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controlling robots on-orbit

Controlling robots on-orbit

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： C.R. Carignan J.C. Lane P.J. Churchill Department of Aerospace Engineering University of Maryland College Park MD USA

Space and underwater vehicles with robotic manipulators can severely tax the capability of conventional control architectures. In this report, the control system and operator interface for a submersible vehicle used in microgravity simulation are examined. The architecture of the onboard controller and the control station are described as well as the vehicle/operator communications. The control approach is demonstrated on the Ranger Neutral Buoyancy Vehicle (NBV) currently in operation at the Space Systems Laboratory at the University of Maryland.

关键词： Robot control Underwater vehicles control systems Remotely operated vehicles Arm Space shuttles Orbital robotics Space vehicles Communication system control Mobile robots

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Motion control skill in human hyper dynamic manipulation-an investigation on the golf swing by simulation

Motion control skill in human hyper dynamic manipulation-an ...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： A. Ming T. Mita S. Dhlamini M. Kajitani University of Electro-Communications Tokyo Japan

Human hyper dynamic manipulations are defined here as those in which hyper skill is needed to execute a dynamic manipulation by a human, e.g. golf swing. The paper discusses the motion control skill in the human golf swing. The optimization of the swing motion according to a simplified model of a human is described. By comparing generated optimal swing motions corresponding to various cost functions, with human swing motions, some useful hints on human motion control skill are obtained.

关键词： Motion control Humans Manipulator dynamics Wrist Torque Cost function Shoulder Acceleration Humanoid robots Finishing

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Emotion model in robot assisted activity

Emotion model in robot assisted activity

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： T. Hashimoto Department of urban economics Nasu University Kuroiso Japan

This paper discusses the robot assisted activity, which is physical and mental support for a human. The author proposes a function (mood congruent effect) that modifies the behavior of a robot based on its own emotion, and a control model (emotion-driven agent model) for the robot. The emotion-driven agent model has a recurrent type association memory and hierarchical knowledge. In the simulation, the agent showed a psychological defensive reaction.

关键词： Robots Helium Humans Mood Psychology Aging control systems Fuzzy cognitive maps Animals Knowledge engineering

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Vibration control of flexible-link manipulators using generalized output redefinition

Vibration control of flexible-link manipulators using genera...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： M. Moallem R.V. Patel Department of Electrical & Computer Engineering University of Western Ontario London ONT Canada

Presents a generalized nonlinear control scheme for achieving small tip-position tracking errors while suppressing vibrations of flexible modes in flexible-link manipulators. The control strategy is based on partial feedback linearization, where a desired output vector corresponding to a subset of the system states is controlled by using a tracking controller. The remaining states correspond to the internal dynamics of the system that can be either marginally stable or unstable, corresponding to a weakly or strongly nonminimum phase system. We address how to obtain an appropriate output vector in the general case and also present a scheme for obtaining matrices corresponding to the feedforward damping terms in the control law.

关键词： Vibration control Manipulator dynamics Linear feedback control systems control systems Error correction Velocity control Force control Weight control Ear Computer errors

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Tracking control of a mobile robot with kinematic and dynamic constraints

Tracking control of a mobile robot with kinematic and dynami...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Heting Xu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

A path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventional bang-bang control technique, the proposed tracking controller is capable of generating real-time acceleration commands that can produce smooth, continuous robot velocities, and drive the mobile robot to track the desired trajectories. In the controller design, the accelerations are bounded and the nonholonomic kinematic constraints are satisfied. The stability of the control system and the convergence of tracking errors to zero are proved using a Lyapunov stability theory. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.

关键词： Mobile robots Kinematics Acceleration Biological system modeling Bang-bang control Velocity control Biological control systems Trajectory Stability control systems

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Deadlock avoidance method for multi-agent robot system using network of chaotic elements

Deadlock avoidance method for multi-agent robot system using...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Y. Maeda T. Matsuura Faculty of Information Science and Technology Osaka Electro Communication University Japan System Administration Section Technical Services Department Japan Network Information Center

We propose the method that can avoid deadlock as a group efficiently, by changing singleton values of the fuzzy rule that describes the action in an individual agent in accordance with a network of chaotic elements. Furthermore, we report the result of confirming the efficiency of our proposed algorithm by using a multi-agent robot simulator.

