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检索条件"任意字段=3rd International Workshop on Robot Motion and Control"

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Design and Analysis of a Reinforcement Binding robot for Building Machinery 3

Design and Analysis of a Reinforcement Binding Robot for Bui...

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3rd international Conference on robotics, Artificial Intelligence and Intelligent control (RAIIC)

作者： Yang, Yuhang Zhang, Guangming Nanjing Univ Technol Nanjing Peoples R China

ISBN: (纸本)9798350352634;9798350352627

In response to the issue of high labor costs in the steel bar bundling process on building machines, a new type of steel bar bundling robot for building machines is proposed, which has strong load-bearing capacity, large working range, and is easy to install. Firstly, design a series parallel robot driven by ropes, establish a mathematical model of the structure using MATLAB, analyze the changes in rope length and working range, and verify the results;Finally, an adaptive sliding film control strategy is adopted to control the motion error of the modified mathematical model. The results show that this structure can meet the requirements of the steel bar binding process on the building machine.

关键词： component Cable driven series parallel hybrid robot controllable workspace Adaptive synovial control

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Research on predictive control system for inspection robots based on digital twins 3

Research on predictive control system for inspection robots ...

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3rd international Conference on robotics, Artificial Intelligence and Intelligent control (RAIIC)

作者： Liu, Yu Liu, Hongwei Liu, Manlu Liu, Xin Southwest Univ Sci & Technol Sch Informat Engn Mianyang 621010 Sichuan Peoples R China Southwest Univ Sci & Technol Robot Technol Used Special Environm Key Lab Sichu Mianyang 621010 Sichuan Peoples R China

ISBN: (纸本)9798350352634;9798350352627

In order to improve the motion stability and monitorability of inspection robots, a digital twin predictive control system for inspection robots based on Unity3D and robot Operating System (ROS) is proposed. Firstly, with the support of wireless communication technology and ROS system, the mapping of virtual-real space scene and robot state is carried out through TCP/IP protocol;secondly, considering the impact of data communication lag and signal loss on the control system, a predictive control model is constructed to control the robot's motion in order to reduce the reliance on real-time data, and the predictive control model is optimized by using Laguerre's function as well as filtering algorithm to optimize the control response and mitigate control oscillations in time;finally, in the virtual decision space, the physical robot is driven to follow the predicted trajectory in a synchronized mapping manner. The experimental results prove that the digital twin control system has good tracking performance and is stable and reliable. Compared with that before model optimization, the efficiency is improved by 50.93% and the error is reduced by 69.23%.

关键词： digital twin Unity 3D predictive control model laguerre function

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2025 3rd international Conference on Mechatronics, control and robotics, ICMCR 2025

2025 3rd International Conference on Mechatronics, Control a...

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3rd international Conference on Mechatronics, control and robotics, ICMCR 2025

ISBN: (纸本)9798331544546

The proceedings contain 22 papers. The topics discussed include: industrial ahu control improvements using fuzzy logic for energy efficiency and comfort;a hybrid nut sorting system: utilizing machine vision and augmented information for efficient human-robot collaboration;using sliding mode controller to trajectory tracking of the four Mecanum wheel mobile robot applied in automotive plants;balancing ground reaction forces on quadrupeds for simplified motion controller design;geometric control methods for on-orbit assembly of modular spacecraft cluster;generalized wavefront path planning;a self-aware robotic machining architecture based on physics-informed neural networks;and improved path planning algorithms to minimize turning costs for a differential-drive autonomous surface vehicle.

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Research on Climbing motion control of Snake-Shaped robot for Variable Diameter Piles 3

Research on Climbing Motion Control of Snake-Shaped Robot fo...

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3rd international Conference on Service robotics, ICoSR 2024

作者： Ye, Jinhu Zhang, Jie Sheng, Ouyang Luoding Polytechnic Guangdong China School of Automation Science and Engineering South China University of Technology Guangdong China

ISBN: (纸本)9798350367119

In this paper, the movement control of snake-shaped robot for pipeline clamber is studied, and a method based on neural network and Sigmoid joint decoupling is proposed to solve the adaptive problem of snake-shaped robot in pipeline climbing. By obtaining the angle information and angle change law of the snake-shaped robot, effectively Forecast the change law of the pipeline diameter parameters can be realized, so as to further estimate and predict the parameter adjustment law controlled by the snake-shaped robot, and realize the effective decoupling of the joint angle of the robot, thus improving the adaptability of the robot to climbing the pipeline. The effectiveness of the proposed method is verified by experiments and simulations. © 2024 IEEE.

