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Proceedings of the 3rd international workshop on robot motion and control, RoMoCo 2002

Proceedings of the 3rd International Workshop on Robot Motio...

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3rd international workshop on robot motion and control, RoMoCo 2002

ISBN: (纸本)8371434294

The proceedings contain 71 papers. The topics discussed include: noninvasive optoelectronic monitoring of the living tissues vitality;control concepts for an industrial robot used as kinesthetic knee joint simulator;joint control of the six-legged robot AirBug driven by fluidic muscles;telerobotic simulator in minimal invasive surgery;convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods;on neural control of a manipulator with output feedback;impedance control with virtual compliance;remarks regarding PD joint space control of manipulators using the eigenfactor quasi-coordinate velocity vector;slow locomotion of a three-link system along a horizontal plane;prototypes of walking machines: motion synthesis;and optimization of power consumption of anthropomorphic robots driven by electromotor.

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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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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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Research on motion control Algorithms for Asymmetric robot Structures 3rd

Research on Motion Control Algorithms for Asymmetric Robot S...

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3rd international Conference on Information control, Electrical Engineering, and Rail Transit, ICEERT 2023

作者： Yang, Qi Liang, Xunyang Wang, Yilu Wang, Shida Huang, Xingzhuo School of Mechanical Engineering Shenyang Ligong University Shenyang110159 China

ISBN: (纸本)9789819746194

In order to meet the diversified storage requirements and improve the work safety and warehouse management level, a design of warehouse robot based on STM32 single chip computer is proposed. According to the functional requirements of the experimental environment, the corresponding mechanical structure is designed and the control hardware is selected. The sinusoidal speed regulation is used to control the speed of the robot in the process of starting and braking and to prevent the robot from producing too large shock due to the speed change too fast. At the same time, in order to solve the speed instability and deviation caused by unbalanced center of gravity and uneven distribution of ground friction coefficient, the CASADE PID algorithm of Angle ring and speed ring in series is used to control the motion. The experiment shows that the traveling speed of the robot can be flexibly set according to the actual demand, and the steady-state error between the actual speed and the preset speed is no more than 3%, and the real-time attitude adjustment can be carried out when the speed is stable, and the automatic correction can be made back to the preset trajectory when the deviation occurs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Three term control systems

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Adaptive Fuzzy Logic in Backstepping control for 3-DOF Parallel Delta robot 3rd

Adaptive Fuzzy Logic in Backstepping Control for 3-DOF Paral...

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3rd international Conference on Advances in Information and Communication Technology, ICTA 2024

作者： Le, Anh Tuan Truong, Giang Luong Nguyen, Huy Quang Ngoc, Tuan Anh Than The, Bach Tran Khac, Long Nguyen Le, Hoang Giap Le Xuan, Hai Le Van, Dung Ha Tinh College of Technology Ha Tinh Viet Nam Univeristy of Engineering and Technology Vietnam National University Hanoi Viet Nam International School Vietnam National University Hanoi Viet Nam Falcuty of Engineering Technology Hung Vuong Univerisy Phu Tho Viet Nam

ISBN: (纸本)9783031809422

In this study, we propose applying the Backstepping control method to the Delta robot, incorporating Fuzzy Logic to handle fuzzy input values and provide solutions based on fuzzy sets. This approach aims to enable the robot to approximate the desired motion trajectory within a short timeframe and maintain system stability in the face of disturbances that hinder movement between joint torques. The system's stability is ensured and successfully demonstrated based on Lyapunov stability theory. The performance of the controller is evaluated through numerical simulation results using Matlab & Simulink tools on the figure-eight trajectory. Comparing the Backstepping controller combined with Fuzzy Logic to traditional Backstepping, the results demonstrate the superior performance of the Backstepping controller combined with Fuzzy Logic. It can effectively control the motion of the Delta robot along the desired trajectory with small errors, and short response times, providing a more flexible and adaptive control approach that can handle uncertain inputs, especially when the system is affected by unknown external disturbances. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Backstepping

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Autonomous Indoor Navigation using Nav2 3

