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Dynamic control of curve-constrained hyper-redundant manipulators

Dynamic control of curve-constrained hyper-redundant manipul...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Shugen Ma M. Watanabe H. Kondo Department of Systems Engineering Faculty of Engineering Ibaraki University Hitachi Japan

Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus possessing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To control these hyper-redundant manipulators accurately, the manipulator dynamics must be included into consideration. This is however time-expensive and makes implementation of the real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in the defined posture space where three parameters were used to determine the manipulator posture. The manipulator dynamics is modeled in the parameterized form with the parameter of the posture space path and the posture space path-tracking feedforward controller is formulated on the basis of the parameterized dynamic equation. Computer simulation was executed to show the validity of the proposed technique, where a hyper-redundant manipulator traces the posture space path well by the proposed feedforward controller. As a result, it is proven that the hyper-redundant manipulator can track the workspace path accurately.

关键词： Manipulator dynamics Kinematics Orbital robotics Service robots Computer simulation Systems engineering and theory Electrical equipment industry Real time systems Control systems Torque control

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Proceedings of the 1998 ieee international symposium on Intelligent Control (ISIC) held jointly with ieee international symposium on computational intelligence in robotics and automation (CIRA) Intelligent Systems and Semiotics (ISAS) (Cat. No.98CH36262))

Proceedings of the 1998 IEEE International Symposium on Inte...

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ieee international symposium on Intelligent Control (ISIC)

Presents the title page of the proceedings record.

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Modeling and analysis of dynamic multi-agent planar manipulation

Modeling and analysis of dynamic multi-agent planar manipula...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Qingguo Li S. Payandeh Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University Burnaby BC Canada

A dynamic model for multi-agent manipulation is investigated under a nonlinear control framework. The motion of the rigid body on a plane under two-finger pushing is modeled as a nonlinear system. The local controllability is derived for different cooperation patterns. The motion of the rigid body under pushing is composed of two stages: during the first stage, the fingers maintain contact with the object, and through adjusting the pushing position, orientation and force on the object, the configuration of the object can reach some subsets in configuration space. Due to local contact constraints, the fingers may lose contact with the object where the second stage of motion starts. Here, the motion of the object is governed by the friction force only. Thus manipulation planning consists of two parts. First, an initial state response problem needs to be solved to find the subset of configuration space which can reach the final configuration under the friction-governed sliding. The remaining problem can be categorized as optimal control problem, which solves the cooperation between agents which force the object moving into the subset found by the initial state response problem. The possibility of cooperation is illustrated through an example.

关键词： Manipulator dynamics Robot kinematics Fingers Laboratories Nonlinear systems Nonlinear dynamical systems Control system analysis Nonlinear control systems Control theory Controllability

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Measurement and analysis of human visual characteristic on subjective contours perception for artificial vision system

Measurement and analysis of human visual characteristic on s...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Jing-Long Wu Sheng Ge S. Kawano T. Saito Department of Intelligent Mechanical Systems Faculty of Engineering Kagawa University Takamatsu Japan Graduate School of Science and Engineering Yamaguchi University Ube Yamaguchi Japan Department of Mechanical Engineering Yamaguchi University Ube Yamaguchi Japan

In order to construct artificial vision system with high performance such as human visual system, it is necessary to elucidate the mechanism of human visual system. In this study, two experiments were designed in order to investigate the relationship between the subjective contours strength and the curvature of the illusory form. Both of the two experiments used the partial eclipse disc as the inducing elements, while the illusory form was an ellipse. Experimental stimuli were those figures whose inducing element was randomly emitted from the standard figure. In Experiment 1, the area of the inducing element was bigger where the curvature of the illusory form was smaller. The result shows that the mean subjective contours strength was stronger when the curvature of illusory form of omitted inducing element is smaller. In Experiment 2, both the area of the inducing element and the curvature of the illusory form were bigger. The experimental results show that the conclusion of Experiment I was still tenable in this different case. The results of psychological experiments can be significant to investigate the mechanism of human visual information processing and to construct an artificial vision system for pattern recognition.

关键词： Humans Machine vision Visual system Pattern recognition Psychology Pattern matching Retina Intelligent systems Artificial intelligence Mechanical systems

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Identification of potential deadlock set in semiconductor track systems

Identification of potential deadlock set in semiconductor tr...

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ieee international Conference on robotics and automation (ICRA)

作者： Hyun Joong Yoon Doo Yong Lee Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780365763

Addresses an efficient method to identify the process modules that can potentially cause deadlock in semiconductor track systems. Track systems carry out important functions in the photolithography process of semiconductor fabrication. Trends toward high automation and flexibility in the track systems accelerate the necessity of the intelligent controller that can guarantee deadlock-free operation of the track systems. However, there is a limitation when applying a deadlock avoidance policy in real-time due to the computational complexity caused by scores of modules, and complex and flexible process flows. To cope with that problem, the paper proposes an efficient method to identify potential deadlock process modules by introducing the concept of a potential deadlock set. The potential deadlock set is defined as the set of resources or modules that can result in deadlock in near future. Once the potential deadlock set is identified in the track system, a deadlock avoidance policy can be applied only to the process modules included in the potential deadlock set. Therefore, the approach using the potential deadlock set can significantly reduce the computational complexity when applying deadlock avoidance policy. A resource request matrix and a genetic algorithm are used to find the potential deadlock set in the track systems.