关键词： Long short-term memory

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Design and Modeling of a Flexible Continuum Surgical Manipulator with Symmetric Constraints 3

Design and Modeling of a Flexible Continuum Surgical Manipul...

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3rd international Conference on robotics, Artificial Intelligence and Intelligent control (RAIIC)

作者： Zhao, Chenpeng Wang, Yanbo Lv, Bohan Beijing Inst Precis Mechatron & Controls Innovat Ctr Control Actuators Lab Aerosp Servo Actuat & Transmiss Beijing Peoples R China

ISBN: (纸本)9798350352634;9798350352627

A flexible continuum manipulator for minimally invasive surgery is proposed to realize the positional separation of the manipulator end by designing a symmetric constraint *** on this configuration, a direct inverse kinematics method is *** workspace is drawn and the inverse kinematics is solved in the modes of fixed target attitude and fixed target position. The attitude tracking error can be ignored, and the maximum position tracking error is *** shows that the designed manipulator can achieve more accurate motion control by using the direct inverse kinematics algorithm, which provides a new idea for the design of the manipulator in minimally invasive surgery robot.

关键词： Manipulator Medical robots and Systems Inverse Kinematics

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Balancing Ground Reaction Forces on Quadrupeds for Simplified motion controller Design 3

Balancing Ground Reaction Forces on Quadrupeds for Simplifie...

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3rd international Conference on Mechatronics, control and robotics, ICMCR 2025

作者： Ozcetin, Ali Ihsan Karatas, Emre Cicek, Yuksel Sumer, Ecem Temeltas, Hakan Istanbul Technical University Faculty of Electrical and Electronics Istanbul Turkey

ISBN: (纸本)9798331544546

This study presents a simplified control approach for quadruped robots, eliminating the need for complex optimization calculations and reducing hardware requirements, making it a cost-effective solution. The proposed method is particularly suitable for applications involving multiple robots, such as multi-robot teams and swarms, where multiple robots can collaborate on collective tasks with scalable deployment across a variety of functions, from coordinated missions and exploration to single-use, high-risk operations. The objective is to control the quadruped robot's position and orientation for basic tasks without relying on high-end equipment. Classical control methods are applied and their performance is evaluated in trot mode. The quadruped robot is controlled using inverse dynamic control, force control, and PD control methods. controllers and references were developed on MATLAB Simulink and integrated with the MuJoCo simulation environment. © 2025 IEEE.

关键词： Multipurpose robots

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motion control strategies for industrial robots and their performance evaluation 24

Motion control strategies for industrial robots and their pe...

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3rd international Symposium on robotics, Artificial Intelligence and Information Engineering, RAIIE 2024

作者： Wang, Haitao Wang, Yunxiao Ming, Xing Hengxing University Qingdao266100 China Shandong Water Polytechnic Rizhao276826 China

ISBN: (纸本)9798400718311

With the continuous improvement of the level of industrial automation, industrial robots, as an important production equipment, are playing an increasingly important role in the manufacturing industry. As a typical six-axis industrial robot, the performance of ER20-1700 robot with its motion control strategy is directly related to the production efficiency and product quality. In this paper, we first performed motion modeling for ER20-1700 robot, then designed the control system based on SimMechanic and Simscape toolbox, and analyzed the results through the experimental platform. Finally, the performance evaluation methods of motion control strategies for industrial robots are discussed. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Industrial robots

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Biped robot control based on adaptive incremental MPC 3

Biped robot control based on adaptive incremental MPC

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3rd international Conference on Electronics and Information Technology, EIT 2024

作者： Huang, Xinxiang Wang, Tao Feng, Zhengyong Wei, Zhongshan Deng, Wenyan China West Normal University School of Electronic & Information Engineering Nanchong China

