This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive r...
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This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive remote controller, the networked robotic system is demonstrated to be stable with guaranteed position regulation. For the input/output signals of roboticsystems, a discretisation block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. Subsequently, we propose a packet management, called wave-variable modulation, to cope with the proposed networked robotic system under time delays and packet losses. Numerical examples and experimental results are presented to demonstrate the performance of the proposed wave-variable-based networked robotic systems.
Developing applications for modern complex networked robotic systems is more challenging due to the introduction of possibly sophisticated communication and coordination aspects. In this paper, we propose EmSBoT, a li...
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ISBN:
(纸本)9781467385237
Developing applications for modern complex networked robotic systems is more challenging due to the introduction of possibly sophisticated communication and coordination aspects. In this paper, we propose EmSBoT, a lightweight embedded component-based software framework targeting resource-constrained networked robotic systems. EmSBoT provides a unified Application Program Interface (API) that hides the heterogeneous distributed environment from applications. Its OS abstraction layer endows it with OS independence and portability. A port-based communication mechanism is adopted to exchange message between loosely coupled components, making the system with fault-tolerance capability. By isolating the communication channels as separate agents, the framework provides uniform and transparent message-passing for agents over node boundaries. We describe the architecture, programming model and core features of EmSBoT in this paper, together with the performance evaluation and behavior validation to demonstrate its efficiency and feasibility.
networked control of roboticsystems is widely recognized as a potentially transformative technological enabler for several applications. However, the issues of time delays in communication and recovery from data loss...
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networked control of roboticsystems is widely recognized as a potentially transformative technological enabler for several applications. However, the issues of time delays in communication and recovery from data losses have emerged as the pivotal issues that have stymied practical deployment. The study for control of roboticsystem with input/output communication delays has attracted many researchers' attention, but the existing results have been primarily developed for rigid-joint robots. Since joint flexibility is largely unavoidable in practical manipulators, in this paper the set-point control problem for flexible-joint robots with input/output communication delays is studied. It is demonstrated that the scattering variables address the stability problem for unknown constant delays, however, in contrast to the rigid-robot case, they cannot guarantee set-point regulation. In addition, we compute the explicit dependence of the regulation errors on the communication delays, control gains, and the desired set-point configuration. Without exact knowledge of time delays, a scattering variable based controller with position feedback is subsequently studied in this paper to guarantee stability with improved regulation performance. The control architecture is further extended to the case with time-varying delays. Simulation results are presented to validate the efficacy of the proposed control algorithms. (C) 2014 Elsevier Ltd. All rights reserved.
In passivity based bilateral teleoperation of multi-robot systems the coupling among the robots produces unwanted dynamic effects that deteriorates the force fed back to the user. In this paper we propose a passivity ...
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Extended Monte Carlo localization, augmentation of conventional Monte Carlo Localization (MCL) appropriately with triangulation-based re-sampling, is proposed in this paper in order to increase computational efficienc...
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ISBN:
(纸本)078039044X
Extended Monte Carlo localization, augmentation of conventional Monte Carlo Localization (MCL) appropriately with triangulation-based re-sampling, is proposed in this paper in order to increase computational efficiency and avoid over-convergence. The over-convergence and uniformity validations are used to verify correspondence between sample distribution and sensor information for the integration of different resampling processes. Vision-based extended MCL is realized that is applied to a networked robotic system, in which Bayesian networks are introduced to recognize polyhedron features in office environments for localization. Experimental results demonstrate the validity of the approach.
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