检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and automation (ICRA)

作者： K. Erbatur O. Kaynak A. Sabanovic I. Rudas Robotics and Automation Group TUBITAK Marmara Research Center Gebze Turkey Mechatronics Research and Application Center and UNESCO Chair on Mechatronics Boğaziçi University Bebek Istanbul Turkey B. H. Engineering and Consulting Company Limited Ulus Istanbul Turkey Department of Information Technology Banki Donat Polytechnic Budapest Hungary

A number of approaches based on sliding mode control methodology are proposed in the literature for the position control of robotic manipulators. An important problem in this context is chattering, that is high frequency oscillations in the velocity. In this paper, a novel approach is considered which eliminates chattering if the controller parameters are set suitably. A fuzzy adaptation scheme is devised for the online adaptation of the parameters of this method. Simulation results show that the fuzzy rule based adaptation scheme ensures good controller performance without chattering.

关键词： Sliding mode control Fuzzy control Automatic control Manipulator dynamics Mechatronics robotics and automation Ultra large scale integration Uncertainty Robot control Control systems

来源：评论

学校读者我要写书评

暂无评论

Fuzzy behavior integration and action fusion for robotic excavation

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 395-402页

作者： Shi, XB Lever, PJA Wang, FY Advanced Mining Systems Laboratory and the Robotics and Automation Laboratory University of Arizona Tucson Tucson AZ USA Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory and the Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine, To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed, A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions, The excavation actions are primitive and can be executed directly by an excavation machine, Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation, A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than our previous approach.

关键词： Robot kinematics Humans Laboratories robotics and automation Automatic control Robot sensing systems Geology Control system synthesis Fuzzy control Robot control

来源：评论

学校读者我要写书评

暂无评论

Asymptotically stable robust control of robot manipulators

引用

MECHANISM AND MACHINE THEORY 1996年第5期31卷 607-618页

作者： Liu, GJ Goldenberg, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada M5S 1A4

Most robust control methods of robot manipulators guarantee small tracking errors by applying sufficiently high feedback gains. Infinite gains are required for zero tracking errors under such controllers. However, in practice, feedback gains could be severely limited by hardware factors. Robust control schemes without using high gains are desirable. In this paper, we propose a globally asymptotically stable robust control scheme by combining integral control with a robust saturation control law. The proposed robust control method takes advantage of both saturation control and integral control techniques, while the disadvantages attributed to them are remedied by each other. Global asymptotic stability of an n-link robot system with parametric model uncertainties is achieved. The proposed control scheme has been implemented on a direct drive robot arm. Experiments were conducted to evaluate the proposed control method and to compare it with pure saturation and integral control methods, and experimental results are reported herein. (C) 1996 Elsevier Science Ltd.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Variable structure hybrid control of manipulators in unconstrained and constrained motion

引用

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 1996年第2期118卷 327-332页

作者： Zhen, RRY Goldenberg, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada M5S 3G8

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

关键词： Algorithms Control algorithms Force control Hybrid control Manipulators

来源：评论

学校读者我要写书评

暂无评论

A design advisor for sheet metal fabrication

引用

IIE TRANSACTIONS 1996年第1期28卷 1-10页

作者： Yeh, S Kamran, M Terry, JME Nnaji, BO Automation and Robotics Laboratory Department of Industrial Engineering and Operations Research University of Massachusetts at Amherst School of Engineering Amherst MA 01003 114 Amherst Hall United States

Using data gathered over many years, people working in sheet metal fabrication have compiled lists of errors that are frequently made by designers in the field. These errors (or violations) are common to the design of sheet metal components used in a wide variety of products from computer chassis to automobiles. This paper outlines the efforts to use this information to aid in the development of a rule-based design advisor for sheet metal fabrication. The design advisor is a module of Promod-S, a concurrently engineered, application-orientated product modeler that is being developed by researchers at the automation and robotics Laboratory of the University of Massachusetts at Amherst. The paper presents algorithms for both identification and correction of design violations. The correction approach includes methods for updating an entire part after a feature has been modified.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of Position/Force Controller Based on the Principle of Consistency

引用

IFAC Proceedings Volumes 1996年第1期29卷 1050-1055页

作者： Peilin Song Andrew A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto

In this paper, a methodology for robot position/force controller design is discussed. Unlike pure position controllers for robotic manipulators, the position/force controller consists of two parts: position and force subcontrollers. The principle of consistence, as a guideline for design of position /force controllers, is proposed, which requires that both sub-controllers not interact with each other. A systematic approach, based on the principle of consistency, is submitted to be a platform for the design of position/force controllers.

