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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

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

Successful control of an autonomous mining excavator requires sensor feedback from the excavation tool to control unpredictable tool/rock interactions. Conventional control approaches cannot deal effectively with uncertainties in the dynamic and unstructured mining environment. This paper presents a new intelligent control approach that utilizes fuzzy behaviors with fuzzy strategies to control bucket motions for autonomous excavation tasks. In this approach, the control system uses feedback from a bucket mounted force/torque sensor to control excavation motions by sensing and reacting to interactions with rock particles during excavation. A behaviour coordination configuration is developed to improve the controllers effectiveness in reaching its overall excavation goals. It uses fuzzy logic rules to adjust control system output variables and performs goal-driven behaviour selection. This technique is a first step towards realistic control of complex machine/environment interactions in difficult and unpredictable environments, where traditional control approaches are either impossible or computationally excessive. The discussion here focuses on: (a) development of a new control architecture; (b) the individual components of the architecture; and (c) experiments with a simulated excavator using a PUMA 560 robotic arm.< >

关键词： Motion control Control systems Intelligent sensors Fuzzy control Force control Torque control Force feedback Computer architecture Uncertainty Intelligent control

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On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements

On-line trajectory planning for autonomous robotic excavatio...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Fei-Yue Wang P.J.A. Lever Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Advanced Mining Systems Laboratory Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA

This paper describes the authors' initial investigation into on-line trajectory planning for autonomous robotic excavation. A dynamic model for arm/environment interaction is proposed. Excavation trajectories are generated using a trapezoidal velocity profile under the maximum force/torque constraints. A scheme for real-time identification of dynamic arm/environment interaction parameters is implemented with a first-order algorithm of Saridis-Stein stochastic approximation. The result of a simulation study is presented to illustrate the proposed trajectory planning approach.< >

关键词： Force measurement Trajectory Robot sensing systems Force sensors Torque measurement robotics and automation Humans Automatic control Fuzzy logic Control systems

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Minimum-weight robot arm for a specified fundamental frequency

Minimum-weight robot arm for a specified fundamental frequen...

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IEEE International Conference on robotics and automation (ICRA)

作者： F.-Y. Wang J.L. Russell Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

The problem of designing a minimum-weight one-link flexible manipulator for a given fundamental vibration frequency is investigated. The optimum design problem is investigated. The optimum design problem is formulated by using the variational method. Iteration schemes are developed for solving the nonlinear Euler equations derived from variational calculus in various situations. Numerical analysis shows that the weight of a flexible manipulator can be reduced significantly through the optimal distribution of mass and stiffness.< >

关键词： Frequency Structural beams robotics and automation Service robots Laboratories Manipulators Nonlinear equations Calculus Numerical analysis Productivity

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Conceptual graph-based synthesis of robotic assembly operations

Conceptual graph-based synthesis of robotic assembly operati...

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IEEE International Conference on robotics and automation (ICRA)

作者： A. Kapitanovsky O. Maimon Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada Robotic Systems Laboratory Department of Industrial Engineering Tel-Aviv University Israel

A method for robot program synthesis is developed. The conceptual graph-based approach is proposed for the development of a robot programming support system. The system provides a means toward automated conversion of a user's request expressed in natural language to the appropriate conceptual model of the required task. This approximate model of the dynamically changing real world of robotic assembly incorporates the information necessary for understanding, planning, and sensory-guided performance of the required robotic task. The overall framework of the system is defined, and the authors present the first phase of an assembly program synthesis: request specification, planning of valid assembly sequences, and required resources determination. A case study illustrates the approach on a large family of multi-axisymmetric components.< >

关键词： Robotic assembly robotics and automation Robot sensing systems Service robots Robot programming Intelligent robots Assembly systems Laboratories Educational robots Education

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Optical tracking system for automatic guided vehicles using cellular neural networks

Optical tracking system for automatic guided vehicles using ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： G. Eross T. Boros A. Kiss A. Radvanyi T. Roska J. Bito J. Vass Centre of Robotics and Automation Tungsram TH Company Limited Budapest Hungary Dual and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of information Technology Faculty of Engineering University of Veszprém Veszprem Hungary

A method for the path-control of automated guided vehicles (AGVs) in computer integrated manufacturing (CIM) systems that combines the flexibility and easy installation of optical methods with the simplicity and robustness of the inductive method is proposed. Using a new computing paradigm, the cellular neural network (CNN), and a related device, the VLSI CNN chip, a very high speed solution that is less expensive than the conventional methods can be achieved. This AGV control complies with the requirements of CIM systems. Further advantages of the proposed system are as follows: fault tolerance and the ability to give instructions along the path, and the use of a simple local control.< >

关键词： Vehicles Computer integrated manufacturing Cellular neural networks High speed optical techniques Control systems Integrated optics Optical computing Robustness Computer networks Very large scale integration

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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Vertical integration for robot assembly cells

Vertical integration for robot assembly cells

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Kelley Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.

关键词： Robotic assembly Robot kinematics robotics and automation Robot sensing systems Robot programming Machine intelligence Service robots Intelligent robots Assembly systems Robot control

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Analytical Design of Intelligent Machines

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IFAC Proceedings Volumes 1985年第16期18卷 139-144页

作者： K.P. Valavanis G.N. Saridis Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy

关键词： Hierarchical compatible flow of knowledge machine knowledge machine intelligence

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Understanding, Uncertainty and Robot Task Execution

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IFAC Proceedings Volumes 1985年第16期18卷 331-335页

作者： R.B. Kelly S. Bonner Robotics and Automation Laboratory. Department of Electrical Computer and Systems Engineering Renssclacr Politechnic Institute. Troy NY 12180-3590. USA

Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.

关键词： Advanced automation machine intelligence robot system programming robot task planning

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Manufacturing systems Control Design 1

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丛书名： Advances in Industrial Control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： Control and systems Theory Industrial and Production Engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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