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A functionally distributed responsive micro controller for distributed real-time processing

A functionally distributed responsive micro controller for d...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： N. Yamasaki T. Matsui Agency of Industrial Science and Technology Ministry of International Trade and Industry Electro Technical Laboratory Tsukuba Ibaraki Japan

We propose a functionally distributed responsive (reactive in real-time) microcontroller for distributed real-time processing, which can control personal robots, home automation, office automation, etc. A responsive controller is composed of a mother module and an I/O card customizable for its specific application. A common mother module is composed of a processor, a memory system, an I/O card bus interface for its daughter card, and high-speed real-time links called responsive links. In order to realize hard real-time communication needed for robot control, sensing, etc., a responsive link consists of a pair of full-duplex data lines and two-way event lines. Many kinds of systems can be flexibly composed by connecting any number of the responsive controllers using the responsive links.

关键词： Distributed control automatic control Robot control Microcontrollers Process control robotics and automation Home automation Office automation Real time systems Joining processes

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Visual tracking of redundant features

Visual tracking of redundant features

引用

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

作者： K. Hashimoto A. Aoki T. Noritsugu Department of Mechanical Engineering Okayama University Okayama Japan

Summary form only given as follows. This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator.

关键词： robotics and automation control systems Servomechanisms Jacobian matrices Sufficient conditions automatic control Robot kinematics Mechanical engineering controllability Redundancy

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A modular re-configurable approach to the creation of flexible manufacturing cells for educational purposes

A modular re-configurable approach to the creation of flexib...

引用

Proceedings of the 1997 IEEE/RSJ international conference on intelligent Robot and Systems. Innovative robotics for Real-World Applications. IROS '97

作者： S. Owen M.C. Bonney A. Denford Department of Manufacturing Engineering and Operations Management University of Nottingham UK Denford Limited Brighouse West Yorkshire UK

This paper describes a project designing modular software which greatly assists the creation of FMS for educational purposes. A three level hierarchical control system was specified: at the highest level, or system control level, is the host computer; at the intermediate or supervisory control level, are the cell controllers; at the third level, device drivers provide an interface and control for each element i.e. machines such as lathes, milling machines, robots, storage systems, transport systems, measuring systems etc. The final report was assessed as a highly significant contribution to the field for technological merit. The paper outlines the development of the system and discusses the facilities available and how these may be combined to move towards an integrated system. Specifically an indication is given of the particular needs of educational establishments.

关键词： Flexible manufacturing systems Computer integrated manufacturing Computer aided manufacturing Manufacturing automation control systems Production automatic control Engineering management Computer numerical control Software testing

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Modelling, identification and experimental validation of a hydraulic manipulator joint for control

Modelling, identification and experimental validation of a h...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： G. Bilodeau E. Papadopoulos Department of Mechanical Engineering & Centre for Intelligent Machines McGill University Montreal QUE Canada

In this paper, modelling and identification of a hydraulic servoactuator system is presented. The development of the model is important for further understanding the system and for developing a robust force controller. A systems approach is used to model the various subsystems including the servovalve dynamics, fluid dynamics and the vane and load dynamics. Included in the model are line losses, leakage, and hysteresis. System parameters are identified using the elbow joint of the SARCOS slave experimental hydraulic manipulator. Specialized hardware was designed and constructed for this purpose. The model was validated by comparing simulation and experimental results. The correlation between model and actual system response proved to be very good. Hence, the developed model predicts well the system dynamic behavior and will prove useful in the development of a robust force controller.

关键词： Manipulator dynamics Hydraulic actuators Force control Vehicle dynamics automatic control Valves Robust control Fluid dynamics control system synthesis Humans

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A system for automated mail portering using multiple mobile robots

A system for automated mail portering using multiple mobile ...

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international conference on Advanced robotics (ICAR)

作者： S. Tansey O. Holland Technology Centre RM Consulting Swindon UK Intelligent Autonomous Systems Engineering Laboratory Faculty of Engineering University of West of England Bristol UK

This paper describes the development of a multiple mobile robot system for the frequent movement of small quantities of mail for small distances between different process areas in large automated mail sorting offices. The system is based around interaction at many levels: between robots and individual operators; between robots and other robots cooperating on a given route; and between robots and a central control computer, which itself interacts with a supervisor. The purpose-built low cost robots, known as automated guided carriers (AGCs), use a frequency-hopping spread-spectrum radio local area network for communication with one another and with the central controller.

关键词： Postal services Mobile robots robotics and automation Centralized control Communication system control Sorting automatic control control systems Costs Frequency

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Experiments in force controlled assembly using a discrete event framework

Experiments in force controlled assembly using a discrete ev...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： D. Austin B. McCarragher Department of Engineering Faculty of Engineering and Information Technology Australian National University Canberra Australia

A new discrete event controller synthesis methodology for the successful convergence of assembly tasks is presented. Discrete event control has been shown to be a very effective strategy to incorporate both the continuous and discrete natures of an assembly task. A discrete event controller synthesis methodology for force-controlled systems is highly desirable because force control is naturally compliant and compliance reduces sensitivity to positioning errors. In this paper we present a number of experimental results for the new controller synthesis method, including a complete assembly task. These experiments demonstrate the effectiveness of the combination of discrete event control and force control for assembly tasks, successfully completing the assembly with positioning errors of up to 50 mm and orientation errors of up to 30/spl deg/.

