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12th International workshop on robot motion and control (RoMoCo)

作者： Herman, Przemyslaw Poznan Univ Tech Inst Automat & Robot Piotrowo 3a PL-60965 Poznan Poland

ISBN: (纸本)9781728129754

The paper addresses the problem of underwater vehicle dynamic model evaluation based on a velocity tracking controller. The proposed strategy is composed of two steps: building of a velocity control algorithm in terms of the Normalized Generalized Velocity Components (NGVC), as a tool for the analysis, and its use for the dynamics investigation of the vehicle. The algorithm is expressed in terms of the transformed equations of motion arising from the inertia matrix decomposition. Consequently, it contains the system dynamics in the control gain matrices. This feature causes that not only the error convergence can be achieved (strictly related to the vehicle dynamics) but also some information about the system model is available. The method is suitable for fully actuated underwater vehicles and it can serve for numerical tests of the assumed model before a real experiment. The effectiveness of the proposed strategy, i.e. application of the controller for dynamics analysis, is shown via simulation on a 6 DOF underwater vehicle.

关键词： Vehicle dynamics Matrix decomposition Mathematical model Underwater vehicles Heuristic algorithms Tracking Uncertainty

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Identification of uncertainties in a robotic astronomical 0.5-m telescope mount 11

Identification of uncertainties in a robotic astronomical 0....

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11th International workshop on robot motion and control (RoMoCo)

作者： Piasek, Joanna Nowicki, Marcin Kozlowski, Krzysztof Poznan Univ Tech Fac Comp Chair Control & Syst Engn Piotrowo 3a PL-61138 Poznan Poland

ISBN: (纸本)9781538639269

In this work, we consider a testbed for a robotic astronomical 0.5-m. telescope mount. We focus on the problem of identification uncertainty that cannot be obtained from analytical consideration (i.e. friction phenomena). Thus, we use a recursive least-squares algorithm for identification values of friction terms. Since the required signals cannot be obtained directly from the object (or they are of poor quality) an external positioning system and a nonlinear observer has been proposed in order to estimate state of the system. Results obtained through simulation show that this approach is universal and can be extended to other kind of uncertainties.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Exact Kinematics for Pitch motion and Yaw motion of Five Degrees of Freedom Surgical robot 14

Exact Kinematics for Pitch Motion and Yaw Motion of Five Deg...

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14th IEEE International workshop on Advanced motion control (AMC)

作者： Matsunaga, Takuya Ohnishi, Kouhei Keio Univ Grad Sch Sci & Technol Yokohama Kanagawa Japan Keio Univ Dept Syst Design Engn Yokohama Kanagawa Japan

ISBN: (纸本)9781479984640

This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.

关键词： laparoscopic surgery robotic surgery teleoperation bilateral control multi degrees of freedom forceps

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Tracking of numerically defined trajectory by free-floating 3D satellite 12

Tracking of numerically defined trajectory by free-floating ...

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12th International workshop on robot motion and control (RoMoCo)

作者： Domski, Wojciech Mazur, Alicja Wroclaw Univ Sci & Technol Dept Cybernet & Robot Wroclaw Poland

ISBN: (纸本)9781728129754

In this paper an input-output decoupling approach was presented for a space object - a free-floating 3D satellite with a 3 DoF manipulator arm. The input-output decoupling procedure allows to control manipulator's end-effector in task space instead in joint space. This, in turn, simplifies the task of trajectory planning which usually is treated as a separate subsystem. In this paper, instead of using analytical derivatives for desired trajectory a numerical equivalents were used. Proposed controller was tested against different granularity of numerical derivatives and proved that it can work with time series as desired trajectory instead of analytically given formulas.

关键词： Satellites Trajectory Manipulator dynamics Aerospace electronics Space vehicles Mathematical model

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Tracking controller with vector field orientation for 3-D nonholonomic manipulator

Tracking controller with vector field orientation for 3-D no...

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4th International workshop on robot motion and control

作者： Michalek, M Kozlowski, K Poznan Univ Tech Inst Control & Syst Engn PL-60965 Poznan Poland

ISBN: (纸本)8371432720

The paper presents a proposition of control design methodology for the nonholonomic manipulator (NHM3) with three links. Proposed control strategy results from a geometrical interpretation of a structure of a NHM3 kinematic model. Derived tracking control law for driftless NHM3 system exemplifies described control design concept. Simulation results confirm validity and effectiveness of the presented idea.

关键词： Wheels Kinematics control systems Gears control design Feedback control Manipulator dynamics Mobile robots Orbital robotics Velocity control

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Navigation and control of a Space robot Capturing Moving Target 11

Navigation and Control of a Space Robot Capturing Moving Tar...