ISBN: (纸本)9798350369151

In this paper, a kind of walking control of biped robot based on adaptive incremental MPC(Adaptive IMPC) is implemented. The linear inverted pendulum model(LIPM) is used to simplify the robot into a center of mass moving on a horizontal line and a retractable leg, which is used to establish the dynamic equation and generate a stable walking trajectory. An adaptive incremental model predictive control algorithm is used to track the desired Zero Moment Point (ZMP) trajectory. Compared with the traditional MPC algorithm, its dynamic model adjustment ability and adaptability to nonlinear and time-varying systems have significant advantages in controlling the robot's centroid trajectory and ZMP. Then the motion path of the robot foot is dynamically planned by seventh-degree polynomial interpolation. The trajectory of the center of mass and the trajectory of the robot foot are analyzed, and the inverse kinematics is solved to get the final realization of the joint Angle. Finally, a complete physical simulation is carried out on matlab, and the experimental results show that the above scheme can improve the stability of the biped robot in walking. © 2024 IEEE.

关键词： Inverse kinematics

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Self-Adaptive Robust motion Planning for High DoF robot Manipulator using Deep MPC 3

Self-Adaptive Robust Motion Planning for High DoF Robot Mani...

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3rd international Conference on robotics, Artificial Intelligence and Intelligent control (RAIIC)

作者： Zhang, Ye Mo, Kangtong Shen, Fangzhou Xu, Xuanzhen Zhang, Xingyu Yu, Jiayue Yu, Chang Univ Pittsburgh Pittsburgh PA 15213 USA Univ Illinois Champaign IL 61820 USA San Jose State Univ San Jose CA 95192 USA Snap Inc Seattle WA 98121 USA George Washington Univ Washington DC 20052 USA Warner Bro Discovery Culver City Culver City CA 90232 USA Northeastern Univ Boston MA 02115 USA

ISBN: (纸本)9798350352634;9798350352627

In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent capability of leveraging robust optimization algorithms to approximate cost functions and relax the stringent constraints often associated with conventional self-adaptive control paradigms. Deep learning methods, characterized by their extensive layered architecture, offer significantly enhanced approximation prowess. Notwith-standing, the implementation of deep learning is replete with challenges, particularly the phenomena of vanishing and exploding gradients encountered during the training process. This paper introduces a self-adaptive control scheme integrating a deep MPC, governed by an innovative weight update law designed to mitigate the vanishing and exploding gradient predicament by employing the gradient sign exclusively. The proffered controller is a self-adaptive dynamic inversion mechanism, integrating an augmented state observer within an auxiliary estimation circuit to enhance the training phase. This approach enables the deep MPC to learn the entire plant model in real-time and the efficacy of the controller is demonstrated through simulations involving a high-DoF robot manipulator, wherein the controller adeptly learns the nonlinear plant dynamics expeditiously and exhibits commendable performance in the motion planning task.

关键词： MPC robust control self-adaptive control robotics motion planning

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Application of Udwadia-Kalaba Approach to Tracking control of Surgical robot 3

Application of Udwadia-Kalaba Approach to Tracking Control o...

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3rd international Conference on Service robotics, ICoSR 2024

作者： Qin, Feifei Liu, Zexuan Fang, Junwei Wang, Binrui College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

There is a significant anticipated shift from operating theater (OT) surgery to digital OT, with robotic Assisted Surgery (RAS) emerging as the most representative aspect of this transformation. RAS which uses robot to assist the surgeon while operating a patient offers several technical advantages such as greater precision, and more accurate compared with conventional surgery. The paper introduces an explicit dynamic control equation for a surgical slave robot, leveraging the UK theory, which provides a succinct and precise equation of motion for constrained mechanical systems with holonomic or nonholonomic constraints. The performance specifications, including the required trajectory, are regarded as servo constraints in a second-order matrix format. These secondorder constraints are integrated into the dynamics and constraint-following control. The UK theory is utilized to derive a closed-form expression for the control force necessary to accurately guide the surgical robot along the predefined trajectory. Notably, no approximations, linearizations, or auxiliary variables like Lagrangian multipliers or pseudogeneralized speeds are employed in the dynamic modeling or analysis. Simulation results show the simplicity, efficacy and accuracy of the proposed approach when applied to the surgical robot. © 2024 IEEE.

关键词： Lagrange multipliers

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