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A method for industrial robot calibration

A method for industrial robot calibration

引用

IEEE international conference on robotics and automation (ICRA)

作者： J. Roning A. Korzun Belarussian State University of Department of Automatic Control Belarusian State University of Informatics and Radioelectronics슠 Minsk Belarus Department of Electrical Engineering University of Oulu Oulu Finland

Presents an approach to robot-tool calibration. It is a well-known fact that industrial robots are not very accurate. Two aspects of the accuracy should be taken into account: the ability of a robot manipulator to perform accurate positioning in the task space and the ability of a robot to follow straight-line and circular trajectories. Many of the calibration approaches deal with the accurate positioning which improves the robot's capability to follow straight or circular trajectories. However, there are drawbacks in these approaches: the need for expensive measurement devices and no guarantee that the calibration model will still be correct on the manufacturing floor. Our approach concentrates on the ability of a robot to follow the technological trajectories. The approach does not require any expensive measurement techniques. The criteria of equal distances between the points in the robot space and the task space is used. The approach is demonstrated by the results of the calibration of the GMFanuc S-10 robot. The error analysis and convergence rate for this robot are also presented. The calibration can be performed directly on the manufacturing floor where the robot is used. The advantages of the approach are simplicity of the measurement setup, fast data collection and high reliability of the kinematic parameters obtained.

关键词： Service robots Calibration Robot kinematics Orbital robotics Manipulators robotics and automation Space technology Manufacturing End effectors Medical robotics

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A modular reinforcement-based neural controller for a three-link manipulator

A modular reinforcement-based neural controller for a three-...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： P. Martin J.D.R. Millan Department of Computer Science University of Jaume-I Castellon Spain Institute for Systems Informatics and Safety Joint Research Centre European Commission Ispra Italy

This paper presents a modular neural controller that learns goal-oriented obstacle-avoiding motion strategies for a sensor-based three-link planar robot arm. It acquires these strategies through reinforcement learning from local sensory data. The controller has two reinforcement-based modules: a module for negotiating obstacles and a module for moving to the goal. Both modules generate actions that are interpreted with regard to a goal vector in the robot joint space. A differential inverse kinematics (DIV) module is used to obtain such a goal vector. The DIV module is based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics in polar coordinates. The controller achieves a satisfactory performance quite rapidly and shows good generalization capabilities in the face of new environments.

关键词： Robot kinematics Robot sensing systems Manipulators robotics and automation Motion control Orbital robotics Learning Neural networks Artificial neural networks Computer science

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Chaos and nonlinear control of a nonholonomic free-joint manipulator

Chaos and nonlinear control of a nonholonomic free-joint man...

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IEEE international conference on robotics and automation (ICRA)

作者： T. Suzuki M. Koinuma Y. Nakamura Department of Mechano-Informatics University of Tokyo Tokyo Japan

Nonholonomic system is now one of the major topics in robotics. In this paper, we discuss the nonlinear behavior of a two-joint planer manipulator with the second joint free for time-periodic inputs. First, we illustrate that when the amplitude remains small, the Poincare map of the system follows an ellipse-like closed path and it becomes chaotic with large amplitude. We then propose a control method to position the both joints via amplitude modulation of the position error. The effectiveness and robustness of the control method are verified by experiments.

关键词： Chaos Manipulator dynamics Motion control Nonlinear control systems control systems control theory Equations Frequency

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Planning spiral motion of nonholonomic space robots

Planning spiral motion of nonholonomic space robots

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Suzuki Y. Nakamura Department of Mechanic-Informatics University of Tokyo Bunkyo Tokyo Japan

A free-flying space robot with a 6-DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates (3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We call the approximated trajectory the "spiral motion". A computational scheme for planning the spiral motion is presented, and is followed by computer simulation that illustrates the effectiveness of the scheme.

关键词： Motion planning Spirals Orbital robotics Satellites Robot kinematics Manipulators Motion control Wheels Mobile robots Computer simulation

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Force control of constrained flexible manipulators

Force control of constrained flexible manipulators

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IEEE international conference on robotics and automation (ICRA)

作者： Jin-Soo Kim K. Suzuki A. Konno H. Uchiyama Department of Aeronautics and Space Engineering Tohoku University Sendai Japan Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Discusses the force control of flexible manipulators. Since the force control of flexible manipulators with one or two planar links using the distributed-parameter modeling has been the subject of a considerable number of publications, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial flexible manipulators is fairly complicated. In this paper the authors apply a concise hybrid position/force control scheme to a flexible manipulator using lumped-parameter modeling. Hamilton's principle is applied to deriving the equations of motion and then, a state-space model is obtained by Lagrange's method. Finally, a comparison between simulation and experimental results is presented to show the performance of the authors' method.

