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Human-robot integrated teleoperation

advanced robotics 1998年第4期13.0卷 437-449页

作者： Lee, Sooyong Kim, Munsang Lee, Chong-Won Advanced Robotics Research Center Korea Institute of Science and Technology Seoul PO Box 131 CheongRayng South Korea Department of Electrical Engineering Texas A and M University TX 77843-3112 College Station United States

A great deal of research have been done on robot path generation. including automatic path planning and teaching/playback. Teleoperation is commonly used in order to control a robot from a remote site when dealing with an unknown environment. To increase the accuracy and the reliabilityof teleoperation, close interaction between the human and the slave robot is required. Many force feedback devices and control architectures have been investigated for this purpose. However, most of the force feedback master devices are as big as the slave robot and equipped with heavy *** Korea Institute of Science and technology (KIST) is developing a humanoid robot which has two arms (9 d.o.f. for each), two hands (4 d.o.f each), a waist (3 d.o.f.) and a neck (2 d.o.f.). An automatic path planner which takes advantage of redundancy is also developed. However, it requireshuge computational power and time to obtain the optimal solution. For some very complex tasks or when a known interacting with environment, the robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Human motion is analyzedusing sensors and converted to the robot joint angles. For tasks interacting with an unknown environment, teleoperation with force feedback is more useful. A simple exoskeleton-type master arm is designed based on the kinematic analysis of the human arm. Pneumatic actuators are used for forcereflection. This device is integrated with the KIST humanoid robot as well as the graphic simulator, so that the master arm can be used for teaching the robot or as the virtual reality device integrated with the graphic simulator. A force-reflecting master hand is also developed. The force-reflectingmaster arm and hand are very light and compact so that a human can easily wear them while he feels the same force as the robot does, giving position commands to the slave robot. © 1998 Taylor & Francis Group, LLC.

关键词： Force feedback Humanoid robot Master arm Pneumatic actuator Teleoperation

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Augmentation of optimal control with recurrent neural network and wavelet signals

Augmentation of optimal control with recurrent neural networ...

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American Control Conference (ACC)

作者： M. Karam M.A. Zohdy Center for Robotics and Advanced Automation Electrical and Systems Engineering Department Oakland University Rochester MI USA

A modular dynamic neural network which has been used in preceding research to solve uncertain algebraic problems and to represent and compress signals, is applied to the representation of an adjustment control in the optimal control of simple nonlinear systems. The optimal control method implemented is based on the loop transfer recovery (LTR) technique, and the basis for signal representation is composed of Daubechies wavelets. Averaging the optimal controllers obtained at three representative equilibrium states followed by using the adjustment control signal leads to a single structure capable of controlling the system over a wider range of operation. A simple inverted pendulum example is presented, and an averaging optimal controller is designed. The neural network is used to represent an adjustment control signal by a linear combination of six wavelets. The resulting signal is incorporated with the averaging LTR controller in order to enhance its performance. Simulation results are presented and discussed.

关键词： Optimal control Recurrent neural networks Neural networks Control systems Signal representations Equations robotics and automation Least squares approximation Robustness Systems engineering and theory

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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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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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Hamilton-Jacobi-Bellman optimal design of functional link neural network controller for robot manipulators

Hamilton-Jacobi-Bellman optimal design of functional link ne...

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IEEE Conference on Decision and Control

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

The paper is concerned with the application of quadratic optimization for motion control to feedback control of robotic systems using neural networks. Explicit solutions to the Hamilton-Jacobi-Bellman (HJB) equation for optimal control of robotic systems are found by solving an algebraic Riccati equation. It is shown how neural networks can cope with nonlinearities through optimization with no preliminary off-line learning phase required. The adaptive learning algorithm is derived from Lyapunov stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system. The filtered tracking error or critic gain and the Lyapunov function for the nonlinear analysis are derived from the user input in terms of a specified quadratic performance index. Simulation results on a two-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.

关键词： Robots Riccati equations Neural networks Nonlinear equations Lyapunov method Performance analysis Motion control Feedback control Optimal control Algorithm design and analysis

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Feedback stabilization of nonlinear systems: a path space iteration approach

Feedback stabilization of nonlinear systems: a path space it...

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IEEE Conference on Decision and Control

作者： F. Lizarralde J.T. Wen L. Hsu Department of ElectronicEngineering Engineering School Federal University of Rio de Janeiro Rio de Janeiro Brazil Center of Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and SystemsEngineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical Engineering Federal University of Rio de Janeiro (COPPE-EE) Rio de Janeiro Brazil

We consider the feedback stabilization of nonlinear systems. The design methodology is based on a class of iterative methods, which has previously been proposed for the path planning and feedback stabilization of nonholonomic systems. We show that this scheme guarantees the closed loop asymptotic stability for a class of nonlinear systems.

关键词： Feedback Nonlinear systems Optimal control Iterative methods Nonlinear control systems Control systems Current control Linear systems Design methodology Path planning

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