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检索条件"任意字段=Workshop on Robot Motion and Control"

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Interrupting Companion robot Activities

Interrupting Companion Robot Activities

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International workshop on robot motion and control (RoMoCo)

作者： Cezary Zieliński Warsaw University of Technology Institute of Control and Computation Engineering Warsaw Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The paper presents the organisation of a companion robot control system enabling external interruption of its activities. The fundamental problem is: how should a companion robot act when the currently executed task is not completed yet, however a next request arrives. The new request might not be yet serviced while a new request arrives and so on. The question is how should the control system be organised so that the robot will be able to reasonably handle those multiple interrupts? The paper suggests a formal specification of a controller solving the thus posed problem. As interrupts are well established within computer science the paper shows that the there proposed solution is not well suited to robotics.

关键词： Torso robot motion robot vision systems Switches Scheduling Planning Complexity theory

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MPC-CBF strategy for multi-robot collision-free path-following 20

MPC-CBF strategy for multi-robot collision-free path-followi...

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20th Latin American robotics Symposium (LARS) / 15th Brazilian Symposium on robotics (SBR) / 14th workshop on robotics in Education (WRE)

作者： Vangasse, Arthur da C. Raffo, Guilherme V. Pimenta, Luciano C. A. Univ Fed Minas Gerais Grad Program Elect Engn Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil

ISBN: (纸本)9798350315387

Multi-agent time-varying path following problems still offer a wide variety of open challenges, in which efficient collision avoidance is of great importance in this context. This work proposes a solution based on artificial vector fields that generate velocity references for single agents in path-following tasks. A distributed Model Predictive control (MPC) scheme accountable for double integrator dynamic models and collision avoidance features enables the group of robots to follow the dynamic field in a safe manner. control Barrier Functions (CBF) are utilized to include collision avoidance in the MPC problem. Simulation scenarios corroborate the method's efficiency and highlight the improvements in contrast with previous works.

关键词： Multi-robot Systems Collision Avoidance motion and Path Planning Distributed robot Systems

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Centroidal Momentum Observer: Towards Whole-Body Robust control of Legged robots Subject to Uncertainties

Centroidal Momentum Observer: Towards Whole-Body Robust Cont...

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17th IEEE International Conference on Advanced motion control (AMC)

作者： Oral, Dilay Yesildag Barkana, Duygun Erol Ugurlu, Barkan Ozyegin Univ Dept Mech Engn Istanbul Turkey Yeditepe Univ Dept Elect Elect Engn Istanbul Turkey

ISBN: (纸本)9781728177113

This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement despite external disturbances, the disturbance observer (DOB), which is frequently used in the motion control literature, is used. A one-legged robot model was simulated using MSC ADAMS, and then a centroidal momentum-based control algorithm and Zero Moment Point (ZMP)-based control algorithm were developed. The performances of the controllers were tested in the simulation environment in line with three different scenarios, unknown load, external forces and external momentum disturbances. The controllers were evaluated by comparing the selected reference orbital positions with the center of mass (CoM) positions on the x and z axes and the ZMP positions on the x-axis. The simulation results satisfactorily validated the proposed centroidal momentum observer as it performed well in all tested conditions.

关键词： centroidal momentum control legged robot

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Parallel Position and Orientation control for a Redundant Manipulator Performing the Path Following Task

Parallel Position and Orientation Control for a Redundant Ma...

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International workshop on robot motion and control (RoMoCo)

作者： Filip Dyba Department of Cybernetics and Robotics Faculty of Electronics Photonics and Microsystems Wroclaw University of Science and Technology Wrocław Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

A path is a time-independent geometric description of a robot motion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefore, path following algorithms are eagerly developed. However, a lot of them focus only on the position control or planar cases. In this paper, a new algorithm is proposed to control simultaneously manipulator position and orientation with respect to the desired path in the 3D space. The motion of the end-effector along the path is described with the non-orthogonal Serret-Frenet parametrization. The standard approach has been extended with the definition of the relative orientation using the minimal representation of Euler angles. The algorithm is validated with a simulation analysis and an experimental study on the laboratory test-bed equipped with the redundant manipulator of 7 degrees of freedom, Kinova® Gen3 Ultra lightweight robot. The comparison of the achieved results proves the theoretical properties and practical suitability of the designed control law.

关键词： robot motion Three-dimensional displays Service robots Quaternions Conferences Position control control systems

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The Influence of the Model Discrepancies in the Jacobian motion Planning Algorithm for Nonholonomic Systems

The Influence of the Model Discrepancies in the Jacobian Mot...

