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

共 3689 条记录，以下是111-120 订阅

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One-Swing Stabilizer of the Inverted Pendulum on a cart

One-Swing Stabilizer of the Inverted Pendulum on a cart

引用

International workshop on robot motion and control (RoMoCo)

作者： Mohammed Safarini Marcin Nowicki Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper addresses the stabilization task of the inverted pendulum on a cart, which is a classical example of unstable control system. We used partial linearization to bring the system into a normal form for which we propose a one-swing stabilizer. Then, through a parametric identification of a laboratory test-bed we acquired a reliable model that served us to prepare experiments. Experimental results and simulations confirmed the realistic performance of the proposed controller in stabilizing the system at the unstable equilibrium point with only one swing of the pendulum.

关键词： robot motion Conferences control systems Reliability Task analysis

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Angular Frequency Switching of Holonomy-Based motion Planning for the Second-Order Chained Form System

Angular Frequency Switching of Holonomy-Based Motion Plannin...

引用

International workshop on robot motion and control (RoMoCo)

作者： Masahide Ito Sora Yamaguchi Mayu Nakayama Masato Ishikawa School of Information Science and Technology Aichi Prefectural University Nagakute Aichi Japan Graduate School of Information Science and Technology Aichi Prefectural University Nagakute Aichi Japan Department of Mechanical Engineering Graduate School of Engineering Osaka University Suita Osaka Japan

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper addresses a motion planning problem of the second-order chained form system. One of the authors previously proposed a holonomy-based motion planning method using sinusoidal functions as control inputs. In the conventional method, the basis is to extract holonomy whose magnitude depends to amplitude-related parameters of control inputs. It is, however, unclear whether or not such a holonomy-based motion planning can be adjustable with respect to time. This paper reveals the relation between holonomy and the angular frequency of control inputs, which extends the conventional method. The effectiveness of the extended method is numerically demonstrated through an application to an underactuated manipulator.

关键词： robot motion Time-frequency analysis Simulation Conferences Switches Manipulators Planning

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Intelligent motion control System for the Mobile robotic Platform 7

Intelligent Motion Control System for the Mobile Robotic Pla...

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7th International Conference on Computational Linguistics and Intelligent Systems. Volume III: Intelligent Systems workshop, CoLInS 2023

作者： Tsmots, Ivan Teslyuk, Vasyl Opotyak, Yurii Rabyk, Vasyl Lviv Polytechnic National University 12 Bandery St Lviv79013 Ukraine Ivan Franko National University of Lviv 1 Universytetska St Lviv79000 Ukraine

Most of the modern mobile robotic platforms use interactive management using computing and artificial intelligence technologies. A feature of mobile robotic platform is the ability to adapt to the external environment, which requires the inclusion of intelligent sensors and control systems. In this paper it is proposed to develop intelligent motion control system for the a mobile robotic platform on the basis of an integrated approach, which covers: navigation methods, methods of preliminary data processing;modern methods and algorithms of intellectual management and fuzzy logic;modern element base;methods of intellectual processing and evaluation of data from sensors in the conditions of interference and incompleteness of information;methods and means of automated design of hardware and software. The structure of intelligent motion control system is developed for wheeled mobile robotic platform. Set of the rules for fuzzy logic control system are developed. The results of modelling the movement of a wheeled robotic platform with different values of readings from sensors in the environment based on the developed rules are presented. It is proposed to perform software development of control system for mobile robotic platform in remote mode. Up-to-date information from sensors is transmitted via the Wi-Fi network. This information is processed by the control system under development, which transmits control signals via the same Wi-Fi network to the wheeled robot. Developed software, taking into account cross-platform nature of the development tools used, can be easily loaded into the control microcomputer of mobile robotic platform for regular use. © 2023 Copyright for this paper by its authors.