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11th International workshop on robot motion and control (RoMoCo)

作者： Al-Isawi, Malik M. A. Sasiadek, Jurek Z. Univ Baghdad Al Khwarizmi Engn Coll Baghdad Iraq Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9781538639269

This paper presents navigation and control of a robot for capturing a moving target using the vision system. A stereo camera is used to calculate the pose of the moving target (position and orientation). An Adaptive Unscented Kalman Filter (AUKF) is used to generate an optimal path to capture the moving object by estimating the state vector (position, orientation, linear and angular velocities) of the target. The Fuzzy Logic Adaptive System (FLAS) has been used to prevent the AUKF from divergence. The FLAS can evaluate the performance of UKF and tuning the factors in the weighted covariance to improve the accuracy of UKF. A new trajectory planning method for the space robot is proposed based on the information acquired from the vision system and estimation the linear and angular velocities of the target by AUKF. The results from simulation experiments were presented and discussed. It was concluded that the Fuzzy Adaptive Unscented Kalman Filter methods give more accurate results rather than the Unscented Kalman filter or Extended Kalman Filter.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Optimal trajectory tracking control of omni-directional mobile robots 12

Optimal trajectory tracking control of omni-directional mobi...

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12th International workshop on robot motion and control (RoMoCo)

作者： Galicki, Miroslaw Banaszkiewicz, Marek Univ Zielona Gora Fac Mech Engn PL-65417 Gora 65417 Poland Ctr Badan Kosmicznych Polskiej Akad Nauk Warsaw Poland

ISBN: (纸本)9781728129754

In the present work, a new task space non-singular terminal sliding mode (TSM) manifold defined by non-linear integral equation of the first order with respect to the task tracking error and a kind of computed torque method are introduced to control four mecanum wheeled mobile robot (FMWMR). On account of the full rank of the Jacobian matrix of the omni-directional holonomic mechanism, the proposed control scheme is shown to be globally finitetime stable despite uncertain dynamic equations and (globally) unbounded disturbances acting on the FMWMR. Moreover, the proposed control law provides (locally) optimal solution. The numerical simulations carried out for a youBot platform with four mecanum wheels illustrate both the performance of the proposed control scheme and simultaneously its minimizing property for some practically useful objective function.

关键词： Task analysis Trajectory tracking Jacobian matrices Trajectory Symmetric matrices Mobile robots Wheels

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NONLINEAR control FOR THE NONHOLONOMIC motion OF SPACE robot SYSTEMS

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LECTURE NOTES IN control AND INFORMATION SCIENCES 1991年第 1 期162卷 83-105页

作者： NAKAMURA, Y MUKHERJEE, R Univ of California Santa Barbara CA United States

ISBN: (纸本)3540541691

Recent advances in space applications have necessitated the deployment of robotic systems in space. These systems have intrinsic features due to the nonholonomic constraints governing their motion. In this paper we discuss the presence of nonholonomic redundancy, as different from ordinary kinematic redundancy, in space robots. Nonholonomic redundancy can be utilized to increase the workspace of space robots. In this paper we present a path planning scheme using Liapunov functions in hierarchy for the utilization of nonholonomic redundancy.

关键词： robots

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Model reference tracking control for constrained robotic systems 3

Model reference tracking control for constrained robotic sys...

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3rd International workshop on robot motion and control

作者： Jarzebowska, E Warsaw Univ Technol Inst Aircraft Engn & Appl Mech PL-00665 Warsaw Poland

ISBN: (纸本)8371434294

The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.

关键词： robotics

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Balancing control of a Cubical robot Balancing on Its Corner 15

Balancing Control of a Cubical Robot Balancing on Its Corner

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15th IEEE International workshop on Advanced motion control (AMC)

作者： Chen, Zhigang Ruan, Xiaogang Li, Yuan Beijing Univ Technol Fac Informat Technol Beijing Peoples R China Beijing Key Lab Computat Intelligence & Intellige Beijing Peoples R China

ISBN: (纸本)9781538619469

Aiming at the problem of balancing control of a cubical robot, this paper makes a research on the balancing control of a cubical robot balancing on its corner. Using the physical prototype of cubical robot we designed as the research object, the dynamic model is derived with Lagrangian method. A balancing controller is proposed base on a nonlinear control method-active disturbance rejection control (ADRC). There are three ADRC controllers in pitch, roll and yaw direction. The internal and external disturbance of the system are regarded as the total disturbances of the ADRC controller. The effectiveness of the controller is verified in the comparison with PID algorithm with the obtained expect effect. The controller developed can provide a base for further study for balancing control of a physical prototype cubical robot.

关键词： cubical robot dynamics model Lagrangian method active disturbance rejection control self-balancing control

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