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IEEE 19th International Conference on Industrial Informatics (INDIN)

作者： Zinn, Jonas Vogel-Heuser, Birgit Schuhmann, Fabian Salazar, Luis Alberto Cruz Tech Univ Munich Inst Automat & Informat Syst Munich Germany

ISBN: (纸本)9781728143958

The training of Deep Reinforcement Learning algorithms on robotic devices is challenging due to their large number of actuators and limited number of feasible action sequences. This paper addresses this challenge by extending and transferring existing approaches for waypoint-based exploration with Hierarchical Reinforcement Learning to the domain of robotic devices. The resulting algorithm utilizes a top-level policy, which suggests waypoints to a bottom-level policy that controls the system actuators. The waypoints can either be provided to the top-level policy as domain knowledge or be learned from scratch. The algorithm explicitly accounts for the low number of feasible waypoints and waypoint transitions that are characteristic of robotic devices. The effectiveness of the approach is evaluated on the simulation of a research demonstrator, and a separate ablation study proves the importance of its components.

关键词： Intelligent Systems mechatronics and robotics Fault tolerant design

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Cascaded NMPC for the Precise Position Control of a Pneumatic Actuator 47

Cascaded NMPC for the Precise Position Control of a Pneumati...

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47th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Husmann, Ricus Aschemann, Harald Univ Rostock Chair Mechatron Rostock Germany

ISBN: (纸本)9781665435543

This paper presents the design and a comparison of two cascaded control schemes based on nonlinear model predictive controllers (NMPC) for the position control of a pneumatic actuator. Both control schemes consist of a NMPC for the pneumatic subsystem while the outer mechanical subsystem is in one case controlled by a NMPC as well, and in the other case by a state-feedback controller (LQR). To cope with the high impact of nonlinear friction, a feedforward friction compensation is employed, and the mechanical subsystem is extended by an integrator. The control approaches are implemented on a test rig consisting of a double-acting pneumatic cylinder actuated by a single 5/3-proportional valve using the GRAMPC-toolbox. Based on experimental results on the test rig it can be shown that both controllers achieve a precise position tracking for different desired trajectories.

关键词： Nonlinear Systems Motion Control mechatronics and robotics

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Comparison and Benchmarking of NMPC for Swing-Up and Side-Stepping of an Inverted Pendulum with Underlying Velocity Control 3rd

Comparison and Benchmarking of NMPC for Swing-Up and Side-St...

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3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MiCNON)

作者： Husmann, Ricus Aschemann, Harald Univ Rostock Mechatron Justus von Liebig Weg 6 D-18059 Rostock Germany

This paper presents the design and investigation of a nonlinear model predictive controller (NMPC) for an inverted pendulum with velocity input. The controller is implemented on a test-rig using the GRAMPC-Toolbox. It is shown that swing-up/stabilisation and side-stepping can be achieved in a single controller using a suitable cost functional as well as prediction horizon. The impact of different NMPC design parameters on the achievable performance and stability properties is investigated and discussed. Finally, a comparative analysis with an alternative nonlinear control - consisting of energy-based swing-up and a tracking controller based on extended linearisation techniques and state-dependent Riccati equations (SDRE) - is carried out. The individual strength or weakness is discussed based on experimental results at a test rig. Copyright (C) 2021 The Authors.

关键词： Nonlinear Model Predictive Control Control of Nonlinear Systems mechatronics and robotics

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Semi-Automatic Registration of a Robotic Total Station and a CAD Model Without Control Points 44

Semi-Automatic Registration of a Robotic Total Station and a...

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44th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Klug, Christoph Arth, Clemens Schmalstieg, Dieter Gloor, Thomas VRVIS Res Ctr Vienna Austria Graz Univ Technol Graz Austria Hilti Corp Schaan Liechtenstein

ISBN: (纸本)9781509066841

The accurate registration of a robotic total station with respect to a given CAD model is a crucial task in the construction industry. Common registration techniques rely on a reference network of control points in the CAD model. One must establish correspondences between control points in the CAD model and measured points in the field. Usually physical markers or natural points of interest are selected as control points. We present a user-guided algorithm for simple and efficient registration of a robotic total station with a CAD model in indoor environments without the need for control points. The user interaction is reduced to selecting a local Manhattan-like corner structure for initial model alignment;accurate registration of the device is carried out automatically. Our algorithm relies on angle and distance measurements only and, therefore, is not limited to vision based robotic total stations. In particular, we propose a new algorithm for robust Manhattan corner extraction.

关键词： mechatronics and robotics Motion and Servo Control

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Gain selection criterion for the swing-up control of the Acrobot using collocated partial feedback linearisation

Gain selection criterion for the swing-up control of the Acr...

