parametric uncertainties.
Tracking control for robot arm using neural network with simultaneous perturbation learning rule Onishi, H.; Maeda, Y. Kansai Univ., Suita, Japan Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference (Cat.
No.02TH8648) Part: vol.5 , Page: 3188-91 vol.5 Publisher: Soc. Instrument & Control Eng. (SICE) , Tokyo, Japan , 2002 , 5 vol.xxxvi+3274 Pages Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference , 5-7 Aug. 2002 , Osaka, Japan Language: English
Abstract: We report tracking control for a robot arm using a neuro-controller. We adopt the simultaneous perturbation learning rule for the neuro-controller. The learning rule requires only two values of an error function. The twice operation yields modifying quantities of the weights in the network. Thus the neuro-controller can learn an inverse of robot kinematics. Some simulation results are shown.
Property of force-free control with independent compensation for inertia, friction and gravity of industrial articulated robot arm Goto, S.; Nakamura, M.; Kyura, N. Dept. of Adv. Syst. Control Eng., Saga Univ., Japan Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference (Cat. No.02TH8648) Part: vol.1 , Page: 408-12 vol.1 Publisher: Soc. Instrument & Control Eng. (SICE) , Tokyo, Japan , 2002 , 5 vol.xxxvi+3274 Pages
Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference , 5-7 Aug. 2002 , Osaka, Japan Language: English
Abstract: Force-free control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the force-free control was extended to realize the motion as if it were under the circumstance of any inertia, any friction and any gravity through the independent compensation of inertia, friction and gravity. The property of the force-free control with independent compensation was also investigated by the experimental study of an actual industrial articulated robot arm, where the external force was measured by the force sensor which was attached to the tip of the robot arm.
Dynamic neuro-fuzzy adaptive control for flexible-link manipulators Fu-Chun Sun; Zeng-Qi Sun; Ling-Bo Zhang; Fan-Jiang Xu Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China International Journal of Fuzzy Systems , vol.5, no.2 , Page: 89-97 Publisher: Chinese Fuzzy Systems Assoc , June 2003 Language: English
Abstract: A dynamic neuro-fuzzy (NF) adaptive control system is presented in this paper for the trajectory tracking of a flexible-link robot with poorly known dynamics, where the robot tip vibration is measured by an optical measurement device with position sensitive detectors (PSDs). Based on the singular perturbation method and two time-scale decompositions, the dynamic model of a flexible-link manipulator is first approximated by a slow subsystem of an equivalent rigid-link arm and a fast subsystem of flexible mode. Then, a dynamic NF system is constructed to approximate the slow dynamics of the flexible-link manipulator. The
dynamic NF adaptive controller based on dynamic inversion is designed for the tracking control of the equivalent rigid arm, while a fuzzy proportional derivative (PD) type controller is used to stabilize the elastic dynamics using PSD measurement feedback. The system stability and tracking error convergence are proved using Lyapunov stability theorem, by which the dynamic NF learning algorithm is obtained. Finally, the real-time experiment is conducted to show the viability and effectiveness of the proposed control approach.
Force-free control of articulated robot arm considering velocity along assigned locus Kushida, D.; Nakamura, M.; Goto, S.; Kyura, N. Venture Bus. Lab., Saga Univ., Japan Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference (Cat. No.02TH8648) Part: vol.4 , Page: 2167-71 vol.4 Publisher: Soc. Instrument & Control Eng. (SICE) , Tokyo, Japan , 2002 , 5 vol.xxxvi+3274 Pages Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference , 5-7 Aug. 2002 , Osaka, Japan Language: English
Abstract: Force-free control with velocity consideration under the assigned locus is proposed for an articulated robot arm. The tip of the robot arm is moved on an objective locus according to the tip velocity. Then, the direction of the tip velocity, which corresponds to the exerted force, is modified to the tangential direction of the assigned locus. The contouring work of an articulated robot arm is, therefore, carried out with a force-free control. The effectiveness of the proposed force-free control is assured by simulation and experimental work on a two-degree-of-freedom articulated robot arm. Applications of the force-free control with an assigned locus are also discussed.
Robot-Hardware.
Encyklopedie:
The educational encyclopedia, automatisation and control systems
HP: http://users.telenet.be/educypedia/index.htm
http://users.telenet.be/educypedia/electronics/control-systems.htm
Na těchto stranách:
http://vorlon.cwru.edu/~vxl11/NetBots/thesisc.pdf
je studie (80 stran):
Abstrakt:
Na stranách:http://vorlon.cwru.edu/~wsn/theses/Hao_Zhang_thesis.pdf je studie (str.):
wos.cuni.cz a inov. /robot-hardware/
Implementation of a high-performance genetic algorithm processor for hardware optimization
Kim J, Choi Y, Lee C, Chung DIEICE TRANSACTIONS ON ELECTRONICS
E85C (1): 195-203 JAN 2002
Document type: Article
Language: English Cited References: 12
Times Cited: 0
Explanation
Abstract:In this paper, a hardware-oriented Genetic Algorithm (GA) was proposed in order to save the hardware resources and to reduce the execution time of GAP. Based on steady-state model among continuous generation model, the proposed GA used modified tournament selection, as well as special survival condition, with replaced whenever the offspring's Fitness is better than worse-fit parent's. The proposed algorithm shows more than 30% in convergence speed over the conventional algorithm. Finally, by employing the efficient pipeline parallelization and handshaking protocol in proposed GAP, above 30% of the computation speed-up can be achieved over survival-based GA which runs one million crossovers per second (1 MHz),
when device speed and size of application are taken into account on prototype. It would be used for high speed processing such of central processor of evolvable hardware, robot control and many optimization problems.
Author Keywords:genetic algorithm, FPGA, optimization
Addresses:Kim J, LG Elect Inc, Dongan Gu, LG R&D Complex 533, Anyang 431080, Kyongki, South KoreaLG Elect Inc, Dongan Gu, Anyang 431080, Kyongki, South KoreaSamsung Elect Co Ltd, Paldal Gu, Suwon 442742, Kyongki, South KoreaInha Univ, Sch Informat & Commun Engn, Inchon 402751, South Korea
Publisher:IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, KIKAI-SHINKO-KAIKAN BLDG MINATO-KU SHIBAKOEN 3 CHOME, TOKYO, 105, JAPAN
IDS Number:506RZ
ISSN:0916-8524
Konec rešerše