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Planning of regrasp operations

Planning of regrasp operations

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories Computer science Process control Manipulators Production

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Adaptive variable structure control of a class of nonlinear systems with nonvanishing perturbations via backstepping

Adaptive variable structure control of a class of nonlinear ...

引用

American control Conference (ACC)

作者： S. Sankaranarayanan H. Melkote F. Khorrami Control/Robotics Res. Lab. Polytech. Univ. Brooklyn NY USA Department of Electrical Engineering Control/Robotics Research Laboratory Six Metrotech Center Polytechnic University Brooklyn NY USA

Adaptive variable structure control of a class of nonlinear systems is considered in this paper. The advocated design technique is an improvement over our earlier work on robust control of nonlinear systems. The (parametric and dynamic) uncertainties are assumed to be bounded by polynomial type bounds in the states, with a constant bounding term present for the subsystem matched with the actual control input. It is shown that global asymptotic regulation may be achieved using the advocated control law. The improvement is due to a smooth sliding mode-type control action.

关键词： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems Sliding mode control Adaptive systems Robust control Uncertainty Polynomials

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Adaptive control of systems with backlash hysteresis at the input

Adaptive control of systems with backlash hysteresis at the ...

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American control Conference (ACC)

作者： N.J. Ahmad F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center PolyTechnical University Brooklyn NY USA

A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.

关键词： Adaptive control Hysteresis Gears Inverse problems Programmable control PD control control systems Degradation Output feedback Robot control

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Closed-loop control of a base XY stage with rotational degree-of-freedom for a high-speed ultra-accurate manufacturing system

Closed-loop control of a base XY stage with rotational degre...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Melkote F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

Modeling and control of a high-speed ultra-accurate XY stage used in manufacturing systems is considered in this paper. The base XY stage is a two dimensional linear stepper (Sawyer) motor including a rotational (yaw) degree-of-freedom. Manufacturing systems based on Sawyer motors are widely used in wafer probing applications and in automated assembly. A Sawyer sensor is being integrated for measuring the motor's position, velocity and yaw rotation for closed-loop control purposes on our testbed at the CRRL. Utilizing results on robust control of nonlinear systems, an adaptive current-level controller is designed for the motor that renders the closed-loop system robust to a variety of uncertainties and disturbances. A detailed model of the motor that takes into account the significant uncertainties of the motor is used in the control design. The tracking error is shown to asymptotically converge to the origin. Simulation studies are presented to validate the controller performance.

关键词： Automatic control Manufacturing systems Robust control Semiconductor device modeling Assembly systems Position measurement Rotation measurement Velocity measurement Velocity control Testing

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Nonlinear output feedback control for stepper motors: a robust adaptive approach

Nonlinear output feedback control for stepper motors: a robu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： H. Melkote F. Khorrami Department of Electrical Engineering Five Metrotech Center Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY USA

Nonlinear adaptive output feedback control of stepper motors is considered. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet and variable reluctance stepper motors that achieves robustness to parametric and dynamic uncertainties, such as friction, load torque or cogging torque in the motor dynamics. The controller utilizes only the rotor position for feedback and achieves global uniform boundedness of the tracking error. The design methodology is based on our earlier work (1997) on robust adaptive control of nonlinear systems. The stability of the system is proved through Lyapunov techniques. Simulation results are depicted to illustrate the performance of the controller.

关键词： Output feedback Robust control Magnetic variables control Permanent magnet motors Reluctance motors Adaptive control Programmable control Torque control Uncertainty Friction

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

Dynamic process initial conditions in repetitive processes. ...

引用

1999 Information, Decision and control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

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. © 1999 IEEE.

关键词： controllability

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Lyapunov stability theory for linear repetitive processes - The 1D equation approach

Lyapunov stability theory for linear repetitive processes - ...

引用

1999 European control Conference, ECC 1999

作者： Rogers, E. Gramacki, J. Gramacki, A. Galkowski, K. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper reports further development of the so-called ID Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of 'transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted. © 1999 EUCA.

关键词： Linear systems

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control performance of an air motor-can air motors replace electric motors?

Control performance of an air motor-can air motors replace e...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.R. Pandian F. Takemura Y. Hayakawa S. Kawamura Department of Robotics Ritsumeikan University Kusatsu Japan Ritsumeikan Daigaku Kyoto Kyoto JP Department of Control Engineering Nara National College of Technology Nara Japan

Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied in literature. Air motors are the pneumatic counterparts of electric motors, providing rotary actuation. They have several advantages over electric motors, especially high power-to-weight and power-to-size ratios, good compliance, and resistance to environmental hazards. We consider the model-based control of vane-type air motors which are the most commonly used class of air motors. Various control problems are considered namely, position control, trajectory control, adaptive control, and force control. Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator.

关键词： Electric motors Pneumatic actuators Service robots Automatic control Force control Industrial control Power transmission Human robot interaction Manipulators Motion control

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Vision based assisted operations in underwater environments using ropes

Vision based assisted operations in underwater environments ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J. Amat A. Casals J. Fernandez Institut of Robotics (INI) UPC-CSIC Barcelona Spain Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain

This paper faces up the problem of carrying out simple tasks, such as to fasten an object, tasks that become relatively complex in operations using robots, specially in underwater environments. The goal of this work is to perform such tasks by using intelligent strategies that plan step by step allowing for compensation of the robots own limitations. The strategy is based on the use of information from stereo vision and the required auxiliary devices or tools to contribute to the development of the task.

关键词： Arm Intelligent robots Remotely operated vehicles control systems robotics and automation Intelligent sensors Grippers Prototypes Marine vehicles Automatic control

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Smart reconfigurable miniature vision system for mobile robots

Smart reconfigurable miniature vision system for mobile robo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.B. Martinez E.X. Martin C. Torrens J.M. Ibanez Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain Institute of Industrial Robotics Universitat Poliltècnica de Catalunya Barcelona Spain

The robot vision system presented consists of a PCB with a hardware-reconfigurable image processor, and a PCB with a standard commercial microprocessor. The microprocessor board interfaces with the host robot, configures the hardware of the image processor and runs the high-level image algorithms. Both boards occupy a volume of 10/spl times/10/spl times/3 cm/sup 3/ and consume less than 1A.

关键词： Machine vision Mobile robots Intelligent sensors Service robots Robot vision systems Computer vision Microprocessors Hardware Robot sensing systems robotics and automation

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