关键词： control systems

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A robot-based inspecting system for 3D measurement 6

A robot-based inspecting system for 3D measurement

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6th IEEE International workshop on Metrology for Industry 4.0 and IoT, MetroInd4.0 and IoT 2023

作者： Discepolo, Silvia Martarelli, Milena Paone, Nicola Castellini, Paolo Kamp, Wilhelm Van De Verhoef, Bart Nikolakis, Nikolaos Alexopoulos, Kosmas Ancona Italy Vdl Weweler B.V. Apeldoorn Netherlands Laboratory for Manufacturing Systems and Automation Patras Greece

ISBN: (纸本)9798350396577

Zero Defect Manufacturing aims to minimize the number of defects within a process through proper measurement and control that make possible defect prediction and prevention. This procedure should ideally be performed in a non-destructive approach. Hence, this paper presents two novel non-destructive measurement systems for the geometric control of metal bars concerning a plant producing steel parts. The aforementioned systems are designed to be integrated into the actual process with minimum intervention supporting the online quality control of the manufactured *** two measurement systems exploit an industrial robotic manipulator and an optical sensor mounted on the robot's end effector. They differ in the strategy of motion of the laser line triangulation sensor relative to the steel part to be measured. The proposed systems have been implemented as prototypes and deployed at the premises of a steel manufacturer to test and validate their performance, with the preliminary findings being provided and discussed in this work. © 2023 IEEE.

关键词： Online systems

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Hybrid OSC-RL control for Task Optimization of Dual-Arm robots

Hybrid OSC-RL Control for Task Optimization of Dual-Arm Robo...

引用

International workshop on robot motion and control (RoMoCo)

作者： Patricio Galarce-Acevedo Miguel Torres-Torriti Departamento de Electricidad Universidad Tecnológica Metropolitana Santiago Chile Department of Electrical Engineering Pontificia Universidad Católica de Chile Chile

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

In this work we present a strategy to solve the task optimization problem for dual-arm mobile manipulators in the context of agricultural tasks. The strategy combines a Reinforcement Learning (RL) agent with a low-level Operational Space controller (OSC). The agent is responsible for motion planning, as well as compensatory torque computation. Preliminary results obtained through physically accurate simulation using MuJoCo show that the method proposed achieves a higher task success rate in task completion.

关键词： Training robot motion Torque Reinforcement learning End effectors Planning Task analysis

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Boosting Machine Learning Techniques with Positional Encoding for robot Collision Checking

Boosting Machine Learning Techniques with Positional Encodin...

引用

International workshop on robot motion and control (RoMoCo)

作者： Bartłomiej Kulecki Dominik Belter Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Self-collision checking plays an important role in robot motion planning. In sampling-based motion planning methods, collision checking is performed multiple times, so this procedure should be accurate and fast. Collision checking is often addressed in robotics through the application of machine learning methods or a relatively straightforward multilayer perceptron within a low-dimensional feature space. In this paper, we focus on incorporating positional encoding, commonly utilized in computer graphics, into the input vector used in the binary classification task. We investigate the enhancement in classification accuracy by utilizing this technique in self-collision checking. Our findings indicate that positional encoding contributes to improved learning of high-frequency functions and provides a more accurate representation of higher-frequency details within the trained relation.

关键词： robot motion Accuracy Neural networks Computer architecture Multilayer perceptrons Encoding Vectors

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motion control for Aerial and Ground Vehicle Autonomous Platooning

Motion Control for Aerial and Ground Vehicle Autonomous Plat...

引用

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

作者： Venzano, Emanuele Pousseur, Hugo Victorino, Alessandro Correa Garcia, Pedro Castillo Univ Technol Compiegne CNRS Heudiasyc Heurist & Diag Complex Syst CS60319 F-60203 Compiegne France

ISBN: (纸本)9781728177113

In this paper a navigation control for a platoon composed by a ground and an aerial vehicle is proposed. While the first one (a mobile robot, equipped with a LiDAR) visit desired points avoiding obstacles, the second one (a cheap quadrotor equipped with a vertical camera pointing to the floor) follows it both in position and orientation. The problem is related to the perception layer, autonomous visual control of the drone and autonomous control of the ground robotic vehicle. To control the quadrotor, we propose in this paper an aerial visual-servoing methodology based on an Image Based Visual Servoing (IBVS) algorithm applied to the image given by onboarded camera. A new variant of the Dynamic Window Approach methodology was developed in order to control the motions of the ground robotic vehicle. Preliminary experimental results presented show the efficacy of our aerial-ground platooning methodology.

