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Fuzzy neural friction compensation method of robot manipulation during position/force control

Fuzzy neural friction compensation method of robot manipulat...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Kiguchi T. Fukuda Department of Industrial and Systems Engineering Niigata College of Technology Niigata Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Position and force controls are important and fundamental tasks of robot manipulators. In order to control position of the robot which simultaneously applies force to the environment, the friction between the robot and the environment has to be compensated. However, the friction force varies according to the applied force to the environment. Therefore, it is difficult to compensate the friction effectively with conventional controllers if we do not know the friction coefficient. Many researches have been done on fuzzy neural control, the combination of neural networks and fuzzy control, in order to make up for each other's weak points. The fuzzy neural control is expected to perform more sophisticated control than conventional control in an unknown environment. In this paper, we propose a new friction compensation method using the fuzzy neural network which contains a specialized neuron for friction compensation and a switch-learning. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the proposed method.

关键词： Fuzzy control Friction Force control Fuzzy neural networks Manipulators Neural networks Service robots Robot kinematics control systems Neurons

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Multimodally controlled intelligent telerobot for people with disabilities

Multimodally controlled intelligent telerobot for people wit...

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Kazi, Z Chen, SP Beitler, M Chester, D Foulds, R Univ. of Delaware and A. I. duPont Hospital for Children (United States)

ISBN: (纸本)0819423033

This paper reports on the current status of The Multimodal User Supervised Interface and Intelligent control (MUSIIC) project, which is working towards the development of an intelligent assistive telemanipulative system for people with motor disabilities. Our MUSIIC strategy overcomes the limitations of previous approaches by integrating a multimodal RUI (Robot User Interface) and a semi-autonomous reactive planner that will allow users with severe motor disabilities to manipulate objects in an unstructured domain. The multimodal user interface is a speech and deictic (pointing) gesture based control that guides the operation of a semi-autonomous planner controlling the assistive telerobot. MUSIIC uses a vision system to determine the three-dimensional shape, pose and color of objects and surfaces which are in the environment, and as well as an object-oriented knowledge base and planning system which superimposes information about common objects in the three-dimensional world. This approach allows the users to identify objects and tasks via a multimodal user interface which interprets their deictic gestures and a restricted natural language like speech input. The multimodal interface eliminates the need for general purpose object recognition by binding the users speech and gesture input to a locus in the domain of interest. The underlying knowledge-driven planner, combines information obtained from the user, the stereo vision mechanism as well as the knowledge bases to adapt previously learned plans to perform new tasks and also to manipulate newly introduced objects into the workspace. Therefore, what we have is a flexible and intelligent telemanipulative system that functions as an assistive robot for people with motor disabilities.

关键词： robotics knowledge bases planning color-vision human-computer interfacing gesture rehabilitation assistive devices multimodal interface

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Structure recovery from scaled orthographic and perspective views

Structure recovery from scaled orthographic and perspective ...

引用

IEEE international conference on Image Processing

作者： A. Marugame J. Katto M. Ohta Information Technology Research Laboratories NEC Corporation Limited Kawasaki Kanagawa Japan

This paper presents a novel framework for structure recovery utilizing a scaled orthographic view and perspective views simultaneously. Perspective views lead to precise recovery based on the triangulation principle; however, many parameters such as camera positions, camera poses and focal length, must be measured beforehand. Thus, a scaled orthographic view is introduced as a subsidiary system to achieve them automatically. Camera parameters are calculated implicitly owing to the scaled orthographic properties, and then the structure recovery is done by the orthogonality of camera coordinate systems and the triangulation principle. The experimental results provide sufficient accuracy of structure recovery.

关键词： Cameras Computer vision Robot vision systems robotics and automation Biomedical optical imaging Optical distortion Information technology Laboratories National electric code Length measurement

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Visual navigation using view-sequenced route representation

Visual navigation using view-sequenced route representation

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IEEE international conference on robotics and automation (ICRA)

作者： Y. Matsumoto M. Inaba H. Inoue Department of Mechano-Informatics Faculty of Engineering University of Tokyo Bunkyo Tokyo Japan

Previous work in vision-based mobile robotics have lacked models of the route which can be utilized for (1) localization, (2) steering angle determination, and (3) obstacle detection, simultaneously. In this paper, the authors propose a new visual representation of the route, the "view-sequenced route representation (VSRR)." The VSRR is a non-metrical model of the route, which contains a sequence of front view images along a route memorized in the recording run. In the autonomous run, the three types of recognition described above are achieved in real-time by matching between the current view image and the memorized view sequence using a correlation technique. the authors also developed an easy procedure for acquiring VSRRs, and a quick control procedure using VSRRs. VSRRs are especially useful for representing routes in corridors. Results of autonomous navigation using a two-wheeled robot in a real corridor are also presented.

关键词： Navigation Mobile robots Robot vision systems Image recognition Cameras Solid modeling Robot sensing systems Data mining Working environment noise Neural networks

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Spherical winged B-snakes

Spherical winged B-snakes

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IEEE international conference on Image Processing

作者： Song Han G. Medioni Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We introduce spherical triangular B-splines for closed shape representation, and discuss the shape reconstruction using our new model "winged B-snakes", which are deformable surfaces coupled with active edges and junctions. We show the results of using the spherical winged B-snakes for simultaneous surface reconstruction and feature detection from range images or scattered 3D data.

