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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

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intelligent reconfigurable control of robot manipulators

Intelligent reconfigurable control of robot manipulators

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international Joint conference on Neural Networks (IJCNN)

作者： J.H. Chung S.A. Velinsky Dept. of Mech. & Aeronaut. Eng. California Univ. Davis CA USA Department of Mechanical and Aeronautical Engineering University of California슠Davis Davis CA USA

One approach towards improving the reliability of high-performance robotic systems is to allow for the automatic reconfiguration of the robot's control system to accommodate actuator failure and/or damage. The new concept of the extended plant and its identification in closed loop is introduced for developing a reconfigurable robot manipulator controller. It is made possible through the use of artificial neural networks. A simulation study demonstrates the effectiveness of the developed control algorithm.

关键词： intelligent robots intelligent control Robot control Manipulators control systems automatic control Neural networks Fuzzy systems robotics and automation Open loop systems

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An approach to automated programming of industrial robots

An approach to automated programming of industrial robots

引用

IEEE international conference on robotics and Automation (ICRA)

作者： D.R. Myers Intelligent Automation Inc. Rockville MD USA

This project develops a "teach-by showing" approach that permits unskilled users to program robots by physically demonstrating examples of a task to a trainable controller. Each example may be shown in one of three ways: by direct demonstration, by placing the robot in a zero-force mode and physically leading it through the task, or by operating the robot in a master/slave mode. During each demonstration, both the sensor inputs to the robot controller and the control outputs from the controller are presented to the training system. Following the demonstrations, the training system then produces a prototype procedural program suitable for downloading into a commercial robot controller. Unlike the conventional program development process, the operator need not postulate about the value of sensor feedback variables required at a particular level of the controller. Examples of successful, but perhaps quite different task strategies can be demonstrated by the human teacher until the robot system is capable of successful autonomous operation.

关键词： automatic programming Robot programming Service robots robotics and automation Robot sensing systems control systems Robot control automatic control Master-slave Sensor systems

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control of an autonomous vehicle: design and first practical results

Control of an autonomous vehicle: design and first practical...

引用

international conference on intelligent Transportation

作者： I. Sohnitz K. Schwarze Institute of Control Engineering Technical University of Braunschweig Brunswick Germany Witt Sondermaschinen GmbH Brunswick Germany

The lateral and the longitudinal dynamics of a vehicle are usually controlled separately. The paper deals mainly with the control concept and presents first practical results of the lateral module of an autonomous road vehicle, which is driven by a robot. The design of a robust H/sub 2/-controller based on standard H/sub 2//H/sub /spl infin//-algorithms is described. An additional curvature compensation function is introduced to minimize the lateral deviation caused by the bending of the desired path. The resulting feedforward control structure simplifies the task of the controller significantly. Additionally, the longitudinal control module implemented in the robot is presented briefly.

关键词： Remotely operated vehicles Mobile robots Vehicle dynamics automatic control robotics and automation Road vehicles Hydrogen automatic testing Wheels Position measurement

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Compensation of discrete contact state errors in regrasping experiments with the TUM-hand

Compensation of discrete contact state errors in regrasping ...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： T. Schlegl F. Freyberger S. Haidacher F. Pfeiffer M. Buss G. Schmidt Institute of Automatic Control Engineering Technische Universität München Germany Institute for Robotics and Systems Dynamics Germany Lehrstuhl B für Mechanik Technische Universität München Germany

We present an approach to compensate for discrete contact state errors in regrasping tasks with multi-fingered robotic hands. An adaptation of reference trajectories connected with a hybrid discrete continuous control architecture allows stable grasps even if moving fingers cannot contact at the desired position on a grasped object. We propose a robust control setup that allows multiple regrasping tasks of objects to be performed using this compensation strategy and contact force optimization. Experimental results with the hydraulic robotic hand of the TUM verify the proposed approach and illustrate the increase in robustness for multi-fingered manipulation.

关键词： Fingers Robots Error correction automatic control Aerodynamics robotics and automation Robust control Robustness Discrete event systems Grasping

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A hybrid control architecture for mobile manipulation

A hybrid control architecture for mobile manipulation

引用

Proceedings 1999 IEEE/RSJ international conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： L. Petersson M. Egerstedt H.I. Christensen NADA/CVAP Royal Institute of Technology Stockholm Sweden Optimization and Systems Theory Royal Institute of Technology Stockholm Sweden

We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective.

