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Auto fuzzy tuning having minimum structure by using genetic algorithm and delta rule 2

Auto fuzzy tuning having minimum structure by using genetic ...

引用

2nd IEEE international Workshop on Emerging Technologies and Factory automation: Design and Operations of Intelligent Factories, ETFA 1993

作者： Fukuda, T. Ishigami, H. Shibata, T. Arai, F. Nagoya University Department of Mechano-Informatics and Systems Furo-cho Chikusa-ku Nagoya464-01 Japan Cyubu Electric Power Co. Inc. Shin-Nagoya Thermal Power Station 34 Shiomi-cho Minato-ku Nagoya455 Japan Mechanical Engineering Laboratory Bio-Robotics Division Robotics Department MITI 1-2 Namiki Tsukuba305 Japan

ISBN: (纸本)0780309855

An auto tuning algorithm of fuzzy inference for Fuzzy neural networks using the genetic algorithm and the delta rule is presented. Some auto-tuning methods are proposed to reduce time-consuming operations by human experts. This tuning method brings the minimal and optimal structure of the fuzzy model. Two types of the fuzzy model are prepared, whose membership functions on the antecedent part consist of triangular and Gaussian type, respectively. The effectiveness of the proposed methods compared with the former methods is shown by simulation. The proposed method has the potential to be applied to robotic motion control, sensing and recognition problems. © 1993 IEEE.

关键词： Genetic algorithms

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Mechanical system control with man-machine-environment interactions

Mechanical system control with man-machine-environment inter...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Kosuge Y. Fujisawa T. Fukuda Department of Mechanical Engineering Mechano Informatics and Systems University of Nagoya Nagoya Japan

A mechanical system interacting with the environment and the operator is modeled, and a control algorithm that enables the desired interaction to be realized is proposed. The control system consists of two controllers. One generates the desired motion of the mechanical system based on the force applied to the system, and the other controls the interaction between the system and the environment. The control algorithm specifies both the force augmentation and the maneuverability of the system. The algorithm is applied to a planar manipulator with one degree of freedom to illustrate the concept.< >

关键词： Mechanical systems control systems Humans Manipulators Force control Motion control Master-slave robotics and automation Power system modeling Robot sensing systems

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Swing and locomotion control for two-link brachiation robot

Swing and locomotion control for two-link brachiation robot

引用

IEEE international conference on robotics and automation (ICRA)

作者： F. Saito T. Fukuda F. Arai Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan

A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls the switching amplitude by a method based on parametric excitation. Experimental results of the swing and locomotion control of the robot using these methods are given. They enable the robot to catch its target and to continue locomotion from any initial states.< >

关键词： Mobile robots control systems Motion control Gravity Feedback control Systems engineering and theory Torque Learning systems Ambient intelligence Force control

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Lowering energy consumption of Space robot systems through kinetic energy conservation

Lowering energy consumption of Space robot systems through k...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Y. Nakamura S. Ito Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

The problem of lowering the energy consumption of space robot systems is discussed from the point of view of control. It is proposed to regenerate electricity and store it as a form of kinetic energy using the redundancy of control momentum wheels. This will save 20-25% of the regenerated electricity that would have otherwise been lost as recharging loss. Simulation results show that a three-second motion with the proposed control can save approximately 40-84 joules.< >

关键词： Energy consumption Orbital robotics Kinetic energy Batteries Robot kinematics Mobile robots Wheels Manipulators Space technology Space heating

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Trajectory control of flexible plate using neural network

Trajectory control of flexible plate using neural network

引用

IEEE international conference on robotics and automation (ICRA)

作者： F. Arai L. Rong T. Fukuda Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Modeling and control problems for a three-joint robot handling a flexible plate in the vertical plane under gravity are treated. The dynamical model is obtained using Hamilton's principle, and the ordinary differential equations are obtained using modal analysis. Given the tip position, an iterative algorithm for solving the inverse kinematics is presented. The control torque is obtained using the feedback error learning method and the desired trajectory of the static bending deflection curve. Four three-layer neural networks are used to reduce the joint-angle feedback errors and bending vibration. Simulation results are given.< >

关键词： Neural networks Neurofeedback Robots Gravity Differential equations Modal analysis Iterative algorithms Kinematics Torque control Error correction

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A principle of distributed decision making of Cellular Robotic System (CEBOT)

A principle of distributed decision making of Cellular Robot...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Y. Kawauchi M. Inaba T. Fukuda Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