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International workshop on robot motion and control (RoMoCo)

作者： Adam Ratajczak Roberto Orozco Joanna Ratajczak Faculty of Information and Communication Technology Wroclaw University of Science and Technology Wroclaw Poland Faculty of Electronics Photonics and Microsystems Wroclaw University of Science and Technology Wroclaw Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The Jacobian motion planning of a nonholonomic system, derived by means of the Endogenous Configuration Space Approach, relies on a complete knowledge of a robot's model. The aim of this paper is to identify and investigate the influence of insufficient knowledge of the model's parameter values on the quality of the Jacobian motion planning algorithm results. To address the problem, we propose an Iterative Learning control scheme endowed with the Endogenous Configuration Space Approach. The efficiency of the presented proposition is represented by the numerical experiments.

关键词： Jacobian matrices robot motion Organizations Aerospace electronics Mathematical models Planning Numerical models

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Adaptive Sliding Mode control with Artificial Potential Field for Ground robots in Precision Agriculture

Adaptive Sliding Mode Control with Artificial Potential Fiel...

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IEEE International workshop on Metrology for Agriculture and Forestry (IEEE MetroAgriFor)

作者： Mancini, Mauro Trombetta, Enza I. Carminati, Davide Capello, Elisa Politecn Torino Dept Mech & Aerosp Engn Corso Duca Abruzzi 24 I-10129 Turin Italy Politecn Torino CNR IEIIT Corso Duca Abruzzi 24 I-10129 Turin Italy

ISBN: (纸本)9798350312720

This work considers autonomous Guidance, Navigation and control (GNC) of Unmanned Ground Vehicles (UGVs) for Precision Agriculture (PA) applications. In the agricultural environment, the GPS signal can be weak for various reasons, which makes GPS-based navigation unreliable. Therefore, we consider a GPS-denied situation and localise the robot with several sensors and an Extended Kalman Filter (EKF). The path planner exploits a suitably designed Artificial Potential Field (APF), which ensures attraction to the target while avoiding obstacles. The motion controller, on the other hand, is based on Sliding Mode control (SMC) and proposes a new direct adaptive law to adjust a control parameter in real time and achieve better tracking of the reference *** navigation strategy was validated in Matlab/Simulink through numerical simulations, employing simulation scenarios which reflect typical applications in precision agriculture.

关键词： Extended Kalman filters

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Research on motion control of workshop Handling robots Based on Fuzzy PID

Research on Motion Control of Workshop Handling Robots Based...

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IEEE International Conference on Automation, Electronics and Electrical Engineering (AUTEEE)

作者： Xiangheng Kong Port and Navigation Engineering Department Shanghai Communications Polytechnic Shanghai China

ISBN: (数字)9798350377033

ISBN: (纸本)9798350377040

As an essential device in the field of intelligent manufacturing, the motion control precision and stability of workshop handling robots directly impact production efficiency. Traditional PID control has limitations, such as slow response and large overshoot, when dealing with nonlinear and time-varying systems. Fuzzy PID control, by introducing fuzzy logic, enables online adaptive adjustment of PID parameters, effectively enhancing the robustness and dynamic performance of the control system. This study focuses on workshop handling robots and proposes a motion control method based on fuzzy PID. First, the motion control requirements and challenges for workshop handling robots are analyzed. Next, fuzzy control rules are designed, and parameter self-tuning is implemented by integrating traditional PID control. Finally, simulations and experiments demonstrate the significant advantages of the proposed method in path tracking accuracy, stability, and anti-interference capabilities. The results indicate that the fuzzy PID-based control method is better suited to complex workshop environments, providing an efficient and reliable solution for robot motion control in intelligent manufacturing.

关键词： robot motion PI control Accuracy Tracking Conferences Stability analysis Manufacturing PD control motion control robots

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Residual error correction for reducing the uncertainty of a sample-tracking robotic 3D measurement system 22

Residual error correction for reducing the uncertainty of a ...

引用

22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Wertjanz, Daniel Kern, Thomas Csencsics, Ernst Schitter, Georg TU Wien Adv Mech Syst Grp Automat & Control Inst ACIN A-1040 Vienna Austria

ISBN: (纸本)9781713872344

This paper presents a method for post-correction of disturbing relative motion between a robotic 3D measurement system and a sample under test. The active sample-tracking measurement platform carries a high-precision scanning confocal chromatic sensor acts as an end-effector of a robot, targeted for operation in a vibration-prone environment. The proposed method does not require any additional hardware and enables a point-by-point correction of the sequentially acquired 3D point cloud by the measured residual sample-tracking error. For experimental measurements at the maximum frame rate of 1 fps in a workshop-like environment, which induces a resonant 47 Hz relative motion, the axial measurement error and uncertainty is reduced by 20% to 0.19 mu m and 0.25 mu m, respectively.

