this paper presents a stable neuro-fuzzy (NF) adaptive control approach for the trajectory tracking of the robotic manipulator with poorly known dynamics. Firstly, the fuzzy dynamic model of the manipulator is establi...
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this paper presents a stable neuro-fuzzy (NF) adaptive control approach for the trajectory tracking of the robotic manipulator with poorly known dynamics. Firstly, the fuzzy dynamic model of the manipulator is established using the Takagi-Sugeno (T-S) fuzzy framework with both structure and parameters identified through input/output data from the robot control process. Secondly, based on the derived fuzzy dynamics of the robotic manipulator, the dynamic NF adaptive controller is developed to improve the system performance by adaptively modifying the fuzzy model parameters on-line. the dynamic NF system aims to approximate the whole robot dynamics rather than its nonlinear components as is done by static neural networks. the dynamic inversion introduced for the controller design is constructed by the dynamic NF system and will help the NF controller design because it does not require the assumption that the robot states should be within a compact set. It is generally known that the compact set cannot be specified before the control loop is closed. thirdly, the system stability and the convergence of tracking errors are guaranteed by Lya-punov stability theory, and the learning algorithm for the dynamic NF system is obtained thereby. Finally, simulation studies are carried out to show the viability and effectiveness of the proposed control approach. (C) 2002 Elsevier Science B.V. All rights reserved.
this paper studies the passing problem of a mobile robot withthree group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzz...
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ISBN:
(纸本)0780379373
this paper studies the passing problem of a mobile robot withthree group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzzy control system. Considering the special problem in such pipeline robot, the paper mainly researches an individual wheel drive control algorithm. the research results show that the algorithm has a good adaptation under different initial moving condition and complex environment. the fuzzy controller not only makes the driving motor go back to normal status, but also drives the robot pass the bent pipe quickly and improves the system efficiency.
the visual acts theory aims to provide intelligent assistance for camera viewpoint selection during teleoperation. It combines top-down partitioning of a task and bottom-up monitoring of the operator to select task-re...
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the visual acts theory aims to provide intelligent assistance for camera viewpoint selection during teleoperation. It combines top-down partitioning of a task and bottom-up monitoring of the operator to select task-relevant camera viewpoints. Previous experimental studies have shown that visual acts provides camera views of sufficient quality to allow an operator to complete a task. In cases where the camera system is complex and difficult to master, it selects better viewpoints than the operator. In this paper we present an alternative architecture incorporating a viewpoint selection algorithm that places emphasis on what the operator should do next, rather than on what he is currently doing. Experimental results are presented showing that this simpler algorithm performs as well as the more pedantic visual acts algorithm, and raises greater awareness of the operator to 3D information. the results contribute to a better understanding of human-robot interaction in telerobotic scenarios.
conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. this may in some cases also include the cover...
conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. this may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conferencethat was part of the original conference proceedings.
conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. this may in some cases also include the cover...
conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. this may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conferencethat was part of the original conference proceedings.
New industries and production plants require a flexible system, which is capable of picking up objects of various shapes, weights, and colors with arbitrary position and orientation. Such a system also needs recogniti...
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New industries and production plants require a flexible system, which is capable of picking up objects of various shapes, weights, and colors with arbitrary position and orientation. Such a system also needs recognition and guiding sub-systems. the recognition system includes target function for the recognition sub-system and relation between object characteristics and recognition target. the laser sensor system can be used for such object recognition. Wire-based telemetry and control systems can cause many problems in shop floors and factories, and so there has been a strong growth of interest in wireless guidance like vehicles equipped with laser guiding and navigation systems. For the continuous measurements of parameters such as temperature, etc. optical laser sensor technology seems to become more applicable at this stage. this article describes the operational principles and the use of the most advanced laser sensor systems for quantity measurements, guiding, navigation, pattern recognition, and vision systems for inspection purposes. A variety of laser-based sensors, which can be used as sensing devices in manufacturing, and production technology, are described in this study. Adaptive cruise control systems that can be used in automobile industry to monitor distance and speed are described in this report. As a typical example, the principal operation of a laser guided mobile robot using a laser navigation system is also described. (C) 2003 Elsevier Science Ltd. All rights reserved.
A vision-based approach to the motion control of pneumatic group actuators is presented. Sensing of plate locations consisting of the pneumatic group actuator is essential to cope withthe variation of elastic tubes o...
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ISBN:
(纸本)0780372727
A vision-based approach to the motion control of pneumatic group actuators is presented. Sensing of plate locations consisting of the pneumatic group actuator is essential to cope withthe variation of elastic tubes of the actuator. Plate locations are measured by. a vision system and the motion of the actuator is controlled using a roughly identified relationship between air pressure imposed on individual tubes and the plate locations. Proposed motion control is evaluated experimentally.
In this paper, the optimal control for regulating linear singularly perturbed systems with perturbed quadratic cost is presented by discussing the singular quadratic cost control problem for the reduced- order slow su...
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ISBN:
(纸本)9810474806
In this paper, the optimal control for regulating linear singularly perturbed systems with perturbed quadratic cost is presented by discussing the singular quadratic cost control problem for the reduced- order slow subsystem. Under some assumptions, the optimal performance cost of the singularly perturbed system will tend to that of the reduced-order slow subsystem.
In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end effector gives rise to new constraints, control issues and advantages, which...
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ISBN:
(纸本)0780372727
In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end effector gives rise to new constraints, control issues and advantages, which are discussed in this paper. Four meaningful tool/camera configurations, being parallel or non-parallel endpoint closed-loop and fixed or variable endpoint. open-loop are suggested. Several task examples (in 3D space), specified in the task frame formalism, illustrate the use of these four configurations. Experimental results for the fixed EOL configuration are presented.
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