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IEEE AFRICON Conference - Science, Technology and Innovation for Africa

作者： De Almeida, Ricardo Nyandoro, Otis Univ Witwatersrand Dept Elect & Informat Engn 1 Jan Smut Ave ZA-2000 Johannesburg South Africa

ISBN: (纸本)9781538627754

A novel set of feedback gain selection conditions pertaining to the swing-up control of the Acrobot using collocated partial feedback linearisation is derived and presented in this research. This set of conditions, collectively known as the gain selection criterion, highlights a region of possible feedback gain combinations, known as the region of appropriate gains (RAG), that will guarantee the unstable response of the Acrobot when initialised approximately near the fully-pendant equilibrium point. The criterion is derived using the Routh-Hurwitz stability criterion applied on the characteristic equation of the system linearised about the fully-pendant equilibrium point. Only one left-column coefficient, known as the critical Routh coefficient, demonstrates the potential of influencing the stability of the system. The boundaries of the RAG are defined from the analysis of the critical Routh coefficient. The gain selection criterion will prevent the unintended selection of a combination of feedback gains that will cause a stable response about the fully-pendant equilibrium point, preventing the satisfactory execution of swing-up control on the Acrobot from the fully-pendant equilibrium point. This criterion may, more conveniently, be applied to specific types of multi-link pendulum system that approximate the behaviour of the partially linearised Acrobot.

关键词： Mechatronic systems mechatronics and robotics Nonlinear Systems

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Robotic Surgical System Utilizing FE Model Coupled with Ultrasonic Tracking

Robotic Surgical System Utilizing FE Model Coupled with Ultr...

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53rd Midwest Symposium on Circuits and Systems (MWSCAS 2010)

作者： Lilly, Bradford R. Shenai, Krishna Goel, Vijay Biyani, Ashok Univ Toledo Dept Elect Engn & Comp Sci Toledo OH 43606 USA Univ Toledo Dept Biomed Engn Toledo OH 43606 USA Univ Toledo Dept Orthopaed Surg Toledo OH 43606 USA

ISBN: (纸本)9781424477739

Described within is a system for performing a minimally invasive robotic surgery. To facilitate this means, an advanced unltrasonic/inertial tracking system is used in place of the standard optical tracking systems. This technique will decrease overall radiation, both to the surgeon as well as the patient. Overall accuracy of the procedure will also be increased, thusly increasing the success rate while also decreasing overall time for the surgery. This paper will specifically deal with the positioning and accuracy of the robot.

关键词： Control Systems mechatronics and robotics

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A Heterogeneity-Enabled Development System for Educational mechatronics

A Heterogeneity-Enabled Development System for Educational M...

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IEEE International Conference on mechatronics (ICM 2009)

作者： Stockmans-Daou, Charbel Cruz-Martin, Ana Fernandez-Madrigal, Juan-Antonio Univ Malaga Dept Syst Engn & Automat ETSI Informat E-29071 Malaga Spain

ISBN: (纸本)9781424441945

mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.

关键词： Design Tools mechatronics and robotics Methodologies

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A quadruped robot walking and running with one mechanism

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2009年第750期75卷 390-396页

作者： Fukuoka, Yasuhiro Kimura, Hiroshi Department of Intelligent Engineering College of Engineering Ibaraki University 4-12-1 Nakanarusawa-cho Hitachi-shi Ibaraki 316-8511 Japan

Many quadruped walking robots and running robots have been so far developed, but it is very difficult for a robot with fixed mechanism to walk and run. Our quadruped robot 'Tekken' has been able to walk dynamically by walking and trotting gait. It has a local virtual spring-damper system of which we can adjust the parameters of the stiffness. By enhancing the parameter of the system further, we succeeded in making the same mechanism robot run as well as walk. In this paper, we show the experimental result of bouncing with Tekken.

关键词： Central Pattern Generator (CPG) mechatronics and robotics Moving Robot Neural Oscillator Nonlinear Vibration Running Quadruped Robot Walking Quadruped Robot

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Towards real-time global localization in dynamic unstructured environments

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2006年第3期49卷 905-911页

作者： Tanaka, Kanji Kondo, Eiji Kyushu Univ Grad Sch Engn Nishi Ku Fukuoka 8190395 Japan

Global localization is the problem in which a mobile robot has to estimate the self-position with respect to an a priori given map as it navigates without using any a priori knowledge of the. initial self-position. Previous studies on global localization mainly focused on static environments, where the a priori map is almost correct. On the other hand, in dynamic environments, there are several sources of computational complexity. For example, not only the self-position but also the map should be estimated due to the map errors. The main contribution of this paper is to address such computational complexity by decomposing our global localization problem into, two smaller subproblems, and solving the subproblems in a practical computation time. Also, we demonstrate the robustness and the efficiency of the proposed method in various large and complex environments.

关键词： mechatronics and robotics measurement reasoning recognition moving robot particle filter SLAM map building localization

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Returning motion from the state of falling sideways for articulated mobile robot

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2004年第1期47卷 225-232页

作者： Nunobiki, M Okuda, K Hasegawa, M Himeji Inst Technol Grad Sch Engn Dept Mech & Syst Engn Himeji Hyogo 6712201 Japan Hyogo Prefectural Tajima Tech Inst Toyooka Hyogo 6680051 Japan

We developed an inchworm-type mobile robot. It consisted of only six segments connected by four pitch joints and one yaw joint. Although this robot had neither legs nor wheels, it was able to advance by using vertically undulatory motion of whole body. Even if it became upside down, it was able to move just like normal posture. But if it fell sideways, it was not able to move until returning to normal posture. In this study, we proposed a returning method by which the angular moment around roll axis was generated by twisting itself. To analyze this motion, we developed a mathematical model for this returning motion by considering the robot to be an underactuated mechanical system that consisted of a base frame and two link frames. We confirmed this returning motion was able to equate with a falling down motion of an underactuated two-linked system.

关键词： mechatronics and robotics moving robot inchworm-type robot articulated structure wake-up motion equation of motion simulation

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