关键词： Robot kinematics Manipulator dynamics Orbital robotics robotics and automation automatic control Mobile robots Robot sensing systems Robot control control systems Performance analysis

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Flexible microrobotic system MINIMAN: design, actuation principle and control

Flexible microrobotic system MINIMAN: design, actuation prin...

引用

IEEE/ASME (AIM) international conference on Advanced intelligent Mechatronics

作者： S. Fahlbusch S. Fatikow J. Seyfried A. Buerkle Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Microsystem technology demands for advanced manipulation facilities which can assemble complex microsystems consisting of many single components (i.e. hybrid microsystems). To perform fully automated microassembly, problems specific to the handling of micro parts have to be considered. It is necessary to introduce flexible, highly precise and fast microassembly methods. Therefore, different microrobots, which offer the possibility to carry out an assembly process under a light optical microscope with a motion resolution of up to 20 nm and speeds of up to 3 cm/s, have been developed by an interdisciplinary research group at the University of Karlsruhe. These robots are embedded into a microassembly desktop station. The paper presents the design, actuation principle and control of the flexible microrobotic system MINIMAN.

关键词： control systems Robotic assembly robotics and automation Robot sensing systems automatic control Assembly systems Microassembly Sensor systems Microscopy Leg

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Stiffness adaptation and force regulation using hybrid system approach for constrained robots

Stiffness adaptation and force regulation using hybrid syste...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Electronic Engineering Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

A new stiffness adaptation and force regulation methodology using hybrid system approach for constrained robots is presented. We present the hybrid system model and the hybrid system control synthesis for constrained robots with the stiffness uncertainties is formulated. The hybrid control approach presented has shown to be a very effective strategy to incorporate both the continuous and discrete natures of constraint motion. A nonlinear stiffness function is developed and designed to be hybrid automaton, which consists of some abstracted motion such as increase, decrease, and maintenance of stiffness. The evaluations are evaluated via experimental studies on grinding tasks. The results of experiment are showing the applicability of proposed scheme for constrained tasks.

关键词： Motion control Robot kinematics robotics and automation Orbital robotics Force control automatic control Servomechanisms Manipulators Torque control intelligent robots

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The safe control of human-friendly robots

The safe control of human-friendly robots

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： J. Heinzmann A. Zelinsky Research School of Information Science and Engineering Australian National University Canberra ACT Australia

Introduces an approach to the control of robot manipulators in a way that is safe for humans in the robot's workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots with the capabilities of people. Instead, the goal of our control scheme is to make the interaction with a robot manipulator safe by making the robots actions predictable and understandable to the human operator. At the same time the forces the robot applies with any part of its body to its environment have to be controllable and limited. Experimental results are presented of a human-friendly robot controller that is under development for a Barrett Whole Arm Manipulator robot.

关键词： Robot control Service robots Safety robotics and automation Human robot interaction Manipulators Humanoid robots Information science Australia automatic control

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A decentralized approach to the conflict-free motion planning for multiple mobile robots

A decentralized approach to the conflict-free motion plannin...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Li Chun Zhiqiang Zheng Wensen Chang Department of Automatic Control Changsha Institute of Technology ChangSha China

Presents a decentralized approach to the conflict-free motion planning for multiple mobile robots. We decompose the problem into global path planning and local path planning. AI techniques are used to solve the global planning problem and we obtain an optimal global path. From the point of view of combining AI techniques with a real-time control technique; a dynamic sub-goal algorithm is put forward to solve the local planning problem for the multi-robot system. The simulation results show the efficiency of the algorithm for real-time multi-robot cooperation.

关键词： Motion planning Mobile robots intelligent robots Path planning control systems Real time systems Communication system control Artificial intelligence Robot sensing systems Technology planning

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Grasp evaluation based on unilateral force closure

Grasp evaluation based on unilateral force closure

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： S. Haidacher T. Schlegl M. Buss The German AeroSpace Research Establishment Institute for Robotics and Systems Dynamics Germany Institute of Automatic Control Engineering Technische Universität München Germany

We present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when fingertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during regrasping sequences. Contact points for moving fingers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of fingers. The approach is validated by numerical examples and in dynamical simulations.

关键词： Fingers Friction Algorithm design and analysis Robots Stability analysis automatic control Performance analysis Differential equations Testing Aerodynamics

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