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IEEE International Conference on robotics and Automation (ICRA)

作者： Dongseok Ryu Changhyun Cho Munsang Kim Jae-Bok Song Department of Mechanical Engineering Korea University Seoul South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780377362

This paper presents design of a 6 DOF haptic master which is based on a combination of a planar 3 DOF parallel mechanism and a spatial 3 DOF parallel mechanism. Since low inertia is vital to backdrivability and transparency of the haptic device, all actuators are placed on the base and thus some forces for haptic feedback are transmitted by tendon-driven mechanism. This device was intended to teleoperate a mobile manipulator, which requires planar 3 DOF motion for navigation of the vehicle and full 6 DOF motion for manipulation. Therefore, the proposed device is designed to have two modes of a planar task and a 3D task which are switchable without any change in hardware. This feature provides efficient actuation and reduces computational burden since only 3 actuators are involved in the case of a planar task. The paper deals with a detailed description of the proposed haptic master and Jacobian analysis. Some applications are given to verify the validity of this device.

关键词： Haptic interfaces Actuators Force feedback Reflection Gears Manipulators Mobile robots Parallel robots Navigation Vehicles

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Fuzzy control of a behavior-based mobile robot

Fuzzy control of a behavior-based mobile robot

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： S.X. Yang Hao Li M. Meng Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, a fuzzy controller is developed for of an autonomous nonholonomic mobile robot, which was successfully built with behavior-based artificial intelligence that is implemented by several levels of competences and behaviors. The Lyapunov's direct method is used to formulate a class of control laws that guarantee the convergence of the steering errors to zero. Certain constraints for the control laws are presented for the selection of a suitable rule base for the fuzzy controller, which makes the system asymptotically stable. The stability of the proposed fuzzy controller is proved theoretically and demonstrated by simulation studies. Experiments are also conducted to investigate the performance of the developed fuzzy controller.

关键词： Fuzzy control Mobile robots Control systems Navigation Intelligent robots Fuzzy systems Error correction Artificial intelligence Wheels Intelligent systems

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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Multi-Agent Systems for Industrial Diagnostics

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IFAC Proceedings Volumes 2003年第5期36卷 459-464页

作者： Martin Albert Thomas Längle Heinz Wörn Michele Capobianco Attilio Brighenti Institute for Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe S.A.T.E Srl. Systems & Advanced Technologies Engineering s.r.l Santa Croce 664/a 30135

Industrial diagnostic systems aim at anticipating the occurrence of failures or, should failures have occurred, at detecting them and identifying their cause. Similar to a process control system, a diagnostic system is closely connected with a specific industrial application. In case of large and complex industrial systems, such intimate link translates into the need to satisfy requirements for modularity, flexibility, and adaptability. This paper introduces a multi-agent software architecture as a possible solution to better tackle the variety of problems connected with building diagnostic systems, based at the requirements connected with modem industrial applications.

关键词： Agents Complex systems Co-operation Co-ordination De-centralised systems Diagnosis System architectures

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Behavior-based path planning and tracking control of a nonholonomic mobile robot

Behavior-based path planning and tracking control of a nonho...

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Haowen Yang S.X. Yang Q.-H. Max Meng Advanced Robotics and Intelligent Systems (ARIS) Lab University of Guelph Guelph ON Canada Department of Electronic Engineering The Chinese University of Hong Kong Shatin NT Hong Kong

A neural dynamics based approach to real-time path planning and tracking control is proposed in this paper for mobile robot navigation. A collision-free reference position is generated in real time for a point robot by a local behavior-based neural dynamics based path planner. The proposed tracking controller is based on neural dynamics and nonlinear feedback techniques. The nonholonomic constraint of the mobile is considered in the proposed tracking controller. The mobile robot is capable of avoiding the deadlocks, and generating a smooth path and velocity without suffering from any speed jumps that exists in the typical nonlinear feedback tracking controllers.

关键词： Path planning Mobile robots Target tracking Intelligent robots Navigation Sliding mode control Intelligent systems Control systems Neurofeedback System recovery

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Simultaneous shape and motion recovery: geometry, optimal estimation, and coordinate descent algorithms

Simultaneous shape and motion recovery: geometry, optimal es...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhyuk Choi F.C. Park Munsang Kim School of Mechanical & Aerospace Engineering Seoul National University Seoul South Korea Korea Institute of Science and Technology Advanced Robotics Research Center Seoul South Korea

With few exceptions, most previous approaches to the structure from motion problem have been based on a decoupling between shape and motion recovery, usually via discrete or differential versions of the epipolar constraint. This paper offers a differential geometric framework for the simultaneous shape and motion recovery problem. We first pose the simultaneous shape and motion recovery problem as one of fitting a parameterized differentiable manifold to a finite set of points in a larger ambient manifold endowed with a distance metric; this framework includes epipolar constraint-based approaches as a special case. Based on this framework, we then examine a class of least-squares and total least squares fitting criteria, and the physical implications of these criteria with respect to both noise models and choice of distance metric on the relevant manifolds. We show that these criteria lead to linear objective functions on SO(3) that admit analytic solutions. We also derive a set of cyclic coordinate descent (CCD) optimization algorithms and show that simple analytic formulas can be obtained for each iteration. Simulation results on accuracy and noise sensitivity of these algorithms are also presented.