Autonomous Indoor Navigation using Nav2

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3rd international Conference on Intelligent Data Communication Technologies and Internet of Things, IDCIoT 2025

作者： Sumathi, K. Ajay Balaji, L. Danaraj, A.P. Deepaganesh, M. Department of Electronics and Communication Engineering KIT-KalaignarKarunanidhi Institute of Technology Coimbatore India

ISBN: (数字)9798331527549

ISBN: (纸本)9798331527549

The project focuses on the design, development, and implementation of an Autonomous Mobile robot (AMR) system specifically tailored for warehouse environments. The escalating demand for efficient warehouse management, driven by the e-commerce boom, necessitates the adoption of automated solutions to overcome challenges like labor shortages and operational inefficiencies. The proposed AMR system integrates advanced sensing technologies, including 2D LiDAR and IMU, with robust navigation and control algorithms to enable the robot to autonomously navigate through dynamic warehouse environments. The core of the system is built upon the ROS 2 framework, providing a robust and flexible platform for development and deployment. The project explores the implementation of Simultaneous Localization and Mapping (SLAM) techniques, utilizing the SLAM Toolbox, to enable the robot to build and update maps of its environment while simultaneously determining its position. Furthermore, the system incorporates advanced path planning algorithms and obstacle avoidance mechanisms to ensure safe and efficient navigation. The project utilizes Gazebo for realistic simulation and validation, allowing for thorough testing and optimization of the AMR system before real-world deployment. This research aims to contribute to the advancement of warehouse automation by developing a cost-effective and efficient AMR system that can significantly improve operational efficiency and productivity. © 2025 IEEE.

关键词： motion planning

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Adaptive Reduced Fuzzy Decoupling control for Lower Limb Exoskeleton with Uncertainties 3rd

Adaptive Reduced Fuzzy Decoupling Control for Lower Limb Exo...

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3rd international Conference on Advances in Information and Communication Technology, ICTA 2024

作者： Nguyen, Van-Truong Tran, Duc-Duong Le, Ngoc-Duy Dang, Van-Truong School of Mechanical and Automotive Engineering Hanoi University of Industry Hanoi Viet Nam Faculty of Engineering Technology Hung Vuong University Viet Tri Viet Nam

ISBN: (纸本)9783031809422

In this paper, an adaptive reduced fuzzy decoupling controller is developed for a lower limb rehabilitation exoskeleton robot (2-DOF) in the case of uncertainties. With decoupled control, the initial overall MIMO system is separated into a set of individual MISO subsystems for independent control. A simplified adaptive fuzzy is proposed to reduce computation time, addressing the issues of traditional fuzzy systems. The controller has good control quality, tracking the human gait motion trajectory with uncertainty. Simulation results show that the proposed controller performs better than the traditional fuzzy controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Exoskeleton (robotics)

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Balancing Ground Reaction Forces on Quadrupeds for Simplified motion controller Design

Balancing Ground Reaction Forces on Quadrupeds for Simplifie...

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Mechatronics, control and robotics (ICMCR), international Conference on

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

关键词： Legged locomotion Software packages robot kinematics Dynamics robot sensing systems Robustness Steady-state Quadrupedal robots Force sensors robots

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control of climbing robot for rough surfaces 3

Control of climbing robot for rough surfaces

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3rd international workshop on robot motion and control

作者： Rachkov, M Moscow State Ind Univ Dept Automat Moscow 109290 Russia

ISBN: (纸本)8371434294

The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robot control algorithnis and design parameters allows adapting to unevenness of motion surface. control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results tire presented.

关键词： robots

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Supervisory control for multiple mobile robots in 2D space 3

Supervisory control for multiple mobile robots in 2D space

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3rd international workshop on robot motion and control

作者： Roszkowska, EB Wroclaw Univ Technol Inst Engn Cybernet PL-50372 Wroclaw Poland

ISBN: (纸本)8371434294

The paper proposes a new control architecture for a multiple mobile robot system, and within this framework concentrates on the robot motion coordination problem. A DES-based supervisory control is developed that formally ensures collision and deadlock avoidance between a group of robots concurrently accomplishing their missions in a common 2D space.

关键词： motion planning

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