A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. I propose an architecture which lear...
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Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large manipulator - Macro - and a r...
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ISBN:
(纸本)9781424448081
Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large manipulator - Macro - and a rigid short manipulator - Micro. There are many cases in which the mathematical description of desired path is unknown. In such cases one of the best solutions would be to use a master-slave algorithm to control the end-effector along the path. However, due to complicated configuration of the arm one need to employe a joystick type master to command the system. A method based on artificial constraint motion is presented which can semi-manually control the system. To this end, operator controls the macro manipulator by a macro-like master close to the desired path while generating tracking error signal by a joystick A close loop computed-torque like controller which is designed based on constrained motion tries to eliminate the error and track the desired trajectory precisely.
This article presents a new method to design, in two levels, fuzzy controller for reactive navigation of a mobile robot in a structured unknown environment. At the first level, adjacent sensors are grouped in areas an...
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This article presents a new method to design, in two levels, fuzzy controller for reactive navigation of a mobile robot in a structured unknown environment. At the first level, adjacent sensors are grouped in areas and are used to define local behaviors. These local behaviors are then gathered at the second level in order to define a global behavior. Two experiments with different local behaviors and different mechanism of integration are presented on our Nomad200 mobile robot.
Dextrous manipulation of objects by a robot arm is one of the central problems in robotics research. This paper first studies basic modeling and dynamic control problems of whole body manipulation systems by the assum...
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The class of non-minimum phase systems modeled by transfer functions with "unstable" zeros is considered as a controlled plant in control systems. The stabilization and control of this class of systems is di...
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This paper proposes to shed a new light on the μ-synthesis problem using the differential evolution algorithm. This algorithm allows optimizing simultaneously the structured controller and the dynamic (or static) D-s...
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This paper proposes to shed a new light on the μ-synthesis problem using the differential evolution algorithm. This algorithm allows optimizing simultaneously the structured controller and the dynamic (or static) D-scalings, which leads to robust performance controllers. This method has been applied successfully to a classical flexible plant control problem. A comparison between the evolutionary approach and the non-smooth optimization one has been envisaged proving the high potential of the proposed method.
Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture ...
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The proceedings contain 58 papers. The topics discussed include: towards a reactive grasping system for an industrial robot arm;learning to grasp by using visual information;intelligent learning for deformable object ...
ISBN:
(纸本)0780358066
The proceedings contain 58 papers. The topics discussed include: towards a reactive grasping system for an industrial robot arm;learning to grasp by using visual information;intelligent learning for deformable object manipulation;a fuzzy approach to hand functioning in virtual programming;functional programming of behavior-based systems;soft computing-based design and control for mobile robot path tracking;a method for on-line trajectory planning of robot manipulators in cartesian space;real-time collision-free path planning of robot manipulators using neural network approaches;an adaptive fuzzy approach for robot manipulators tracking;motion control scheme for a snake-like robot;learning fuzzy rules by evolution for mobile agent control;tracking control of nonholonomic mobile robots;and modeling of vehicle dynamics from real vehicle measurements using a neural network with two-stage hybrid learning for accurate long-term prediction.
This study addresses the design and properties of an intelligent optimal control of a nonlinear flexible robot arm that is driven by a permanent magnet (PM) synchronous servo motor. The dynamic model of a flexible rob...
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An anthropomorphic biped robot is presented The advantage of legged locomotion in rough terrain and in confined spaces has been investigated extensively in recent years. Biped robotic research has focused on imitation...
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