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Study on Inverse Kinematics and Trajectory Tracking Control of Humanoid Robot Finger with Nonlinearly Coupled Joints

Study on Inverse Kinematics and Trajectory Tracking Control ...

引用

IEEE International Conference on Mechatronics and automation

作者： L. Jiang D. Sun H. Liu Y.H. Liu Robotics Research Institute Harbin Institute of Technology Harbin China Department of MEEM City University of Hong Kong Kowloon Hong Kong China Institute of Robotics and Mechartronics German Aerospace Center Wessling Germany Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

It is a challenging problem to derive closed-form solution of inverse kinematics of the humanoid robot fingers with nonlinearly coupled joints. This paper presents a novel quasi-closed-form solution of inverse kinematics for such fingers. On the assumption that the angles of the two coupled joints are equal, an approximate closed-form solution of fingertips inverse kinematics is derived firstly. Utilizing the approximate solution as the ancillary variables, the problem of inverse kinematics is converted to determination of the joint angles from the approximate solution instead of the fingertip position. Based on the properties of the approximate solution, it is found that the approximate solution of the coupled joint plays the most important role in the joint angle derivation. In practical implementation, a ID look-up table and the linear interpolation to the approximate solution of the coupled joint are used to compute the accurate joint angles named the quasi-closed-form solution. Simulation results show that the proposed method exhibits good accuracy, though its computational cost is slightly higher than that of the approximate solution. Furthermore, a trajectory tracking controller is developed, formed with a combination of feedforward, feedback and a saturation control. The controller does not require the explicit use of dynamic modeling parameters. Lyapunov based stability analysis indicates that the finger system with the proposed controller can be asymptotically stable. Experiments are finally performed to demonstrate the correctness of the proposed solution of inverse kinematics and the trajectory tracking control algorithm.

关键词： Kinematics Trajectory Robot control Humanoid robots Fingers Couplings Closed-form solution Table lookup Interpolation Computational modeling

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A Novel Control Architecture and Design of Hybrid Locomotion and Manipulation Tracked Mobile Robot

A Novel Control Architecture and Design of Hybrid Locomotion...

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IEEE International Conference on Mechatronics and automation

作者： Pinhas Ben-Tzvi Andrew A. Goldenberg Jean W. Zu Robotics and Automation Laboratory University of Toronto Toronto ONT Canada Vibration and Computational Dynamics Laboratory University of Toronto Toronto ONT Canada Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada

This paper presents a novel control architecture for a tracked hybrid mobile robot that was designed based on hybridization of the mobile platform and manipulator arm as one entity for robot locomotion as well as manipulation. The novel concept of the mechanical design is described and analyzed with the aid of a virtual prototype that was developed with multi-body dynamic motion simulation software. The simulation results were used to demonstrate the robot's expected functionality and demonstrate its capability while utilizing them for design optimization and ongoing construction of the first physical prototype. Along with the novel design we focus on a novel concept for on-board RF communication among robot's joints. This paper also summarizes the qualitative and quantitative performance of the hybrid robot in terms of mobility, communication, power, sensors, and control.

关键词： Mobile robots Software prototyping Virtual prototyping Robot sensing systems Manipulator dynamics Motion analysis Analytical models Design optimization Radio frequency Communication system control

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Neural Network-Based Compensation Control of Robot Manipulators with Unknown Dynamics

Neural Network-Based Compensation Control of Robot Manipulat...

引用

American Control Conference (ACC)

作者： Xuemei Ren A B Rad Frank L Lewis Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical Engineering Hong Kong Polytechnic University Kowloon Hong Kong China Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

A neural network (NN)-based compensation control is proposed for the trajectory tracking of robotic manipulators with unknown dynamics. This compensation controller includes a PD feedback controller, a nonlinear feedback controller and a neural network compensator with input modification. The PD controller and the nonlinear feedback controller are used to ensure the stability of the robot system, while the neural network is employed to provide the required feedforward compensation input torque for the trajectory tracking. The inputs of the neural network are modified by the reference tracking error and the network derivatives in order to further improve the control performance. The theoretical result concerning the tracking error asymptotically convergent to a neighborhood of zero is given. In addition, a NN-based robust compensation controller is proposed, using a slide mode control in the control law, which leads to asymptotic stability of the tracking errors. Simulation studies have been carried out to verify the effectiveness of the approaches and show the feasibility of the proposed schemes on a two-link manipulator.

关键词： Manipulator dynamics Neural networks Robot control Adaptive control Trajectory PD control Error correction Nonlinear dynamical systems Torque control Nonlinear control systems

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Neural network feedforward control for mechanical systems with external disturbances

Neural network feedforward control for mechanical systems wi...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 2301-2758

作者： Xuemei Ren Frank L Lewis Shuzhi Sam Ge Jingliang Zhang Department of Automatic Control Beijing Institute of Technology Beijing China Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Department of Electrical and Computer Engineering National University of Singapore Singapore ASTAR Data Storage Institute Singapore

ISBN: (纸本)9781424414970;1424414970

In this paper, a novel feedforward control based on accelerometer measurements is proposed for mechanical systems with external disturbances. The control scheme includes a feedback controller and a neural network feedforward compensator. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required feedforward compensation input for trajectory tracking with the help of a sensor to detect external vibrations. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a hard disk drive system and a two-link manipulator.

