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NEURAL-NETWORK MODELING OF A COMPLIANT DEVICE TO ENHANCE AND SIMPLIFY COMPLIANT FORCE control

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 1994年第4期11卷 293-301页

作者： TISDALL, JP BROOME, DR GREIG, AR Automatic Control Group Department of Mechanical Engineering University College London Torrington Place London WC1E 7JE U.K.

A method is offered that uses an artificial neural network (ANN) to simplify the problem of mapping a robot tool position in space when using compliant force control. For this case, the compliant device (CD) is a moulded rubber block situated between the manipulator end flange and the tool. A force sensor is mounted between the tool and the CD. It is necessary to be able to relate the recorded contact fortes and torques (hereafter referred to as ''forces'') to the changes in translations and orientations (hereafter referred to as ''positions'') of the tool relative to the manipulator. Usually, a complex Newtonian model would be required to achieve this. For this paper, to overcome the difficulties of accurately modelling the non-linear and highly coupled characteristics of the CD, back propagating ANNs have been trained to relate the forces to positions for real data sets. The finished ANN is to be used as part of a computer model of the overall manipulator system. This paper assesses the ability of the ANN to model the CD. In particular, three issues are addressed: first, the comparison of the ANN with a conventional spring type model;sec end, the verification of the ANN with true data sets;third, the need to filter the ANN output to avoid problems from outliers.

关键词： Neural networks

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ASYMPTOTIC STATISTICAL-ANALYSIS OF AUTOREGRESSIVE FREQUENCY ESTIMATES

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SIGNAL PROCESSING 1994年第3期39卷 277-292页

作者： ANGEBY, J STOICA, P SODERSTROM, T Ericsson Infocom Consultants AB Box 1038 651 15 Karlstad Sweden Automatic Control Department Bucharest Polytechnic Institute Splaiul Independentei 313 R-77206 Bucharest Romania Systems and Control Group Uppsala University Box 27 S-751 03 Uppsala Sweden

Fitting an auto-regressive (AR) model to the data can be used to estimate the frequencies of sinusoidal signals from their noisy measurements. The paper analyses the mean square error (MSE) of the frequency estimates obtained by this method for both the root and the spectral form. The analysis is asymptotic in the number of samples. Numerical examples and analytical results show how the MSE depends on AR order, the signal-to-noise ratio (SNR) and frequency separation. A guideline on how to choose the AR order is given. The mean square error is shown to be inversely proportional to SNR2 for moderate sized SNR and to SNR for SNR must-greater-than 1. It is also shown that the frequency separation threshold can be inferred from the asymptotic results for moderately sized SNRs.

关键词： SPECTRAL LINE ANALYSIS FREQUENCY ESTIMATION AUTOREGRESSIVE METHODS ASYMPTOTIC STATISTICAL ANALYSIS ROOT AND SPECTRAL FORMS MONTE CARLO SIMULATIONS

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A new technique for tracking the features of a spatially distributed field for automatic guidance

A new technique for tracking the features of a spatially dis...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Edwards Iqbal Industrial Control Research Group Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK

This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a continuous field environment described by a known polynomial, from a minimum number of equispaced field measurements taken at that location and known coefficients of the polynomial. Where insufficient measurements from a single scan of the field are available, a formula for utilising extra data from several scans has been produced. The robustness of these algorithm, when the observation process is corrupted by Gaussian white noise, is also addressed.< >

关键词： Tracking White noise Polynomials Mobile robot motion planning Observers

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SUFFICIENT CONDITIONS FOR MONOTONIC DISCRETE-TIME STEP RESPONSES

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JOURNAL OF DYNAMIC systems MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1994年第4期116卷 810-814页

作者： DELABARRA, BL Automatic Control Group Department of Electrical Engineering University of Chile PO Box 412-3 Santiago Chile

Simple sufficient conditions for monotonic discrete time step responses are obtained and expressed in terms of the relative locations of discrete time zeros and poles. Frequency domain arguments are also introduced to... 详细信息

关键词： Poles (Building)

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Parallel processing for real-time adaptive robot control: theoretical issues and practical implementation

Parallel processing for real-time adaptive robot control: th...

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IEE Colloquium on High Performance Applications of Parallel Architectures

作者： S.M. Ziauddin A.M.S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

The authors present a practical solution to the problem of real-time robot control including the nonlinear dynamic model of the manipulator by employing a parallel processing approach. The parallelism inherent in the adaptive controllers is exploited to obtain an efficient implementation that reduces the overall computation time to within the limit acceptable for real-time control. The distributed algorithm is implemented on a network of transputers for the six-joint PUMA 560 arm.< >

关键词： Adaptive control Nonlinear systems Parallel algorithms Real time systems Robot programming Robots

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A transputer interface for the PUMA560 manipulator

A transputer interface for the PUMA560 manipulator

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IEE Colloquium on High Performance Computing for Advanced control

作者： Q. Wang A.M.S. Zalzala Robotics Research Group Department of Automatic Control & System Engineering University of Sheffield UK

The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which establishes a transputer link to the 6503 microprocessors of the PUMA arm controller, is detailed. Much more flexibility can be achieved with this system. The interface period is now reduced to 1.75 ms (instead of the default 28 ms). controlled by this new system, PUMA moves much more smoothly.< >

关键词： Industrial control

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automatic Derivation of World Update Schemes 2