关键词： Force control Robotic assembly control system synthesis control systems automatic control Error correction Assembly systems Furnaces Discrete event systems Protocols

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Object resolved teleoperation

Object resolved teleoperation

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IEEE international conference on robotics and Automation (ICRA)

作者： C.H. Spenny D.L. Schneider Air Force Institute of Technology OH USA

A control concept referred to as object-resolved teleoperation is introduced in this paper in which motion or force is imparted to a remote object in order to achieve a desired action by the object. The object might be a hand-held tool or an airplane and the desired interaction might be control of its spatial position or interaction with the environment. The human interface to the master is a hand-held proxy for the object. At the remote site, the object motion or force commands are resolved into the appropriate commands for the actuation system. The potential advantages of ORT are: improvement in human-machine interaction, the consequence of the operator's cognitive task and command response being identical to those he would perform if he were manipulating the object; and the opportunity to share control between the operator and an intelligent controller at the remote site in such ways as to make best use of the capabilities of each. In this paper, application to grasp and manipulation is discussed.

关键词： Humans Force control Medical control systems automatic control Motion control Man machine systems Application software control systems Electric variables control Protection

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Integrated task scheduling and action planning/control for robotic systems based on a max-plus algebra model

Integrated task scheduling and action planning/control for r...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： Ning Xi Tzyh-Jong Tarn Department of Systems Science and Mathematics Washington State University Saint Louis MO USA

ISBN: (纸本)0780341198

Presents a paradigm for task scheduling and action planning/control of a robotic system. Based on the proposed max-plus algebra model, a robotic task involving both discrete and continuous actions can be scheduled, planned and controlled in a perceptive reference frame. Therefore, task scheduling, which usually deals with discrete type of events, as well as action planning, which usually deals with continuous events, can be treated systematically in a unified framework. More importantly, the unique feature of this approach is that interactions between discrete and continuous events can be considered in the same framework. As a result the efficiency, robustness and reliability of the task schedule and action plan can increase significantly. A typical assembly task in a dual-robot manufacturing work-cell is used to illustrate the proposed approach. The experimental results clearly demonstrate the advantages of the proposed approach.

关键词： Robot control control systems Job shop scheduling Robot kinematics robotics and automation control system synthesis Algebra automatic control Communication system control Mathematical model

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6th international Workshop on Computer Aided Systems Theory, EUROCAST 1997

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6th international Workshop on Computer Aided Systems Theory, EUROCAST 1997

ISBN: (纸本)3540638113

The proceedings contain 50 papers. The special focus in this conference is on Design Environments and Tools. The topics include: A system for designing parallel processor arrays;on the role of architectures in systems engineering;an approach to safety critical systems design;extensions and semantics of controller state diagrams for practical applications;design and implementation of an energy management system for an integrated iron and steel plant;representation and management of memory and decision in evolving software systems;a generic engineering framework for mechanical engineering based upon meta models;formal representation and proof of the interpreted sequential machine model;modelling of concurrent and embedded systems;a dense-time temporal logic with nice compositionality properties;introducing planning in discrete event systems;multirate control of a class of nonlinear systems;global structural approximate controllability of polynomial nonlinear systems;vectorized simulations of normal processes for first crossing-time problems;an architecture for complex systems;design of nonlinear lag-lead compensators by extended linearization using symbolic computation techniques;a numerical computation for declarative expressions;an automatic calculator with penrose diagrams;cognitive modeling for navigation of mobile robots using the sensory gradient concept;fuzzy traffic police for autonomous vehicles;object-oriented model of an open communication architecture for flexible manufacturing control;a formal model for integrated system development;moving towards an agent-based engineering environment;experiencing modeling and development of an intelligent autonomous robot;modular control system for robotized cells and lines and latest developments in robotics.

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Using a knowledge base in manipulator control by calibration-free stereo vision

Using a knowledge base in manipulator control by calibration...

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IEEE international conference on intelligent Processing Systems, ICIPS

作者： Qiang Xie V. Graefe K. Vollmann Institute of Measurement Science Federal Armed Forces University Munich Neubiberg Germany

A 4 dimensional knowledge base that may be used as the long term memory for object manipulation by a completely uncalibrated vision guided robot is introduced. It is constructed automatically by the robot during its normal operation and adapts itself to changing conditions. Thus, the system presents self learning characteristics. The knowledge base has been successfully tested in real world experiments involving the grasping of objects.

关键词： robotics and automation Manipulators automatic control Robot vision systems Testing

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