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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration.

关键词： Manipulator dynamics Motion control Magnetic fields Motion planning Orbital robotics Convergence Robot motion robotics and automation Path planning Feedback

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The next generation munitions handler advanced technology demonstrator program

The next generation munitions handler advanced technology de...

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IEEE International Conference on robotics and automation (ICRA)

作者： T.E. Deeter G.J. Koury K.M. Rabideau M.B. Leahy T.P. Turner AFMC Robotics and Automation Center of Excellence Technology and Industrial Support Directorate Robotics and Automation Branch San Antonio Air Logistics Center TX USA Munitions Materiel Handling Equipment Focal Point AFMC Air Force Seek Eagle Office FL USA

Munitions are currently loaded on fighter aircraft using 1950s technology. The United States Air Force and Navy have an on-going joint program to determine the feasibility of significantly enhancing the capabilities of munitions handling equipment by incorporating emerging technologies into a new system design. The program was initiated by a study sponsored by the Munitions Material Handling Equipment focal point who also maintains overall program management. The Air Force Material Command robotics and automation Center of Excellence is providing technical direction for the design and development of the next generation munitions handler advanced technology demonstrator. Oak Ridge National Laboratory has developed the detailed conceptual design and is currently manufacturing system components. A fully automated solution is not technically feasible. More importantly, the munitions handling community is not looking to replace human operators, but rather enhance their efficiency while improving working conditions and reducing workload. The solution lies in the incorporation of emerging technologies into the munitions handling process.

关键词： Weapons robotics and automation Prototypes Military aircraft Humans Machine intelligence Logistics Aerospace materials Laboratories Manufacturing systems

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： 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

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation Computer aided manufacturing Information geometry Systems engineering and theory

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced robotics (ICAR)

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

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation Computer aided manufacturing Laboratories Data mining

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Deadzone compensation in motion control systems using adaptive fuzzy logic control

Deadzone compensation in motion control systems using adapti...

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IEEE International Conference on robotics and automation (ICRA)

作者： K.T. Woo F.L. Lewis Li-Xin Wang Z.X. Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong China Automation and Robotics Research Institute University of Texas Arlington USA

A deadzone compensator is designed for industrial positioning systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the FL parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. The adaptive FL deadzone compensator is implemented on an actual industrial CNC machine tool to show its efficacy.

关键词： Motion control Adaptive systems Programmable control Adaptive control Fuzzy logic Electrical equipment industry Industrial control Control systems Parameter estimation Computer numerical control

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control Computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing Manufacturing processes Containers Inorganic materials

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American Control Conference (ACC)

作者： P. Akella 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

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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Adaptive tuning in an extended parameter space in a robot control based on the Hamiltonian mechanics

Adaptive tuning in an extended parameter space in a robot co...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： J.K. Tar J.F. Bito I.J. Rudas M. Dinev Department or Information Technology Bánki Donát Polytechnic Hungary Centre of Robotics and Automation Bánki Donát Polytechnic Hungary Department of Information Technology Bánki Donát Polytechnic Hungary

A novel and promising approach to simultaneously tackling the problem of incomplete and approximate robot model and the dynamic interaction with an unmodeled environment in an adaptive control on the basis of the Hamiltonian mechanics was recently proposed. Up to now only the effect of certain special parameters were investigated via simulation in the case of a special 3 DOF robot arm. In this paper the effect of other important parameters are taken into account in the tuning process for a vertical 3 DOF SCARA robot which has never been considered in this context. Advantages and weak points of the presently proposed solution are concluded as well as further development possibilities are outlined.

关键词： Programmable control Adaptive control Robot control Robot kinematics Geometry Manipulator dynamics Equations Timing robotics and automation Coordinate measuring machines

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Fuzzy identifier based inverse dynamics control for a 3-DOF articulated manipulator

Fuzzy identifier based inverse dynamics control for a 3-DOF ...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： K. Erbatur O. Kaynak I. Rudas Robotics and Automation Group TUBITAK Marmara Research Centre Kocaeli Turkey Faculty of Engineering National University of Singapore Singapore Department of Information Technology Banki Donat Polytechnic Budapest Hungary

A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feedforward neural networks. Fuzzy system parameters are adjusted via backpropagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.

关键词： Manipulator dynamics Fuzzy control Fuzzy systems Neural networks Fuzzy logic Service robots Feedforward systems Feedforward neural networks Automatic control robotics and automation

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