关键词： P/F control robotics consistency

来源：评论

学校读者我要写书评

暂无评论

Fundamental principles of design of position and force controller for robot manipulators

Fundamental principles of design of position and force contr...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Peilin Song A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

In this paper, fundamental principles of design of position/force controller for robot manipulators executing constrained task are enunciated. The principles are based on stability considerations, and are addressing the dynamic interaction between position and force subcontrollers. The principles could serve as design guidelines that would guarantee overall stability and reduction of the interactions between the subcontrollers. The concept of consistency introduced in this paper forms the cornerstone of proper implementation of position/force (P/F) controllers, in terms of reduction of the interaction between the two subcontrollers. The principle of consistency indicates that the direct interaction is canceled via the design of a stable P/F controller, however the indirect interaction can only be removed if a Jacobian condition is satisfied, independent of the subcontrollers design.

关键词： Force control Robot control Subspace constraints robotics and automation Guidelines Automatic control Manipulator dynamics Stability Force measurement Laboratories

来源：评论

学校读者我要写书评

暂无评论

An improved fuzzy modeling algorithm. II. System identification

An improved fuzzy modeling algorithm. II. System identificat...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaMndustrial Engineering University of Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaUIndustrial Engineering University of Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhdustrial Engineering University of Toronto Canada

For pt.I see ibid. In this part we focus on the fuzzy system identification stage. The Fuzzy C-Means (FCM) clustering algorithm is investigated. Two indices are introduced for assignment of number of rules and level of "fuzziness". An efficient method is also suggested for choosing the initial location of cluster centers. The classification problem is addressed in fuzzy modeling; and an efficient strategy is proposed for assignment of dominant input variables and their membership functions.

关键词： Fuzzy systems System identification Input variables Laboratories robotics and automation Clustering algorithms Intelligent systems Intelligent robots Flowcharts Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

On robust H/sub /spl infin//-based control design for flexible joint robots

On robust H/sub /spl infin//-based control design for flexib...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： M.M. Moghaddam Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

Control design of robot manipulators requires a nominal model. This model may describe the physical system correctly, but it is only an approximation. Several types of uncertainty are prevalent and must be considered in control system design. The uncertainty may be due to unmodeled dynamics, neglected nonlinearities, compliance effect of gear transmission mechanism in the joint, measurement noise, or environmental uncertainty. Therefore, control design methods must account for model inaccuracies or uncertainties. This work concerns the improvement of the performance of flexible joint robots with harmonic drives as gear train mechanism. A synthesis technique based on H/spl infin/ for robots with uncertain parameters that include the actuator model is utilized. H/sub /spl infin// design framework has the advantages of allowing us to design for performance and robustness simultaneously. In this method the error model of the rigid body dynamics is derived. Then, a high-level H/spl infin/-based controller is designed for the error dynamics. Finally, a low-level controller based on PID to compensate for the effects of joint flexibility and friction is designed. To validate the proposed method, a one DOF flexible joint robot has been considered for simulation. Consecutively to evaluate the robustness property of the proposed control strategy, the payload or the configuration of the robot will be changed. Control performance will then be evaluated by changing the link inertia.

关键词： Robustness Robots Control design Gears Manipulator dynamics Control systems Nonlinear dynamical systems Noise measurement Working environment noise Actuators

来源：评论

学校读者我要写书评

暂无评论

Robotic Excavation: Experimental Results Using Fuzzy Behavior Control

引用

IFAC Proceedings Volumes 1996年第1期29卷 6293-6298页

作者： Xiaobo Shi Fei-Yue Wang Paul J.A. Lever Robotics and Automation Laboratory Systems and Industrial Engineering Department Advanced Mining Systems Laboratory Mining and Geological Engineering Department The University of Arizona Tucson Arizona 85721 USA

This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.

关键词： fuzzy-logic fuzzy behavior control rock excavation artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：