关键词： Force control Mathematical model Manipulator dynamics Equations Kinematics Distributed computing Lagrangian functions Force sensors Force feedback Service robots

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Modeling and controlling of group behavior based on self-organizing principle

Modeling and controlling of group behavior based on self-org...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Sekiyama T. Fukuda Department of Mechano-Informatics and Systenis School of Engineering University of Nagoya Nagoya Japan

This paper deals with a modeling and controlling strategy for multi-robot group behavior. While distributed autonomous robot system has advantages in flexibility of the system, it has also difficulties in coordinating the global system behavior as expected by the designer. Our research is to develop an approach in dealing with this problem. Self-organization is a natural principle which can be seen in the dissipative system. We present a hybrid top-down and bottom-up approach and a basic model for coordinating a macro scale group behavior based on the self-organizing mechanism. In particular, we realize the self-organization of temporal behavior patterns.

关键词： Robot kinematics Intelligent robots Systems engineering and theory Robot control Hardware Large-scale systems Robustness Organizing Attitude control Artificial intelligence

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Force control of parallel link manipulator with hydraulic actuators

Force control of parallel link manipulator with hydraulic ac...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Kosuge K. Takeo T. Fukuda H. Kitayama N. Takeuchi H. Murakami Department of Machine Intelligence and Systems Engineering University of Tohoku Sendai Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Ishikawajima-Harima Heavy Industries Company Limited Koto Tokyo Japan

This paper proposes a force control algorithm for Stewart platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom, hydraulic actuator then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.

关键词： Force control Hydraulic actuators Manipulator dynamics Velocity control Servomechanisms Electrical equipment industry Algorithm design and analysis Kinematics Damping Stability

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Fuzzy neural friction compensation method of robot manipulation during position/force control

Fuzzy neural friction compensation method of robot manipulat...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Kiguchi T. Fukuda Department of Industrial and Systems Engineering Niigata College of Technology Niigata Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Position and force controls are important and fundamental tasks of robot manipulators. In order to control position of the robot which simultaneously applies force to the environment, the friction between the robot and the environment has to be compensated. However, the friction force varies according to the applied force to the environment. Therefore, it is difficult to compensate the friction effectively with conventional controllers if we do not know the friction coefficient. Many researches have been done on fuzzy neural control, the combination of neural networks and fuzzy control, in order to make up for each other's weak points. The fuzzy neural control is expected to perform more sophisticated control than conventional control in an unknown environment. In this paper, we propose a new friction compensation method using the fuzzy neural network which contains a specialized neuron for friction compensation and a switch-learning. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the proposed method.

关键词： Fuzzy control Friction Force control Fuzzy neural networks Manipulators Neural networks Service robots Robot kinematics control systems Neurons

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Visual navigation using view-sequenced route representation

Visual navigation using view-sequenced route representation

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IEEE international conference on robotics and automation (ICRA)

作者： Y. Matsumoto M. Inaba H. Inoue Department of Mechano-Informatics Faculty of Engineering University of Tokyo Bunkyo Tokyo Japan

Previous work in vision-based mobile robotics have lacked models of the route which can be utilized for (1) localization, (2) steering angle determination, and (3) obstacle detection, simultaneously. In this paper, the authors propose a new visual representation of the route, the "view-sequenced route representation (VSRR)." The VSRR is a non-metrical model of the route, which contains a sequence of front view images along a route memorized in the recording run. In the autonomous run, the three types of recognition described above are achieved in real-time by matching between the current view image and the memorized view sequence using a correlation technique. the authors also developed an easy procedure for acquiring VSRRs, and a quick control procedure using VSRRs. VSRRs are especially useful for representing routes in corridors. Results of autonomous navigation using a two-wheeled robot in a real corridor are also presented.

关键词： Navigation Mobile robots Robot vision systems Image recognition Cameras Solid modeling Robot sensing systems Data mining Working environment noise Neural networks

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An automated microrobot-based desktop station for micro assembly and handling of micro-objects

An automated microrobot-based desktop station for micro asse...

引用

international conference on Emerging Technologies and Factory automation (ETFA)

作者： S. Fatikow U. Rembold Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

One of the main problems of present-day microsystem technology (MST) is the assembly of a whole microsystem from different micro-components. This paper presents an automated micromanipulation desktop station the main feature of which are piezoelectrically driven microrobots placed on a highly precise x-y table of a microscope. The microrobots can perform high-precise manipulations (with an accuracy of up to 10 nm) and the transport of very small objects (at a speed of several mm/sec). To control the desktop station automatically, a sensor system is provided for fine and for gross positioning of the robots, respectively. Apart from assembly tasks this automated station can be used, for examples, for handling biological cells or testing silicon chips.

关键词： Microscopy Automatic control control systems Sensor systems Robot sensing systems robotics and automation Robotic assembly Biological cells Automatic testing Silicon

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