关键词： Geometry Motion estimation Least squares methods Noise shaping Shape measurement Aerospace engineering Charge coupled devices Algorithm design and analysis Analytical models Cameras

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Real-time path planning with deadlock avoidance of multiple cleaning robots

Real-time path planning with deadlock avoidance of multiple ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chaomin Luo S.X. Yang D.A. Stacey Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada Department of Computing and Information Science University of Guelph Guelph ONT Canada

In this paper, a cooperative sweeping strategy with deadlock avoidance of complete coverage path planning for multiple cleaning robots in a changing and unstructured environment is proposed, using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots. The multiple cleaning robots sweeping will not be trapped in deadlock situations.

关键词： Path planning System recovery Cleaning Orbital robotics Robot sensing systems Intelligent robots Neural networks Computational modeling Chaos Intelligent systems

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Time delay control with switching action using frequency-shaped integral sliding surface

Time delay control with switching action using frequency-sha...

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American Control Conference (ACC)

作者： Sung-Uk Lee Pyung Hun Chang Seong-Tae Kim Nuclear Robotics Laboratory Korea Atomic Energy Research Institute Daejeon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780378962

The time delay control with switching action (TDCSA) method has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are present. When TDCSA is applied to nonlinear system having frequency resonances, TDCSA reveals chattering problem or undesired vibration. This undesired vibration and chattering problem come from the switching action and high gains. Fast sliding mode dynamics or fast desired error dynamics improve the control performance, but excite the unmodeled resonance modes and cause undesired vibration or chattering. To solve this problem, we proposed an integral sliding surface design method using frequency-shaping features. This method is to incorporate frequency-shaping LQ design techniques into an integral sliding surface. By experimental results, the frequency-shaped integral sliding surface was shown to be a practicable for a single-link flexible arm. Motion control of a single-link flexible arm with unmodeled flexible modes was taken into account. The desired trajectory was tracked while minimally exciting the unmodeled flexible modes.

关键词： Delay effects Nonlinear dynamical systems Resonance Robust control Nonlinear systems Resonant frequency Error correction Sliding mode control Vibration control Design methodology

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Optimization of a Neural Dynamics Based Controller for a Nonholonomic Mobile Robot Using Genetic Algorithms

Optimization of a Neural Dynamics Based Controller for a Non...

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International Conference on Control and Automation (ICCA)

作者： Hao Li S.X. Yang F. Karray Pattern Analysis and Machine Intelligence (PAMI) Lab Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a neural dynamics based controller for a nonholonomic mobile robot is proposed. The turn angle of the robot in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley’s membrane equation. This model is capable of generating smooth steering velocity command that drives the robot to track desired paths. Some parameters in the proposed neural dynamics based controller need to be selected. A genetic algorithm is designed to optimize the model parameters that can guarantee the convergence of tracking error of the mobile robot. Simulation studies of a fourdegree-of-freedom mobile robot are conducted, which demonstrate the effectiveness of the proposed motion controller.

关键词： Mobile robots Genetic algorithms Biological system modeling Equations Biomembranes Algorithm design and analysis Design optimization Convergence Motion control

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Performance analysis of a 2-link haptic device with electric brakes

Performance analysis of a 2-link haptic device with electric...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Changhyun Cho Munsang Kim Jae-Bok Song Department of Mechanical Engineering Korea University Seoul South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Eng Korea University South Korea

ISBN: (纸本)0769518907

Passive haptic devices have better stability than active ones, but usually have limited capability of haptic display. In this paper a 2-link passive haptic device equipped with electric brakes is discussed. Since passive devices cannot generate forces in all directions, determination of the region available for force reflection is important to their design and operation. This analysis can be done by a so-called force manipulability ellipsoid (FME). In some haptic applications, the endpoint of a device is required to move along a certain trajectory (e.g., the surface of a virtual wall) and haptic display plays a role of path guide. Performance of path guidance is also investigated in this research. Finally, guideline for the design of more efficient passive haptic devices is briefly discussed.

关键词： Performance analysis Haptic interfaces Displays Actuators Ellipsoids Robots Stability Humans Wheels Control systems

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