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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

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A Globally Stable SM-PD-INP-D Tracking control of robot Manipulators

A Globally Stable SM-PD-INP-D Tracking Control of Robot Mani...

引用

2009 2nd IEEE international conference on Computer Science and Information technology（ICCSIT 2009）

作者： Bai-shun Liu Fan-Cai Lin Department of Battle&Command Academe of Naval Submarine QingDao,China

This paper deals with the tracking control of robot *** the strong robustness of the sliding mode control and the good flexibility of PD-IN P-Dcontrol,Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D *** using Lyapunov's direct method and LaSalle's invariance principle,the simple explicit conditions on the controller gains to ensure global asymptotic stability are *** theoretical analysis and simulation results show that:i)the SM-PD-IN P-Dcontroller has the faster convergence,better flexibility and stronger robustness with respect to initial errors;ii)the proposed control laws can not only achieve the asymptotically stable trajectory tracking control but also the tracking errors quickly tend to almost zero without oscillation as time increases;iii)after the sign function is replaced by saturation function in the SM-PD-IN P-Dcontrol law,the high-frequency oscillation of the control input vanishes.

关键词： Manipulators robot control PID control global stability Tracking control.

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A Globally Stable Output Feedback PD-INP-D Regulator for robot Manipulators

A Globally Stable Output Feedback PD-INP-D Regulator for Rob...

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2009 2nd IEEE international conference on Computer Science and Information technology（ICCSIT 2009）

作者： Bai-shun Liu Bing-Li Tian Department of Battle&Command Academe of Naval Submarine QingDao,China

This paper deals with the position control problem of designing asymptotically stable proportional plus integral regulators with only position feedback for robot manipulators with uncertain and varying-time *** is a simple class of robot regulators consisting of a linear PD plus an integral action driven by NP-D controller,where the velocity feedback is replaced by a filtered position *** using Lyapunov's direct method and LaSalle's invariance principle,the simple explicit conditions on the regulator gains to ensure global asymptotic stability are *** theoretical analysis and simulation results show that the output feedback PD-IN P-Dcontrol laws can be tuned to recover the performance of a state feedback PD-IN P-Dcontrol laws,that is,the output feedback PD-I NP-D control law has the same fast convergence,good flexibility and strong robustness as the state feedback one and the same optimum response can be achieved by a set of control parameters in the whole control domain,even under the case that the payload is changed abruptly.

关键词： Manipulators robot control PID control global stability Output feedback regulator.

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A Globally Stable SM-PD-NP-INP-D Tracking control of robot Manipulators

A Globally Stable SM-PD-NP-INP-D Tracking Control of Robot M...

引用

2009 2nd IEEE international conference on Computer Science and Information technology（ICCSIT 2009）

作者： Bai-shun Liu Fan-Cai Lin Department of Battle & Command Academe of Naval Submarine Qingdao China

This paper deals with the tracking control of rigid robot *** synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-I NP-D control,Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller,where the nonlinear terms are shaped by a continuous bounded nonlinear function of position *** using Lyapunov’s direct method,the simple explicit conditions on the controller gains to ensure global asymptotic stability are *** theoretical analysis and simulation results show that:i) the SM-PD-NP-I NP-D controller has the faster convergence,better flexibility and stronger robustness with respect to initial error;ii) the proposed control laws can not only achieve the asymptotically stable trajectory tracking control but also the tracking errors quickly tend to almost zero without oscillation as time increases;iii) after the sign function is replaced by saturation function in the SM-PD-NP-I NP-D control law,the high-frequency oscillation of the control input vanishes.

关键词： Manipulators robot control PID control global stability Tracking control

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Design and control concepts of an exoskeleton for gait rehabilitation

Design and control concepts of an exoskeleton for gait rehab...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Beyl, P. Van Damme, M. Van Ham, R. Lefeber, D. Vrije Univ Brussel Robot & Multibody Mech Res Grp Dept Mech Engn B-1050 Brussels Belgium

ISBN: (纸本)9781424428823

robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control as a "robot-in-charge" control strategy is evaluated both in simulation and in experiments on a test setup. Compared to PID control, test results indicate good tracking performance and in particular safe system behavior.

