In this paper, prototype of RSQ motion system is presented. This system can used in proprioception studies. The quaternion was used to determine the orientation. For the purposes of the research, the avatar visualizat...
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ISBN:
(纸本)9781728129754
In this paper, prototype of RSQ motion system is presented. This system can used in proprioception studies. The quaternion was used to determine the orientation. For the purposes of the research, the avatar visualization was implemented in the unity environment.
This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motioncontrol methods. The trajectory tracking problem is formulated as th...
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ISBN:
(纸本)9781538639269
This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motioncontrol methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining a control function that drives the system output through selected points in the task space at given time instants, and simultaneously maintains the trajectory tracking constraints. The original constrained motion planning problem is replaced by an unconstrained one addressed in an extended control system representation, and solved with the task priority version of the Lifted Newton method. Solutions of example trajectory tracking problems for the kinematic car type platform illustrate the theoretical concepts.
A single wheel, gyroscopically stabilized robot was developed to provide a dynamic stability for rapid locomotion. It is a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsio...
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A single wheel, gyroscopically stabilized robot was developed to provide a dynamic stability for rapid locomotion. It is a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and it can be tilted to achieve steering. Its nature is nonholonomic, underactuated and inherently unstable in the lateral direction. In this paper, we discuss the problem of controlling the tilt-up motion of such a dynamically stable but statically unstable robot. We first present a dynamic model which is verified through simulations and experiments. Then, we develop a model-based controller for tilt-up motion, assuming that the robot is rolling without slipping. Taking advantage of human skill in teleoperating the robot, we develop a human-based controller for tilt-up motion, in which we train a human control strategy model to abstract the operator's skill in controlling the tilt-up motion. The controller was successfully implemented. such that the robot can recover from fall automatically. This work is a significant step towards a fully automatic control of such a dynamically stable but statically unstable robot. (C) 2000 Elsevier Science Ltd. All rights reserved.
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 i...
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ISBN:
(纸本)9798350393972;9798350393965
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.
This paper presents navigation function (NF) based control for differentially driven mobile robots in which performance in transient state was significantly improved in comparison to previously known methods. The grad...
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ISBN:
(纸本)9781538639269
This paper presents navigation function (NF) based control for differentially driven mobile robots in which performance in transient state was significantly improved in comparison to previously known methods. The gradient of the navigation function is used to generate direction of motion but the velocity is computed as a function of position and orientation error. It makes the system converge faster to desired values. Convergence analysis is performed to show the relationship between location of the eigenvalues of linearized system and the convergence of the coordinates to desired values. The improvement of the performance is illustrated with simulation and experimental results.
The paper presents modelling and control of a robotic arm. To solve the control problem, the state-dependent Riccati equation (SDRE) method is applied. As a new contribution, the paper deals with state-dependent param...
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ISBN:
(纸本)9781728129754
The paper presents modelling and control of a robotic arm. To solve the control problem, the state-dependent Riccati equation (SDRE) method is applied. As a new contribution, the paper deals with state-dependent parametrization as an effective modelling of robot manipulator and shows how to modify classical form of the SDRE method to reduce computational effort during feedback gain computation. Numerical example with 3 DOF manipulator compares described methods and confirms usefulness of the proposed technique.
The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robotcontrol algorithnis and design parameters allows adapting t...
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ISBN:
(纸本)8371434294
The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robotcontrol algorithnis and design parameters allows adapting to unevenness of motion surface. control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results tire presented.
A path is a time-independent geometric description of a robotmotion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefo...
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ISBN:
(纸本)9798350393972;9798350393965
A path is a time-independent geometric description of a robotmotion. 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 (R) Gen3 Ultra lightweight robot. The comparison of the achieved results proves the theoretical properties and practical suitability of the designed control law.
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position...
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ISBN:
(纸本)9781538639269
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position with high manipulability measure of the holonomic arm. The motion is planned in such a way to guarantee that mechanical and collision constraints are satisfied. To ensure fulfillment of control limitations a trajectory scaling approach in limited periods of time, when controls are close to constraints, is used. In order to obtain smooth controls a heuristic rule for choosing trajectory scaling parameter is introduced. The effectiveness of the proposed approach is confirmed by the computer simulations of the mobile manipulator consisting of (2,0) class nonholonomic platform and 3DOF holonomic arm.
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