The Cellular Robotic System (CEBOT) is studied with the aim of realizing a self-organizing robotic system. A principle of the distributed decision making method for a multi-agents robotic system is reported. Some simple control laws which each unit should obey are proposed. The conditions of parameters of the control laws to keep the total system stable are also discussed. To demonstrate the efficiency of the proposed method, a simple task (carry the object) is carried out by some mobile cells which obey the methods from simulation experiments. The optimal number of cells to execute the task is evaluated and discussed.< >

关键词： Distributed decision making control systems Decision making Robot kinematics Centralized control Communication system control Organizing Databases

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Input/output force analysis of parallel link manipulators

Input/output force analysis of parallel link manipulators

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Kosuge M. Okuda H. Kawamata T. Fukuda Department of Mecaho-Informatics and Systems University of Nagoya Nagoya Japan

A method for evaluating kinematic structures of parallel link manipulators based on the relation between actuator forces/moments and output forces/moments of the mechanism is proposed. The input/output force analyses proposed previously have been based on the manipulator Jacobian, in which forces and moments are dealt with together. Manipulators are analyzed in the present work by dealing with the output forces and the output moments independently. The translatability and the rotatability of the manipulators are evaluated on the basis of the output forces and moments for given input forces and moments. The kinematic structure is then analyzed on the basis of translatability and rotatability of the manipulators. The method is natural and intuitive, in the sense that forces and moments having different dimensions are dealt with separately, and is useful for the design of the manipulator kinematic structure.< >

关键词： Jacobian matrices Kinematics Actuators Ellipsoids Motion control

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Coordinative behavior by genetic algorithm and fuzzy in evolutionary multi-agent system

Coordinative behavior by genetic algorithm and fuzzy in evol...

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Shibata T. Fukuda Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

A strategy for motion planning of multiple robots as a multi-agent system is proposed. All the robots cannot communicate globally, but some robots can communicate locally and coordinate to avoid competition for public resources. In such systems, it is difficult for each robot to plan its motion effectively, while considering other robots. Therefore, each robot determines its motion selfishly, planning its motion while considering the known environment and using empirical knowledge. The robot also considers its unknown environment, which includes the other robots, in the empirical knowledge. The genetic algorithm is used to optimize the motion of the planning. Each robot iteratively acquires knowledge of its unknown environment, expressed by fuzzy logic, and the system behaves efficiently as an evolutionary process. As an illustration, path planning by multiple mobile robots is considered.< >

关键词： Genetic algorithms Fuzzy systems Multiagent systems Robot kinematics Motion planning Orbital robotics Mobile robots Strategic planning Path planning Intelligent control

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Characteristics of optical actuator-servomechanisms using bimorph optical piezo-electric actuator

Characteristics of optical actuator-servomechanisms using bi...

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IEEE international conference on robotics and automation (ICRA)

作者： T. Fukuda S. Hattori F. Arai H. Matsuura T. Hiramatsu Y. Ikeda A. Maekawa Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Karasuma-don Oike Agaru Nippon Densan Corporation Kyoto Japan Department of Mechanical Engineering Daido Institute of Technology Nagoya Japan

A bimorph type of the optical piezoelectric actuator (PLZT) which has relatively large displacement is discussed. This optical actuator works under the on-off control of the UV beam irradiation. The response characteristics of the actuator for the UV beam irradiation is shown. The response time of this actuator is improved compared with the previous one. An optical actuator-servosystem is proposed. Based on the mathematical model of the optical actuator, the transfer function of the optical servo control system is identified, and experiments are conducted. The experimental results agree with simulation results based on the mathematical model. Two application examples of this actuator are given. One is an optical gripper, while the other is an optical mobile robot.< >

关键词： Piezoelectric actuators Electron optics Optical control Electrostatic actuators Optical noise Delay Mathematical model Servosystems Optical devices Servomechanisms

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control of robot directly maneuvered by operator

Control of robot directly maneuvered by operator

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： K. Kosuge Y. Fujisawa T. Fukuda Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

This paper proposes an alternative control algorithm for the mechanical system which interferes with both an environment and a human operator (man-machine system). The algorithm is designed so as to control the dynamics of the mechanical system to imitate passive tool dynamics. The proposed control algorithm specifies the human force augmentation ratio and the maneuverability of the system. The stability of the system is guaranteed for the passive environment and the passive human dynamics; the stability of the proposed control system is verified using Popov's hyperstability theorem.

关键词： Robot control Humans control systems Mechanical systems Robot kinematics Stability robotics and automation Man machine systems Force control Algorithm design and analysis

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