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检索条件"机构=Advanced Engineering Robotics"

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Robot motion planning for sensor-based control with uncertainties

Robot motion planning for sensor-based control with uncertai...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L.A. Page A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper describes a new representation for sensing and control uncertainties in sensor-based robot control, and presents motion planning algorithms that use this representation. The planning algorithms employ a robot's sensing capabilities as needed to accomplish a task, by activating sensors at points or intervals during motion. A sensor is represented by three quantities: a domain, which is the set of robot configurations at which a valid measurement can be taken; an absolute sensing uncertainty held, which describes the sensor's absolute (global) accuracy; and an incremental motion uncertainty, which describes the sensor's relative (pertaining to displacements) accuracy. Control uncertainty represents the ability of a controller to drive the measured error near zero. These descriptions of sensing and control capability determine the evolution of uncertainty in a sensor-based motion plan. Two complementary algorithms for motion planning with the new representation are presented. One is a backprojection algorithm which searches globally (in configuration space and the available sensors) for ways to achieve a particular subgoal. The other searches locally (in path space) to satisfy all the constraints in a planning problem. Examples of uncertainty evaluation and motion planning in two degrees of freedom are presented.

关键词： Robot motion Motion planning Motion control Uncertainty Robot sensing systems Robot control Sensor phenomena and characterization Displacement measurement Motion measurement Error correction

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Task and behavior formulations for robotic rock excavation

Task and behavior formulations for robotic rock excavation

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Xiaobo Shi Fei-Yue Wang P.J.A. Lever Advanced Mining Systems Laboratory Mining and Geologcal Engineering Department University of Arizona Tucson Tucson AZ USA Systems and Industrial Engineering Department Robotics and Automation Laboratory Canada

This paper presents a formulation of excavation tasks and behaviors using finite state machines (FSM). A robotic excavation goal is achieved through several excavation tasks, while a task is completed through sequences of excavation behaviors, which are carries out by an ordered application of primitive, machine executable excavation actions. Both tasks and behaviors are specified by finite state machines that define all feasible sequences of behaviors or actions. The behavior selection for state transitions in a task FSM is achieved through situation assessment and behavior arbitration. For a behavior FSM, a method of terminating a behavior execution based on the activation levels of its actions is proposed. Since it is almost impossible to infer the exact status of bucket/environment interaction from force/torque data, excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results have indicated that the proposed formulation has lead to a more efficient execution of excavation tasks than the authors' previous formulation.

关键词： Humans robotics and automation Laboratories Control systems Service robots Automata Fuzzy logic Soil Industrial engineering Geology

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Task-based servoing in quaternion space

Task-based servoing in quaternion space

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation Manufacturing automation Computer aided manufacturing Motion control Acceleration

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Rapid development of robotic applications using component-based real-time software

Rapid development of robotic applications using component-ba...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D.B. Stewart P.K. Khosla Department of Electrical Engineering Institute for Advanced Computer Studies University of Maryland College Park MD USA Department of Electrical and Computer Engineering and The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Component-based real-time software speeds development and lowers cost of robotics applications. It enables the use of rapid prototyping or incremental software process models. The Chimera Methodology is a software engineering paradigm targeted at developing and integrating dynamically reconfigurable and reusable real-time software components. It is founded upon the notion of port-based objects. The focus of this paper is how to apply the Chimera Methodology specifically to the development of robotic applications.

关键词： Application software Three-term control Robot sensing systems Costs Software prototyping Software engineering Automata Concurrent computing Computational modeling Educational institutions

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Attitude control without angular velocity measurement: a passivity approach

Attitude control without angular velocity measurement: a pas...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lizarralde J.T. Wen Department of Electrical Engineering COPPE UFRJ Rio de Janeiro Brazil Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

It is well known that the linear feedback of the quarternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quarternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.

关键词： Angular velocity Velocity measurement PD control Feedback Quaternions Robot control Orbital robotics robotics and automation Space vehicles Proportional control

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Robust neural network control of rigid-link electrically-driven robots

Robust neural network control of rigid-link electrically-dri...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C.M. Kwan F.L. Lewis D.M. Dawson Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly, ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require persistent excitation conditions and no lengthy and tedious preliminary analysis to determine a regression matrix is needed.

关键词： Robust control Neural networks Robots robotics and automation Stability Actuators Nonlinear dynamical systems Motion control Error correction Computer aided manufacturing

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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering Systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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Robust adaptive control of robots using neural network: global tracking stability

Robust adaptive control of robots using neural network: glob...

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IEEE Conference on Decision and Control

作者： C.M. Kwan D.M. Dawson F.L. Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A desired compensation adaptive law-based neural network (DCAL-NN) controller is proposed for the robust position control of rigid-link robots. The NN is used to approximate a highly nonlinear function. The controller can guarantee the global asymptotic stability of tracking errors and boundedness of NN weights. In addition, the NN weights here are tuned on-line, with no off-line learning phase required. When compared with standard adaptive robot controllers, one does not require persistent excitation conditions, linearity in the parameters, or lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of rigid robots without any modifications.

关键词： Robust control Adaptive control Neural networks Programmable control Adaptive systems Position control Asymptotic stability Error correction Robot control Linearity

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