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Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits

Performance comparison of various navigation guidance method...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Mohammad Keshmiri Mehdi Keshmiri Dynamic and Robotic Center Isfahan University of Technology Isfahan Iran

In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation guidance known as PNG, APNG, IPNG and AIPNG are under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.

关键词： Acceleration Navigation Robots Equations Mathematical model Trajectory Actuators

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Fuzzy logic approach to the gain scheduling crane control system

Fuzzy logic approach to the gain scheduling crane control sy...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Jarosław Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

the problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. the method of fuzzy robust crane control system designing was based on closed-loop crane control systems with conventional proportional-derivative (PD) controllers of crane position and the load swing derived for fixed rope length and mass of a load values, which are used as key-scheduling variables. the set of controllers, scheduled by fuzzy system, are determined using the pole placement method (PPM). the problem of selecting the minimal set of fuzzy system operating points was solved and described as well in the paper.

关键词： Cranes Mathematical model Equations Robustness Artificial neural networks PD control

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Geometric model of a narrow tilting CAR using robotics formalism

Geometric model of a narrow tilting CAR using robotics forma...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Salim Maakaroun Wisama Khalil Maxime Gautier Philippe Chevrel Institut de Recherche en Communications et Cybernétiques de Nantes (IRCCyN) Nantes France Département d'Automatique-Productique Ecole des Mines de Nantes Nantes France

the use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. the aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. the modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.

关键词： Joints Wheels Vehicles Biological system modeling Shock absorbers Robots Mathematical model

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Energy saving control in low cost pneumatic positioning systems

Energy saving control in low cost pneumatic positioning syst...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Krzysztof Janiszowski Maciej Kuczyński Warsaw University of Technology Faculty of Mechatronics Warsaw Poland

the paper presents a novel approach to a problem of control in pneumatic positioning systems that is based on open loop control with specially created control strategy. this strategy is focused on low compressed air consumption and reduction of control time at positioning. the resulting transients while positioning did not induce overshoot but yields some errors at initial strokes. this error is reduced in an adaptive way very effectively to a margin that is acceptable in different industrial applications. Simulation results have been confirmed by extended program of testing performed on laboratory stand. the proposed approach can be a basis for development of efficient, low cost, industrial pneumatic positioning devices.

关键词： Pistons Valves Artificial neural networks Switches Accuracy Approximation methods

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An LPV fractional Hayami model for canal control

An LPV fractional Hayami model for canal control

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international conference on methods and models in automation and robotics (MMAR)

作者： Y. Bolea R. Martinez-Gonzalez A. Grau H. Martinez-Garcia Automatic Control Department Technical University of Catalonia Barcelona Spain Electronics Engineering Department Technical University of Catalonia Spain

In this paper an LPV non-integer order control Hayami model of an irrigation canal is derived from system identification experiments. this model is physically deduced by the simplification of Saint-Venant equations and experimentally obtained by using the described LPV fractional identification procedure. this procedure consists on the identification of a non-linear order model in each operation point of the canal. the global LPV model is obtained by the polynomial interpolation of the parameters of the local models. the validation results show that fractional models are more accurate than integer models. therefore the fractional models have an important role to play in management and efficient use of water resources.

关键词： Irrigation Mathematical model Data models Estimation Equations System identification Prototypes

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Topology represention and analysis of carton manipulation

Topology represention and analysis of carton manipulation

引用

international conference on Control, automation, robotics and Vision (ICARCV)

作者： Guowu Wei Ruirui Zhang Jian S Dai School of Physical Sciences and Engineering King''s College London UK

this paper presents models for description and identification of various cartons in their discrete states, and proposes a new approach to describe the transformation of configuration states during carton manipulation in a packaging process. the method makes use of matrix operations which can be used to identify and model the steps and changes in carton manipulation at different stages of a packaging process. this gives an analytical way of presenting and identifying information of a carton and of modeling carton packaging manipulation and presents a new way for carton packaging automation.

关键词： Packaging Matrix decomposition Analytical models Transmission line matrix methods Joints Erbium Technological innovation

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RISE mobile robot operator training design

RISE mobile robot operator training design

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Janusz Bedkowski Piotr Kowalski Paweł Musialik Andrzej Masłowski Marek Kacprzak Andrzej Kaczmarczyk Tomasz Pichlak Institute of Automation and Robotics Warsaw University of Technology Poland Institute of Mathematical Machines IMM Warsaw Poland

In the paper the framework for RISE (risky intervention and environmental surveillance) mobile robot operator training design is presented. the basic idea of the framework is to provide advanced software tools to improve the performance of the mobile robot simulation design that are applicable for operator training. the simulator is the end product of the framework. To achieve realistic rigid body simulation and realistic rendering the NVIDIA PhysX engine and the OGRE engine are used. It has to be noticed that the compatibility between the framework software and CAD modeling tools such as Solid Works was essential, therefore virtual models are exchangeable via COLLADA files. the simulator can be integrated with control panel of the mobile robot. It is possible to simulate the behavior of several types of robots such as caterpillar or wheeled. It is important to emphasize that presented result is a new approach related to mobile robots applications and potentially can improve the process of advance mobile robot application design and professional training of the operators.

关键词： Training Mobile robots Solid modeling Robot sensing systems Computational modeling Service robots

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Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

Switched-structure of linear MIMO controllers for positionin...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Stanisław Bańka Michał Brasel Paweł Dworak Krzysztof J. Latawiec Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. the considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. the nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. the system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

关键词： Marine vehicles Control systems Mathematical model Drilling Observers MIMO Vectors

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Experiments with a continuum robot structure

Experiments with a continuum robot structure

引用

作者： Cojocaru, Dorian Dumitru, Sorin Manta, Florin Boccolato, Giuseppe Manea, Ion Faculty of Automation Computers and Electronic University of Craiova Bld. Decebal Craiova Romania Faculty of Mechanics University of Craiova Calea Bucuresti Str. Craiova Romania

ISBN: (纸本)9789898425010

A continuum arm prototype was designed and implemented using two different shapes: cylinder like and cone like. this new robot is actuated by stepper motors. the rotation of these motors rotates the cables which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature. the kinematics and dynamics models, as well as the different control methods developed by the research group were tested on these robots. the lack of no discrete joints is a serious and difficult issue in the determination of the robot's shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics. An image - based visual servo control where the error control signal is defined directly in terms of image feature parameters was designed and implemented. In this paper, we analyze some mechanical capabilities of this type of continuous robots. We present the structure of the tentacle robot, it's kinematics model and the results for a series of tests regarding the mechanical behaviour of the robotic structure.

关键词： Kinematics

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Stability analysis for 2-D discrete systems with varying delay

Stability analysis for 2-D discrete systems with varying del...

引用

international conference on Control, automation, robotics and Vision (ICARCV)

作者： Shuxia Ye Weiqun Wang Juan Yao School of Automation Nanjing University of Science and Technology of PLA Nanjing China School of Science Nanjing University of Science and Technology of PLA Nanjing China

this paper is concerned with stability analysis for two-dimensional (2-D) discrete systems described by the Roesser models (RM) with varying delay in the state. By utilizing the delay partitioning idea and the Lyapunov method, a new stability criteria is proposed in terms of linear matrix inequalities (LMIs). this result is delay-dependent and also dependent on the partitioning size. A numerical example is given to demonstrate the effectiveness and the benefits of the presented methods.

关键词： Delay Stability criteria Numerical stability Symmetric matrices Linear matrix inequalities Signal processing

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