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American control Conference (ACC)

作者： J. Borowiec A. Tzes Network Wireless Systems Product Design & Realization Lucent Technologies Inc. Whippany NJ USA Control/Robotics Research Laboratory Mechanical Engineering Department Six Metrotech Center Polytechnic University Brooklyn NY USA

Force control for flexible link robots using neural networks is considered. The nonlinear dynamics of the robot manipulator are identified through a recurrent neural network (RNN), which is trained in an off-line manner. Inversion of the RNN-based model dynamics leads to a feedforward component. The feedback controller gains are derived from the minimization of a discrete linear quadratic cost functional, subject to the model dynamics inferred by the linearization of the neural network along the desired trajectory. Sufficient conditions for temporal gain switching bounds are provided. The proposed control scheme is employed in simulation studies on a two link rigid-flexible manipulator.

关键词： Force control Neural networks Manipulator dynamics Recurrent neural networks Force feedback Jacobian matrices Adaptive control Cost function Robot kinematics Torque

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability.

关键词： Stability controllability System testing control system analysis Algorithm design and analysis control systems Boundary conditions Process control Standards development Linear systems

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Real-time planning and control for robot manipulator in unknown workspace

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IFAC Proceedings Volumes 1999年第2期32卷 1433-1438页

作者： Di Xiao Bijoy K. Ghosh Ning Xi Tzyh Jong Tarn Zhenyu Yu FANUC Robotics North America Inc. 3900 W. Hamlin Rd. Rochester Hills MI 48309 USA Department of Systems Science and Mathematics Washington University St.Louis MO3130 USA Department of Electrical Engineering Michigan State University East Lansing MI 48824 USA DSP Digital Control Systems Applications Texas Instrument Stafford TX 77477 USA

This paper addresses real-time planning and control for robot manipulator in unknown workspace. The task under our consideration is to control a robot to follow a path on an unknown surface. In order to successfully accomplish the task, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the environment by means of multisensor fusion. In the proposed scheme, a new planner is designed to complete the path-following task without apriori knowledge of the path, while the hybrid position/force control strategy is utilized to maintain the contact between the robot and the unknown surface. In this paper, to achieve intelligent robot manipulation in an unstructured workspace, complementary sensory data from force-torque and visual sensors is integrated simultaneously during robot constrained motion.

关键词： Sensor fusion Robot vision Force control Path planning

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Development and application of a fault tolerance measure for serial and parallel robotic structures

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International Journal of Modelling and Simulation 1999年第1期19卷 45-51页

作者： Monteverde, V. Tosunoglu, S. Department of Mechanical Engineering Florida International University Miami FL 33199 United States Florida International University Miami FL United States Dimensional Control Systems Inc. Troy MI United States Department of Mechanical Engineering Florida International University University of Texas Robotics Research Program Austin TX United States University of Florida Gainesville FL United States ASME IEEE SME

As fault-tolerant systems develop, higher levels of reliability in robotic become achievable. With greater levels of fault tolerance and higher accessibility of robots in general, fault-tolerant characteristics of robotic systems will have to be distinguished. This paper develops and utilizes a fault-tolerant capacity measure to rank serial and parallel robotic architectures according to their inherent fault-tolerant capabilities. Four levels of fault-tolerant robotic architectures are distinguished at the joint, link, subsystem, and system levels. Robotic systems ranging from the most basic to the more complicated architectures are evaluated using the measure to provide a basis for comparison of their fault tolerance capabilities. The measure presents a tool for the designer to guide the robotic architecture and component selection process.

关键词： Fault tolerant computer systems

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Experimental Validation of a Self-Adjusting Active Compliance controller for Multiple Robots Handling an Object

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IFAC Proceedings Volumes 1998年第33期31卷 59-64页

作者： Christian von Albrichsfeld Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt

This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design. a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.

关键词： self-tuning control force-position control admittance control compliance control decoupling problems multi-arm robots intelligent control robot control

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Command shaping control of an operator-in-the-loop boom crane

Command shaping control of an operator-in-the-loop boom cran...

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1998 American control Conference, ACC 1998

作者： Lewis, Derek Parker, Gordon G. Driessen, Brian Robinett, Rush D. Mechanical Engineering-Engineering Mechanics Department Michigan Technological University Houghton MI 49931 United States Sandia National Laboratories Structural Dynamics and Vibration Control/Intelligent Systems and Robotics Center Albuquerque NM 87185 United States

ISBN: (纸本)0780345304

This paper presents a control method for suppressing payload sway caused by operator commanded maneuvers, in rotary boom cranes. The crane configuration studied, consists of a payload mass that swings on the end of a spherical pendulum, which is attached to a boom capable of hub rotation and elevation (luffing). Positioning of the rotary crane is accomplished through the hub and boom angles, and the lift line length. Since the configuration of the crane affects the excitation and response of the lift line, the sway control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove the components of the command signal which induce oscillation of the lift line. A real-time operator-in-the-loop simulation, is used to demonstrate results for a simultaneous three-axis maneuver. © 1998 AACC.

关键词： Cranes

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Command shaping control of an operator-in-the-loop boom crane

Command shaping control of an operator-in-the-loop boom cran...

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American control Conference (ACC)

作者： D. Lewis G.G. Parker B. Driessen R.D. Robinett Mechanical Engineering-Engineering Mechanics Department Michigan Technological University Houghton MI USA Structural Dynamics and Vibration Control / Intelligent Systems & Robotics Center Sandia National Laboratories Albuquerque NM USA

This paper presents a control method for suppressing payload sway caused by operator commanded maneuvers, in rotary boom cranes. The crane configuration studied, consists of a payload mass that swings at the end of a spherical pendulum, which is attached to a boom capable of hub rotation and elevation. Positioning of the rotary crane is accomplished through the hub and boom angles, and the lift line length. Since the configuration of the crane affects the excitation and response of the lift line, the sway control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove the components of the command signal which induce oscillation of the lift line. A real-time operator-in-the-loop simulation, is used to demonstrate results for a simultaneous three-axis maneuver.

关键词： Shape control Cranes Payloads control systems Adaptive filters Vibration control Intelligent robots Equations Kinematics Laboratories

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A genetic approach to motion planning of redundant mobile manipulator systems considering safety and configuration

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Journal of Field robotics 1998年第7期14卷

作者： Mingwu Chen Ali M. S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

This article presents a genetic algorithm approach to multi-criteria motion planning of mobile manipulator systems. For mobile robot path planning, traveling distance and path safety are considered. The workspace of a mobile robot is represented as a grid by cell decomposition, and a wave front expansion algorithm is used to build the numerical potential fields for both the goal and the obstacles. For multi-criteria position and configuration optimization of a mobile manipulator, least torque norm, manipulability, torque distribution and obstacle avoidance are considered. The emphasis of the study is placed on using genetic algorithms to search for global optimal solutions and solve the minimax problem for manipulator torque distribution. Various simulation results from two examples show that the proposed genetic algorithm approach performs better than the conventional methods.

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Dynamic modelling and genetic-based trajectory generation for non-holonomic mobile manipulators

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control engineering PRACTICE 1997年第1期5卷 39-48页

作者： Chen, MW Zalzala, AMS Robotics Research Group Department of Automatic Control and Systems Engineering The University of Sheffield UK

An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.

关键词： robotics trajectory planning genetic algorithms dynamics obstacle avoidance

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Intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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