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检索条件"机构=Advanced Engineering Robotics"

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Design and integration of a torque sensor beam based masterarm

Design and integration of a torque sensor beam based mastera...

引用

2001 ASME International Mechanical engineering Congress and Exposition

作者： Lee, Sooyong Kim, Yoon Sang Cho, Changhyun Kim, Munsang Department of Mechanical Engineering Texas A and M University College Station TX 77843-3123 United States Advanced Robotics Research Center Korea Inst. of Sci. and Technology Seoul 130-650 Korea Republic of

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in this paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and it can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Sensors

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Solving distance problems with concave bodies using simulated annealing

Solving distance problems with concave bodies using simulate...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.A. Carretero M.A. Nahon Ou Ma Space and Subsea Robotics Laboratory Department of Mechanical Engineering University of Victoria Victoria BC Canada Space and Advanced Robotics Limited Brampton ONT Canada

Determining the minimum distance between two convex objects is a problem that has been solved using many different approaches. On the other hand, computing the minimum distance between combinations of convex and concave objects is known to be a more complicated problem. Some methods propose to partition the concave object into convex sub-objects and then solve the convex problem between all possible sub-object combinations. While this method has been shown to work reliably, it adds a large computational expense when the concave objects in the scene are complicated, or when a quadratically bound object is to be linearized. An optimization approach is used to solve the concave problem without the need for partitioning the concave object into convex sub-objects. Since the optimization problem is no longer unimodal, a global optimization technique is used. Simulated annealing is used to solve the concave problem. In order to reduce the computational expense, it is proposed to replace the objects' geometry by a set of points on the surface of each body. This reduces the problem to a combinatorial problem where the combination of points that minimizes the distance will be the solution. Some examples using this method are presented.

关键词： Simulated annealing Interference Computational geometry Robots Orbital robotics Optimization methods Path planning Trajectory Robotic assembly Laboratories

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Real-time vision system for autonomous mobile robot

Real-time vision system for autonomous mobile robot

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： M. Doi M. Nakakita Y. Aoki S. Hashimoto Humanoid Robotics Institute Advanced Research Center for Science and Engineering Waseda University Shinjuku Tokyo Japan

In order to realize a vision system for an autonomous mobile robot used in a human living environment, it is necessary to observe human behaviors and to react to those actions. In this paper, we propose a real-time human tracking method based on vision system for an autonomous mobile robot. First, the system detects body parts as moving areas in the scene, and a face region or region specific to human is extracted in the detected area using color. Next, the facial gesture and head gesture are recognized. We implement the vision system on a mobile robot, and experimentally show the system can detect and track a human and his face in real-time.

关键词： Real time systems Machine vision Mobile robots Humans Face detection Cameras Robot vision systems Face recognition Target tracking Optical transmitters

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Tracking control of a mobile robot with kinematic and dynamic constraints

Tracking control of a mobile robot with kinematic and dynami...

引用

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

作者： Heting Xu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

A path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventional bang-bang control technique, the proposed tracking controller is capable of generating real-time acceleration commands that can produce smooth, continuous robot velocities, and drive the mobile robot to track the desired trajectories. In the controller design, the accelerations are bounded and the nonholonomic kinematic constraints are satisfied. The stability of the control system and the convergence of tracking errors to zero are proved using a Lyapunov stability theory. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.

关键词： Mobile robots Kinematics Acceleration Biological system modeling Bang-bang control Velocity control Biological control systems Trajectory Stability Control systems

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An efficient neural controller for a nonholonomic mobile robot

An efficient neural controller for a nonholonomic mobile rob...

引用

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

作者： Tiemin Hu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel neural network based controller is developed for real-time fine motion control of a nonholonomic mobile robot with completely unknown robot dynamics and under unmodeled disturbance. By taking advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the robot dynamic parameters, the neural network consists of a single layer feedforward structure, and the learning algorithm is computationally efficient. Unlike previous works that use a typical backstepping velocity planner as the control input, a novel neural dynamics based velocity planner is used as input. The stability of the proposed control system and the convergence of tracking errors to zero are rigorously proved using the Lyapunov theory. The fine control of mobile robot is achieved through the online learning of the neural network without any off-line learning procedures. The effectiveness and efficiency of the proposed controller is demonstrated by simulation studies.

关键词： Mobile robots Neural networks Motion control Nonlinear dynamical systems Feedforward neural networks Computer networks Backstepping Velocity control Stability Control systems

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Visual tracking manipulator with redundancy and its application to robotic wheel assembly

Visual tracking manipulator with redundancy and its applicat...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Chang-hyun Cho Sungchul Kang Munsang Kim Jae-Bok Song Sunkyoo Min Jeasun Kim Hyunoh Shin Department of Mechanical Engineering Korea University Seoul South Korea Advanced robotics research center KIST Seoul South Korea Hyundai Motor Company Ulsan South Korea

A new wheel assembly automation system is proposed which assembles a wheel into a hub on a car body on a moving hanger in the car manufacturing line. A vision system is used to track the position of the hub on the moving hanger A macro-micro structure is applied to increase a system bandwidth and accuracy to meet an insertion tolerance. The redundancy problem is solved without complicated calculations by assigning different functions that the macro manipulator tracks a velocity error and the micro regulates the position error. Experimental results show that the proposed system can be applied to the wheel assembly task on a moving hanger in the car manufacturing line.

关键词： Robotic assembly Manipulators Mobile robots Wheels Redundancy robotics and automation Assembly systems Service robots Tracking Manufacturing

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots Control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Advantage of low complexity in digital controllers with finite wordlength

Advantage of low complexity in digital controllers with fini...

引用

SICE Annual Conference

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group OPAL-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal QUE Canada Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan

ISBN: (纸本)0780373065

The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.

关键词： Digital control Control systems Sampling methods Finite wordlength effects Costs Stability Computational modeling Mechanical engineering Robot control Paper technology

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A framework for discrete-time models of continuous-time systems

A framework for discrete-time models of continuous-time syst...

引用

American Control Conference (ACC)

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal Montreal QUE Canada Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper shows that the analysis and the design of discrete-time models of continuous-time systems can be carried out within a single framework. Briefly, all classes of discrete-time models, namely the invariant models, the mapping models and the matched pole-zero models, are shown to incorporate the common structure of a hold followed by a continuous-time system and the ideal sampler. This interpretation of discrete-time models of continuous-time systems facilitates the understanding of the differences and similarities among the various discrete-time models. A numerical example illustrates the concepts involved.

关键词： Transfer functions Poles and zeros State-space methods Mechanical engineering Robot control Design engineering Signal processing System identification Control systems Hardware

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A new exoskeleton-type masterarm with force reflection based on the torque sensor beam

A new exoskeleton-type masterarm with force reflection based...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yoon Sang Kim Sooyong Lee Changhyun Cho Munsang Kim Chong-Won Lee Department of Electrical Engineering University of Washington Seattle WA USA Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Texas A and M University College Station TX USA

ISBN: (纸本)0780365763

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Force sensors Optical reflection Torque Humans Service robots Kinematics Shoulder Wrist Elbow Capacitive sensors

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