关键词： Mechatronic systems robotic 3D measurement systems scanning optical sensors motion compensation and correction application of mechatronic principles design methodologies

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Operability Improvement of Human-robot Collaboration by Human-Adaptive Impedance control Based on Human Arm Stiffness Estimation

Operability Improvement of Human-Robot Collaboration by Huma...

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17th IEEE International Conference on Advanced motion control (AMC)

作者： Shimizu, Miho Hanafusa, Misaki Ishikawa, Jun Tokyo Denki Univ Dept Robot & Mechatoron Tokyo Japan

ISBN: (纸本)9781728177113

This paper proposes a variable impedance control for human-collaborative robots that can maintain the stability by adjusting parameters of an impedance model depending on stiffness of a human arm while keeping nimble so the human can maneuver an object easily. Specifically, first, the human mechanical impedance parameters (equivalent mass, viscosity, and stiffness of the arm) are identified based on a delta operator model. Based on the identification result, a recurrent neural network (RNN), which online estimates the human arm stiffness from rectified-and-integrated electromyogram (iEMG) signals is designed. Then, the estimate of the human arm stiffness, which is continuously changing and directly affects the contact stability, is used to adaptively change the parameters of the impedance model. By taking this approach, the proposed method aims to improve the operability of the human-robot collaborative system. Furthermore, changing the impedance parameters by additionally using speed of the manipulated object is also proposed to keep the operability nimble. To show the validity of the proposed method, experiments to evaluate the operability were conducted in which a variable-impedance controlled robot collaborated with a human to position an object. Experimental results showed that proposed method well adjust the impedance model depending on the human arm stiffness and can keep the system stable by predictively changing the impedance parameters to be more damped before unstable oscillation occurs. Furthermore, it has been confirmed that the 0 dB gain crossover frequency of the loop transfer function of the proposed method was 0.24 Hz while maintaining stability, the bandwidth of which was comparable to that of the light-fixed impedance case (0.22 Hz) that tends to become unstable as the arm stiffness increases. Also, by analyzing the human dynamics as a controller, it was found that the proposed variable impedance control allowed the human to conduct a task with le

关键词： collaborative robot variable impedance control recurrent neural network human adaptive mechatronics (HAM)

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2nd IFToMM workshop for Sustainable Development Goals, I4SDG 2023

2nd IFToMM Workshop for Sustainable Development Goals, I4SDG...

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2nd IFToMM workshop for Sustainable Development Goals, I4SDG 2023

ISBN: (纸本)9783031324383

The proceedings contain 56 papers. The special focus in this conference is on Sustainable Development Goals. The topics include: Planning Real-Time Energy Efficient Trajectories for a Two Degrees of Freedom Balanced Serial Manipulator;reducing Energy Consumption and Driving Torque in an Underactuated robotic Arm Through Natural motion;Online vs Offline Calibration of 5 DOFs robotic Manipulators;task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel robot for Weed control;Optimization of the Design Parameters of a 6-DOF Mobility Platform;Identification of Surgical Forceps Using YOLACT++;rehaWrist.q - Development of a 3 DoF Cable-Driven End-Effector Wearable robot for Rehabilitation of the Wrist Joint;lifting Assist Device for Transfer in Cooperation with Caregivers;design and Prototyping of a Semi-wearable robotic Leg for Sit-to-Stand motion Assistance of Hemiplegic Patients;comprehensive control Strategy Design for a Wheelchair Power-Assist Device;dynamic motion Evaluation of a Novel Hybrid Wind and Wave Integrated Platform;Analytical Synthesis of the Seven-Bar Linkage 7-RR(RRRR)RR Used for Medical Disinfection robot;design of a Novel Medical Rolling Walker for Use in Hospital Environment;influence of Design Parameters in Energy Lost for Eccentric Cam Mechanisms with Translational Roller Follower;friction Models for a Sustainable Design: Friction Coefficient in Lubricated Conformal Pairs;evolution of Gear Machining Technology in a Japanese Manufacturer – Realization of Skiving Method as an Application of 5-Axes Machining Center -;a Vibration Exciter for Dynamic Testing of Large Structures;low Cost 3D Printed Pneumatic Linear Actuator;development of Orientation Modules with Linear Actuation;Analytical Synthesis of Five-Bar Linkage 5-RPRPR;an Automatic Measurement System for Shape Memory Alloys’ Wire Resistivity Characterization;development of a Remote-controlled Scaled Multi-actuated Vehicle.

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