关键词： Spline Image edge detection Image reconstruction Surface reconstruction Intelligent robots Active shape model Computer vision Scattering Shape control Face detection

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Self-calibration of a stereo-camera by pure translational motion

Self-calibration of a stereo-camera by pure translational mo...

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IEEE international conference on Image Processing

作者： Jeong-Hun Jang Ki-Sang Hong Department of E.E. Pohang University of Science and Technology Pohang-si South Korea

ISBN: (纸本)0780332598

This paper describes a method for calibrating a stereo-camera using its pure translational motion. The left and right cameras translate in several directions simultaneously. For each camera and each translation, an image sequence is obtained, feature points being extracted and tracked. An epipole is estimated for each image sequence and calibration is carried out using the relation between known translations and estimated epipoles. After finding calibration and rotation matrices of each camera, 3D reconstruction of feature points is performed. Reconstructed points are used to find translational relation between both cameras. The method was tested with real image data, and experimental results show that it is applicable in practice.

关键词： Cameras Calibration Robot vision systems Image reconstruction robotics and automation Image sequences Feature extraction Testing Stereo vision Motion estimation

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Ada 95 as implementation vehicle for formal specifications

Ada 95 as implementation vehicle for formal specifications

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IEEE international conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： K. Brink J. van Katwijk W.J. Toetenel Faculty of Mathematics and Informatics Delft University of Technnology Delft Netherlands

A main concern in the initial phases of the development of a system to be built is capturing the system requirements and expressing them as an adequate model, either formal or informal. In subsequent phases of the development of the system this model is used as reference for transformation steps. In this paper we describe a reasonably successful experimental strategy for the implementation of real-time systems, starting from a formal specification, resulting in an Ada 95 implementation of the system and we evaluate the approach based upon practical experiences.

关键词： Vehicles Formal specifications Real time systems control systems Mathematics informatics Mathematical model Software systems control system synthesis Telephony

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Gnass: a Gnat-based allocation and scheduling system

Gnass: a Gnat-based allocation and scheduling system

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IEEE international conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： B. Noorduin J. van Katwijk C. Pronk Faculty of Mathematics and Informatics Delft University of Technnology Delft Netherlands

The Ada 95 programming language is designed for programming large systems and for concurrent programming. However, it does not provide facilities in the areas of processor allocation to tasks while its support for flexible task scheduling is limited. In this paper we describe some experiments, resulting in Gnass, in which we extend Ada facilities for real-time multiprocessor applications. As environment we took the Gnat implementation on Solaris (the GNU NYU Ada Translator, Gnat), this primarily because of its availability. Two features offered by Gnass are discussed in this paper, namely control over processor allocation, and scheduling based on timing requirements.

关键词： Yarn Processor scheduling Kernel Process control Multiprocessing systems Runtime library Mathematics informatics Computer languages Mathematical programming

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Characterizing oriented protein structural sites using biochemical properties

Characterizing oriented protein structural sites using bioch...

引用

3rd international conference on Intelligent Systems for Molecular Biology, ISMB 1995

作者： Bagley, Steven C. Wei, Liping Cheng, Carol Altman, Russ B. Section on Medical Informatics Stanford University School of Medicine MSOB X-215 StanfordCA94305-5479 United States

ISBN: (纸本)0929280830

A protein site is a region of a three-dimensional protein structure with a distinguishing functional or structural role. Certain sites recur in different protein structures (for example catalytic sites, calcium binding sites, and some types of turns), but maintain critical shared features. To facilitate the analysis of such protein sites, we have developed a computer system for analyzing the spatial distributions of biochemical properties around a site. The system takes a set of similar sites and a set of control nonsites, and finds differences between them. Specifically, it compares distributions of the properties surrounding the sites with those surrounding the nonsites, and reports statistically significant differences. In this paper, we use our method to analyze the features in the active site of the serine protease enzymes. We compare the use of radial distributions (shells) with 3-D grids (blocks) in the analysis of the active site. demonstrate three different strategies for focusing attention on significant findings, based on properties of interest, spatial volumes of interest, and on the level of statistical significance. Finally, we show that the program automatically identifies conserved sequential, secondary structural and biophysical features of the serine protease active site, using noncatalytic histidine residues as a control environment. © 1995, AAAI (***). All rights reserved.

关键词： Proteins

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Robot manipulator contact force control application of fuzzy-neural network

Robot manipulator contact force control application of fuzzy...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Kiguchi T. Fukuda Dept. of Ind. & Syst. Eng. Niigata Coll. of Technol. Niigata Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

A lot of researches have been done on fuzzy-neural control, the combination of neural networks control which has a learning ability from experiments and fuzzy control which has an ability of dealing with human knowledge, in order to make up for each other's weak points. In this paper, fuzzy-neural controller is introduced for robot manipulator contact force control to an unknown environment. A robot manipulator controller, which approaches, contacts and applies force to the environment, is designed using fuzzy logic in order to realize human like control and then modeled as a neural network to adjust membership functions and rules in order to achieve desired contact force control. Error between desired force and measured force and momentum of robot manipulator are used as input signals of the controller. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the controller for the tasks of approach, contact and force control.

关键词： Manipulators Force control Force measurement Neural networks Humans Fuzzy control Humanoid robots Robot control Fuzzy logic Error correction

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