Automatic Derivation of World Update Schemes

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2nd International Conference on Artificial Intelligence Planning systems, AIPS 1994

作者： Downs, Joseph Reichgelt, Han Shadbolt, Nigel Department of Automatic Control and Systems Engineering University of Sheffield SheffieldSI 4DU United Kingdom Subdepartment of Computer Science Department of Mathematics University of the West Indies Kingston 7 Mona Jamaica Artificial Intelligence Group Department of Psychology University of Nottingham NottinghamNG7 2RD United Kingdom

ISBN: (纸本)0929280563

Al planning systems must be able to update their internal model of the domain in order to determine the effects of a possible action. The most widely used update method is the STRIPS operator. STRIPS operators are extremely effìcient. However, the use of STRIPS operators requires that one specify all the consequences of an action beforehand. This becomes almost impossible for complex domains. Work by Pednault (1989) and Wilkins (1988) overcomes the problems associated with ordinary STRIPS operators by enhancing them with context-dependent effects and demons respectively. In this paper we describe a modelling procedure which can incorporate both these features. Moreover, the update method is automatically derived from an axiomatisation of the domain in temporal calculus. This allows the system designer great flexibility in choosing the trade-off point between representational expressivity against computational speed. Copyright © 1994, AAAI (***). All rights reserved.

关键词： Economic and social effects

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Testing a stereo vision system for motion compensation

Testing a stereo vision system for motion compensation

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OCEANS

作者： J. Tisdall M. Hall T. Larkum D. Broome Automatic Control Group Department of Mechanical Engineering University College London London UK Technical Software Consultants Limited Milton Keynes UK

An experiment to demonstrate a stereo vision tracking system is described. A PUMA 560 six degree-of-freedom manipulator was required to follow a moving target in 2D space. A stereo vision system was developed to track a target as it moved, relative to the cameras and thus relative to the manipulator shoulder. The spatial data gathered by the vision system was then used to modify the path of the manipulator such that the manipulator end flange remained fixed relative to the target. An inertial system comprising an extensible 'finger' connecting the manipulator to the target was used to measure errors between the desired (target) trajectory and the actual (manipulator) trajectory. This paper discusses the requirements for such a tracking system, the means of its testing and the results obtained.< >

关键词： System testing Stereo vision Motion compensation Target tracking Trajectory Cameras Machine vision Flanges Fingers Joining processes

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HYBRID SATELLITE AND TERRESTRIAL NETWORKS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 313-327页

作者： CHITRE, DM SHYY, DJ EPHREMIDES, A GUPTA, S COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871–9475 USA. Received his B.Sc. from the University of Bombay India an M.A. in mathematics from the University of Cambridge U.K. and a Ph.D. in physics from the University of Maryland. He is currently an Associate Executive Director of the Network Technology Division at COMSAT Laboratories. He has been involved in research and development activities in ISDN VSAT networks data communications and network systems and architectures. Prior to his current positions Dr. Chitre was a Principal Scientist in the Network Technology Division at COMSAT Laboratories. Dr. Chitre joined COMSAT Laboratories in 1980. He has made major contributions to the analysis and architecture of data communication ISDN and BISDN via satellite. Dr. Chitre directs and participates in the international and national standards activities in ISDN BISDN and data communication as they apply to satellite communication. He was Chairman of the Working Group on Protocols and Network Timing Function of the CCIR/CCITT Joint Ad Hoc Group on ISDN/Satellite Matters during 1990–1992. Currently he is the Chairman of the Working Group on New Technologies in the ITU Intersector Coordinating Group (ICG) on Satellite Matters. Dr. Chitre was a programme manager during 1990 and 1991 on a contract from INTELSAT on systems studies on satellite communications systems architectures for ISDN and broadband ISDN systems. Currently he is the technical manager of the DoD Contract on ATM via satellite demonstration and the programme manager for the INTELSAT contract on analysis and top-level specification of INTELSAT ISDN subnetworks and SDH compatible transport network. Received the B.S. degree in electrical engineering from national Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory Univers

The role of satellite communications in networks that provide new services, such as frame relay and multimedia, is investigated. Both passive and active (on-board switching/processing) satellite systems are considered. Novel techniques are developed for each system to demonstrate, via detailed analysis and simulation, how the communications bandwidth agility of multipoint/broadcast satellite channels, and the on-board switching/processing, makes it feasible to provide these new services via hybrid satellite and terrestrial networks in a resource-efficient manner.

关键词： HYBRID NETWORKS ON-BOARD PROCESSING FRAME RELAY

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ADAPTIVE COMPLIANT control FOR AN INSPECTION ROBOT SYSTEM

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1993年第3期140卷 191-197页

作者： BROOME, DR WANG, Q GREIG, AR Automatic Control Group Department of Mechanical Engineering University College London London UK

A robotic sub-sea inspection system is described. Emphasis is placed on how to use self-tuning adaptive control strategies to control the robot compliant motion. Experiments on a PUMA robotic manipulator have shown that adaptive control can greatly improve contact quality and provide much better tracking ability in an unknown environment. Also adaptive controllers can make the approach time shorter than ordinary fixed gain controllers. A coupled dynamics concept for surface contact, which is typical in an inspection task, is introduced. Implementation of an adaptive controller in VAL-2 is detailed. A supervisory control system, capable of incorporating real-time compliant motion control and written in MODULA-2, is also described.

关键词： ADAPTIVE COMPLIANT control ROBOTICS

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