关键词： Mechanical systems external disturbance feedback controller FEEDFORWARD CONTROL disk drive system Neural network Sensors trajectory tracking

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Development of an Implanted RFID Impedance Sensor for Detecting Gastroesophageal Reflux

Development of an Implanted RFID Impedance Sensor for Detect...

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IEEE International Conference on RFID

作者： T. Ativanichayaphong J. Wang W.-d. Huang S. Rao H.F. Tibbals S.-j. Tang S.J. Spechler H. Stephanou J.-c. Chiao Automation & Robotics Research Institute University of Texas Arlington USA Department of Electrical Engineering University of Texas Arlington USA Bioinstrumentation Resource Center University of Texas Southwestern Medical Center Dallas USA Department of Medicine University of Texas Southwestern Medical Center Dallas USA

ISBN: (纸本)1424410126;1424410134

A new method to detect gastroesophageal reflux is presented. Based on passive RFID principles, the impedance of the refluxate can be determined. We have designed and fabricated planar coils integrated with electrodes on flexible substrates using standard photolithography processes. The device can be implanted in the esophagus using currently available clinical techniques. In vitro experiments with simulated stomach acid were conducted. An approach to integrate the sensor with RFID systems is proposed. This device can help diagnose gastroesophageal reflux disease effectively.

关键词： Radiofrequency identification Impedance Passive RFID tags Coils Electrodes Lithography Esophagus In vitro Stomach Sensor systems

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Design of H_(infinity) Command and Control Loops for Unmanned Aerial Vehicles using Static Output-Feedback

Design of H_(infinity) Command and Control Loops for Unmanne...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1-459

作者： J. Gadewadikar F. Lewis K. Subbarao Ben M. Chen Systems Research Institute Department of Advanced Technologies Alcorn State University USA Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Mechanical and Aerospace Department University of Texas Arlington TX USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter position control system with guaranteed performance that allows tracking control of Unmanned Aerial Vehicle positions -^sX, Y, Z, and yaw while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop inertial positions and yaw step response using H_(infinity) output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. H_(infinity) framework is utilized to pose the problem of stabilization as an outer position command loop and an inner control loop. Inner loop controls attitude rates along with roll and pitch and provides robustness and structure. This paper thereby presents a design for hover and station-keeping control of UAV helicopters. It is shown that the rotorcraft model can be first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H_(infinity) coupled design equations for both inner and outer loops is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Helicopters Unmanned aerial vehicles Control systems Attitude control Riccati equations Vehicle dynamics Output feedback Linear matrix inequalities Shape control USA Councils

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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Modeling, parameters identification, and control of an electronic throttle control (ETC) system

Modeling, parameters identification, and control of an elect...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： R. N. K. Loh T. Pornthanomwong J. S. Pyko A. Lee M. N. Karsiti Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester MI USA Electrical & Electronic Systems Architecture CIMS 484-08-06 Chrysler LLC Auburn Hills MI USA Electrical & Electronic Engineering Universiti Teknologi Petronas Bandar Seri Iskandar Tronoh Perak Malaysia

The modeling, parameters identification, and linear and nonlinear feedback control designs of an electronic throttle control (ETC) system is considered. A commercially available ETC system made by Bosch is selected for our investigation. The unknown parameters identified are used in designing linear and nonlinear controllers. Simulations and extensive experiments were conducted. A real-time linear controller was implemented with the xPC Target. The ETC model is then extended to a separately excited nonlinear DC motor model. The nonlinear controller is designed using the input-output feedback linearization technique; the extension proves to be of solid theoretical value. The results presented in this paper can be considered as an interesting and important case study encompassing system modeling, parameters identification, linear and nonlinear controller designs, and real-time control. The techniques and methodology developed are applicable to similar and/or other types of systems.

关键词： DC motors Torque Mathematical model Springs Friction Biological system modeling Real time systems

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External vibration compensation via loop shaping and H∞ feedforward control design for hard disk drives in mobile applications

External vibration compensation via loop shaping and H∞ fee...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Chunling Du Shuzhi Sam Ge F. L. Lewis Jingliang Zhang Data Storage Institute Agency for Science Technology and Research (ASTAR) Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Automation and Robotics Research Institute University of Technology Arlington TX USA Data Storage Institute Agency for Science Technology and Research Singapore

This paper focuses on compensation for external vibration effect on the positioning accuracy of hard disk drives. A feedforward controller is designed to attenuate the effect with the aid of a sensor to detect external vibrations. Loop shaping in frequency domain and H ∞ method in state space are used to design the feedforward controller. The application results in a 1.8-inch disk drive with an accelerometer to measure acceleration signal show that 70% and 97% reduction of the position error signal can be achieved with the feedforward control designed by the loop shaping and H ∞ method respectively. The robustness of the two methods is also evaluated and compared for external vibrations with amplitude variations.

关键词： Shape control Accelerometers Hard disks Vibration control Frequency domain analysis State-space methods Disk drives Position measurement Acceleration Error correction

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