关键词： System recovery Chaos Robot kinematics Robot sensing systems Equations Vibration control Logistics Mobile robots Fuzzy control Lattices

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Behavioral dimension of multiobjective behavior coordination for a mobile robot

Behavioral dimension of multiobjective behavior coordination...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： N. Kubota H. Masuta K. Taniguchi Department of Human and Artificial Intelligent system Fukui University of Technology Fukui Japan Dept. of Human and Artificial Intelligent system Fukui University Fukui JAPAN Kinden Corporation Kyoto JAPAN

This paper proposes a control method of the behavioral dimension in multiobjective behavior coordination of a mobile robot. The behavioral dimension of multiobjective behavior coordination is proposed. Simulation resu... 详细信息

关键词： Mobile robots Robot sensing systems Robot kinematics Intelligent robots Servomotors Intelligent sensors Intelligent structures Fuzzy control Servomechanisms Legged locomotion

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A MATLAB/Simulink-based platform for real-time planning and execution of control techniques applied to mobile robots

A MATLAB/Simulink-based platform for real-time planning and ...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： L.F. Chaves P.A. Spiller A.G. Scolari R.N. Conte L.F.A. Pereira Department Electrical Engeneering Pontifícia Universidade Catóica do Rio Grande do Sul Porto Alegre Brazil

Simulation tools now occupy a place of particular importance in many fields of engineering. Some of these tools have come to be regarded as standard and/or as a point of departure for the replication of results obtained in scientific papers. The present paper describes the use of one of these tools, Matlab/Simulink, used in order to simulate and validate in real time the results concerning the guidance, navigation and control techniques applied to a low cost mobile platform.

关键词： MATLAB Navigation Service robots Robotics and automation Automatic control Sensor phenomena and characterization Computer languages Robot sensing systems Global Positioning System Testing

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Design of a novel compact dexterous hand for teleoperation

Design of a novel compact dexterous hand for teleoperation

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Guowu Jia Guang Chen Ming Xie School of Mechanical and Production Engineering Nanyang Technological University Singapore

This paper focuses on the mechanism design of a novel compact dexterous hand of 3 fingers, 9 joints and 7 DOF (degrees of freedom). The technology of single-motor actuation is used and a kind of compact bilateral clutch is designed to reduce the size of actuation and control part of the hand. Different from most dexterous hand designs, no lengthy tendons are needed in this design since the actuation and control parts are all integrated closely to the fingers. Furthermore, passive joints are added to reduce the number of control DOF and make the hand behave like a human hand. The notion of perfect dexterous hands is discussed from the viewpoint of degrees of freedom. The hand's kinematics and its control architecture in our experiment system of teleoperation are also briefly presented.

关键词： Tendons Fingers Kinematics Service robots Manipulators Grippers Humans control systems Pneumatic actuators Cables

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A novel system for underwater docking in difficult situations

A novel system for underwater docking in difficult situation...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Xiaodong Wang Qingxin Meng Harbin Engineering University Harbin China

In order to carry out tasks such as the rescue of disabled submarine when the state of the sea is unfavorable and the direct docking is impossible, a novel automatic underwater docking system has been developed in laboratory for experiment and further research. The system has four manipulators, each is controlled by a single chip microcomputer in order to realize some low level local intelligence. These four single chip microcomputers operate in coordination under the supervision of another single chip microcomputer which also serves for the communication with the computer of the Integrated control And Display system (ICAD). The overall description, docking strategy, fuzzy method which was applied in docking procedure and made the cheap electromagnet valve controlled manipulators suitable for application, some features in program design for realizing system function, and some preliminary experiments are presented in this paper.

关键词： Microcomputers Communication system control control systems Computer displays Underwater vehicles Laboratories Automatic control Centralized control Fuzzy control Fuzzy systems

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