关键词： System recovery computational complexity Lithography Fabrication automation Acceleration computational intelligence Automatic control Control systems Genetic algorithms

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Estimation of forearm movement from EMG signal and application to prosthetic hand control

Estimation of forearm movement from EMG signal and applicati...

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ieee international Conference on robotics and automation (ICRA)

作者： S. Morita T. Kondo K. Ito Department of Computational Intelligence and Systems Science InterdisciplinaryGraduate School of Science and Engineering Tokyo Denki University Yokohama Japan

ISBN: (纸本)0780365763

In this paper, a new approach is examined for controlling the prosthetic hand: the torque control of each joint. The joint torque is estimated from EMG signals using an artificial neural network. The learning system is based on a feedback error learning schema. Two controlled objects were used in the experiments, i.e. a hand dynamic model and prosthetic hand. These experimental results show the possibility to apply the proposed method to the prosthetic hand control under the conditions that the controlled object is a second order delay system.

关键词： Electromyography Prosthetic hand Muscles Torque control Control systems Artificial neural networks Information processing Learning systems Neurofeedback Joints

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Local accessibility and stabilization of an underactuated crawling robot with changing constraints

Local accessibility and stabilization of an underactuated cr...

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ieee international Conference on robotics and automation (ICRA)

作者： F. Matsuno K. Ito R. Takahashi Department of Computational Intelligence and Systems Scieiice Tokyo Denki University Yokohama Japan

ISBN: (纸本)0780365763

Underactuated systems are those processing fewer actuators than degrees of freedom, but generally they are difficult to control. In this paper we realize the crawling motion by an underactuated robot. By changing the location of the fixed point of the robot to the environment, the constraint of the system is changed. Local accessibility of the system with changing the constraints as a nonholonomic system is shown. The control law based on partial feedback linearization is proposed and the stability of the closed-loop system is studied. We discuss the trajectory planning of the robot based on geometric relation. Experiments were carried out to demonstrate the effectiveness of the proposed controller.

关键词： Robots Leg Legged locomotion Control systems Feedback Trajectory Tail Actuators Gravity Motion planning

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Autonomous learning algorithm and associative memory for intelligent robots

Autonomous learning algorithm and associative memory for int...

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ieee international Conference on robotics and automation (ICRA)

作者： K. Kojima K. Ito Department of Computional Intelligence and Systems Science Tokyo Denki University Yokohama Japan

ISBN: (纸本)0780365763

We propose autonomous learning algorithm based on the internal state of the associative memory for intelligent robots. The proposed associative memory model consists of structural unstable oscillators and a common field such as chemical concentration. In computer simulations, we use the binary pattern as the stimuli. When the pattern memorized in the network is given to the network from the outer world, the internal state of the network becomes a periodic state. On the other hand, when the pattern has not been memorized is given to the network, the state becomes an intermittently chaotic and the output of the network travels around the input and some memorized patterns. This chaotic state is regarded as "I don't know" state. Further, when the proposed autonomous learning algorithm is applied to the proposed network, the network can learn only the novel patterns automatically without destroying the previously memorized patterns.

关键词： Associative memory Intelligent robots Robot sensing systems Chaos Robust stability Noise robustness Rabbits Indium tin oxide computational intelligence Chemical technology

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Attitude control of a space robot with initial angular momentum

Attitude control of a space robot with initial angular momen...

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ieee international Conference on robotics and automation (ICRA)

作者： F. Matsuno K. Saito Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Denki University Yokohama Japan

ISBN: (纸本)0780365763

We propose an attitude control law of a space robot with initial angular momentum. We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term as general system representation for a planar two-link space robot with initial angular momentum. We propose the coordinate and input transformation algorithm which converts an affine system with a drift term into the time-state control form, and propose a controller design method using exact linearization. An asteroid sample-return robot with nonzero initial angular momentum is considered as an example. By using the transformation algorithm. We obtain the time-state control form for the robot. The attitude controller of the robot is designed on the basis of the time-state control form, and simulation and experiment have been carried out.

关键词： Orbital robotics Control systems Robot kinematics Open loop systems Space technology Design methodology Slabs Robot control Legged locomotion Sufficient conditions

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Self-reconfigurable modular robot - experiments on reconfiguration and locomotion

Self-reconfigurable modular robot - experiments on reconfigu...

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ieee international Workshop on Intelligent Robots and Systems (IROS)

作者： A. Kamimura S. Murata E. Yoshida H. Kurokawa K. Tomita S. Kokaji Distributed System Design Research Group AIST Tsukuba Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Midori-ku Yokohama Japan

We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building a static structure, but also generating a dynamic robotic motion. We have also developed a simulator for the motion planning. In this paper, we present details of the mechanical and electrical designs of the developed module and its control system architecture. Experiments using ten modules demonstrate the robotic configuration change, crawling locomotion and three types of quadruped locomotion.

关键词： Robots Distributed control Shape Permanent magnets robotics and automation Control systems Power supplies Crystallization Distributed algorithms Algorithm design and analysis

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