关键词： Three term control systems

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Performance Analysis of Adaptive Interaction control Laws for Rehabilitation robotics

Performance Analysis of Adaptive Interaction Control Laws fo...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Zollo, Loredana Passalacqua, Massimiliano Formica, Domenico Guflielmelli, Eugenio Univ Campus Biomed Lab Biomed Robot & Biomicrosyst I-00128 Rome Italy

ISBN: (纸本)9781424428823

In this work a comparative analysis is carried out of adaptive compliance control laws developed by the authors for biomedical applications or human-robot interaction. They are the self-regulated compliance control in the joint space in [1], the coactivation-based compliance control in the joint space in [2] and the torque-dependent compliance control in the joint space in [3]. The control laws try to overcome limitations of the traditional interaction control by making the control gains adaptable to the interacting environment. To this purpose, inspiration from biological motor control is taken, with particular attention to the mechanisms of visco-clastic regulation of the human arm. A specific performance metrics is developed which allows measuring control performance especially in the interaction, with the environment through the analysis of impact dynamics. Experimental trials of motion in the free space and impact against an obstacle are arranged with the MIT-Manus robot available in our lab, and a comparison with state-of-the-art traditional compliance controls is carried out.

关键词： Compliance control

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Design and control of a Biomimetic Hexapedal Walker

Design and Control of a Biomimetic Hexapedal Walker

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Wait, Keith W. Dalley, Skyler A. Goldfarb, Michael Vanderbilt Univ Dept Mech Engn Nashville TN 37235 USA

ISBN: (纸本)9781424428823

This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomotion is described that selects the kinematic configuration to evenly distribute joint torques in the leg during locomotion. A finite state controller and leg impedance controller are described, and the controller is experimentally implemented on a pair of the hexapod legs to 1) validate the effectiveness of the control approach and 2) verify that the joint torques are indeed evenly distributed within the legs. Another optimization based on the dynamic simulation of locomotion is described that selects weights for a coordination-level controller that best tracks a desired body velocity.

关键词： controllers

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Passive compliant quadruped robot using central pattern generators for locomotion control

Passive compliant quadruped robot using central pattern gene...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Rutishauser, Simon Sproewitz, Alexander Righetti, Ludovic Ijspeert, Auke Jan Ecole Polytech Fed Lausanne Biol Inspired Robot Grp Sch Comp & Commun Sci Lausanne Switzerland

ISBN: (纸本)9781424428823

We present a new quadruped robot, "Cheetah", featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity.

关键词： Degrees of freedom (mechanics)

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Dynamic control Strategy of a Biped Inspired from Human Walking

Dynamic Control Strategy of a Biped Inspired from Human Walk...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Serhan, H. Henaff, P. Nasr, C. Ouezdou, F. Versailles St Quentin Univ LISV Lab Versailles France Lebanese Univ Fac Engn Lebanon NH USA

ISBN: (纸本)9781424428823

In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase for introducing active compliance and then to increase stability of the walk. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. A comparison with human walking is presented and discussed. We prove that we can maintain robot stability and walk cycle's repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one. A power consumption analysis confirms that our approach could be implemented on the real robot ROBIAN.

关键词： robots

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Bio-mimetic Machine Learning based on Compound control

Bio-mimetic Machine Learning based on Compound Control

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Shimoda, Shingo Kimura, Hidenori RIKEN BSI Toyota Collaborat Cebter Wako Saitama Japan

ISBN: (纸本)9781424428823

Tacit learning is a new machine learning paradigm that attempts to implement the superb adaptation capability of living organisms to unexpected environmental changes. It emphasizes body/environment interactions and is equipped with some elementary sets of action rules and appropriate initial conditions of the neural states that correspond to elementary survival reflexes. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on a classical neuron model where macroscopic purposeful behavior emerges as the result of the interaction of local rules. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

关键词： Learning systems

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A principled approach to biological motor control for generating humanoid robot reaching movements

A principled approach to biological motor control for genera...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Tuan, Tran Minh Soueres, Philippe Taix, Michel Guigon, Emmanuel Univ Toulouse LAAS CNRS 7 Ave Colonel Roche F-31077 Toulouse France Univ Toulouse F-31077 Toulouse France Univ Toulouse 3 F-31062 Toulouse France Univ Paris 06 ANIM UPMC NSERM U742 F-75252 Paris 05 France

ISBN: (纸本)9781424428823

This paper presents an application of neurobiological motor principles to the control of humanoid robot reaching movements. The model is mainly based on the hypotheses that the energy of motoneurons;signals is continuously minimized along the motion and that dynamic and static efforts are processed separately. This paradigm is used to control the robot HRP2 by considering a dynamic model of the arm including, for each degree of freedom, two second order low-pass filters modeling the neuromuscular system defined by a pair of antagonist muscles. The optimal control problem is solved as a nonlinear programming problem by using a direct transcription method coupled with the optimization software Ipopt. This approach allows to generate realistic movements with anthropomorphic features such as quasi-rectilinear trajectories and bell-shaped velocity.

关键词： human motor control neurobiological principles reaching control humanoid robot direct transcription nonlinear programming

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