关键词： Quadcopter UGV Visual servoing Obstacle avoidance

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Smooth Path Planning Using a Gaussian Process Regression Map for Mobile robot Navigation

Smooth Path Planning Using a Gaussian Process Regression Map...

引用

International workshop on robot motion and control (RoMoCo)

作者： Quentin Serdel Julien Marzat Julien Moras DTIS ONERA Université Paris-Saclay Palaiseau France

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

In the context of ground robot navigation in unstructured hazardous environments, the coupling of efficient path planning with an adequate environment representation is a crucial topic in order to guarantee the robot safety while ensuring the accomplishment of its mission. This paper discusses the exploitation of an environment representation obtained via Gaussian process regression (GPR) for smooth path planning using gradient descent Bezier curve optimisation (BCO). A continuous differentiable GPR of the terrain traversability and obstacle distance is used to plan paths with a weighted A* discrete planner, a T-RRT sampling-based planner and BCO using A* or T-RRT computed paths as prior. Numerical experiments in procedurally generated 2D environments allowed to compare the paths planned by the described methods and highlight the benefits of the joint use of the GPR continuous representation and the BCO smooth path planning with these different priors.

关键词： robot motion Couplings Navigation Conferences Process control Gaussian processes Path planning

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The Evaluation of Factors that Influence the Route Formation of the Mobile Rescue robot 7

The Evaluation of Factors that Influence the Route Formation...

引用

7th International Conference on Computational Linguistics and Intelligent Systems. Volume III: Intelligent Systems workshop, CoLInS 2023

作者： Zinko, Roman Teslyuk, Vasyl Seneta, Mariana Lviv Polythechnic National University 12 Bandery St. Lviv79000 Ukraine

Algorithms of solving the route movement problem are analyzed in the work. These issues are the basis for the functioning of expert systems while choosing the route under the circumstances of uncertainty. The factors that influence the motion algorithm construction by the expert system are systematized. By using ranking, it is proposed the list of factors which are the most significant in the process of the mobile rescue robot’s motion algorithm construction by the expert system. The algorithm performance depends on the required accuracy of the route construction and the selection of the factors taken into account. To construct quasi-optimal solutions, it is sufficient to confine oneself to the basic (initial) algorithm. In this case, the computational costs are minimal and proportional to the number of nodes of the transport graph. Consideration of weight share of the factors will ensure the improvement of solutions within the optimal limit, while the computational efficiency of the integral algorithm will not be worse than the basic algorithm. Therefore, for a specific task, the use of the proposed algorithms can be significantly more effective than the use of the basic algorithm. The application of factors ranking method makes it possible to determine their importance when implementing the mobile robot route selection method. Such an expert information system will allow to reduce the uncertainty that is present in tasks with a low level of information. In contrast to the selection of factors, when they were used in methods randomly, here we can significantly reduce the cost of calculations with a high predictability of obtaining the best results. © 2023 Copyright for this paper by its authors.

关键词： Mobile robots

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On the integrability of hybrid Hamiltonian systems 8

On the integrability of hybrid Hamiltonian systems

引用

8th IFAC workshop on Lagrangian and Hamiltonian Methods for Nonlinear control (LHMNC)

作者： Lopez-Gordon, Asier Colombo, Leonardo J. CSIC Inst Math Sci Madrid Spain CSIC Ctr Automat & Robot Madrid Spain

A hybrid system is a system whose dynamics are controlled by a mixture of both continuous and discrete transitions. The integrability of Hamiltonian systems is often identified with complete integrability or Liouville integrability, that is, the existence of as many independent integrals of motion in involution as the dimension of the phase space. Under certain regularity conditions, Liouville-Arnold theorem states that the invariant geometric structure associated with Liouville integrability is a fibration by Lagrangian tori, on which motions are linear. In this paper, we study an extension of the Liouville-Arnold theorem for hybrid systems whose continuous dynamics is given by a Hamiltonian vector field and we state conditions on the impact map and the switching surface under which a hybrid Hamiltonian system is, in a certain sense, completely integrable. Copyright (C) 2024 The Authors.

关键词： Hybrid systems Integrability Arnold-Liouville theorem action-angle coordinates

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