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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ghaffari, Ali Naderi, Davood Meghdari, Ali Eslami, Sohrab Department of Mechanical Engineering K.N.T. University of Technology Tehran Iran Bu Ali-Sina University Hamadan Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

Mobile manipulators are developed in order to execute separately in various regions where there is not possibility for human to appear there. Recently, the size of mobile manipulators has been decreased according to their given tasks. For such systems, the stability issue is very important. The robot system should be able to keep itself in an optimal situation. For reaching to this goal, one can use a redundant degree of freedom for the mobile manipulator such that this redundancy makes it possible to recover the system's stability by dynamic compensatory motion of manipulator when the system is unstable. In this paper, we present an algorithm which is fast enough to stabilize the mobile manipulator with the best stability criterion based on a neural network and genetic algorithm which cooperate together. For applying the optimal values as the algorithm outputs to the appropriate joints, a PD controller is used. The significance of this algorithm is provided for a spatial mobile manipulator with a predefined trajectory of the end-effector and the vehicle. Copyright © 2006 by ASME.

关键词： Mobile robots

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Collision avoidance maneuver for an autonomous vehicle

Collision avoidance maneuver for an autonomous vehicle

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International Workshop on Advanced Motion Control (AMC)

作者： M. Durali G.A. Javid A. Kasaiezadeh Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

One of the most important capabilities expected from an autonomous vehicle is avoiding collision with obstacles in its path. For this purpose, autonomous vehicle must be able to perform an emergency maneuver as soon as the obstacle is detected. This paper presents a method for designing and performing an emergency maneuver in order to avoid collision with a fixed or moving obstacle in the path. A sinusoidal or exponential trajectory, which is a function of the relative distance between vehicle and obstacle, is designed as the desired trajectory for lateral motion of the vehicle. A sliding mode controller is designed in order to guarantee that the vehicle tracks that desired trajectory. The method does not have computational difficulties and is appropriate for real time implementations. A virtual test environment for evaluating the performance of the system has been prepared using Matlab/Simulink and ADAMS/Car software. A full vehicle model, validated by experimental tests, is used as the autonomous vehicle model in ADAMS/Car

关键词： Collision avoidance Remotely operated vehicles Mobile robots Mathematical model Vehicle detection design methodology Sliding mode control Trajectory Software testing System testing

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Complete and scalable multi-robot planning in tunnel environments

Complete and scalable multi-robot planning in tunnel environ...

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作者： Peasgood, Mike McPhee, John Clark, Christopher Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ON N2L 3G1 Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

ISBN: (纸本)8587978128

This paper addresses the challenging problem of finding collision- free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially, such decoupled methods may fail to and a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L¡1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： Motion planning

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Quarry of modal information from environment for advanced motion control

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IEEJ Transactions on Industry Applications 2006年第4期126卷 372-378+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka Niigata 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Nagaoka Niigata Japan IEEJ Japan IEEE Industrial Electronics Society Japan Society of Instrumentation and Control Engineers Japan Robotics Society of Japan Japan Keio University Yokohama Japan Nagaoka University of Technology Japan Keio University Japan

Motion control in open environment will be more and more important. The recent machines are required to have an ability to contact unknown environment. The environmental information is a key to be compliant to unknown environment. It is obtained from the modal decomposition. The environment may have infinite modes. On the contrary, motion control systems have finite number of degree-of-freedom (DOF) for their motion. It is necessary for motion controller to quarry information from the environment at least to the extents of DOF. This paper develops a novel viewpoint of motion control based on quarry of environmental information. A quarry process of information from the environment using Hadamard matrix has been proposed. An extension method of the Hadamard matrix is proposed and quarry matrix is generalized in this paper. This paper shows a quarry of the planar environmental modes using the third-order quarry matrix. The motion of a robot with three supporting points has three modes, which are heaving, rolling and pitching modes. As a result, compliant motion control to unknown environment is attained in each mode. The modal system design method based on the quarry matrix will be a fundamental technique of design of decentralized system.

关键词： Motion control

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design OF SMA ACTUATED LIGHT WEIGHT PARALLEL MANIPULATOR WITH INTELLIGENT CONTROLLER

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IFAC Proceedings Volumes 2006年第15期39卷 310-315页

作者： M. Sreekumar T. Nagarajan M. Singaperumal M. Zoppi R. Molfino Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab — Laboratory of Design and Measurement for Automation and Robotics DIMEC — Department of Mechanics and Machines Design University of Genova Via all 'Opera Pia 15 a — 16145 Genoa Italy

Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented.

关键词： Actuators Adaptive Control Artificial Intelligence Fuzzy Control Nonlinearity Robotic Manipulators

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Force control by flexible manipulator based on resonance ratio control using position sensitive detector

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IEEJ Transactions on Industry Applications 2006年第6期126卷 693-699+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Japan Keio University Japan Nagaoka University of Technology Nagaoka Niigata Japan IEEJ Japan IEEE Industrial Electronics Society Japan Society of Instrumentation and Control Engineers Japan Robotics Society of Japan Japan Keio University Yokohama Japan IEEE Japan

This paper presents a novel force controller to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy. To attain the affinity and adaptability to environment, motion systems should control the reaction force from the environment. In the force control system, the force response is regarded as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force control system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force control system can realize both the suppression of the inner torsional reaction torque and the adaptation to outer force inputs. The numerical and experimental results show viability of the proposed method.

关键词： Flexible manipulators

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COMPLETE AND SCALABLE MULTI-ROBOT PLANNING IN TUNNEL ENVIRONMENTS

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IFAC Proceedings Volumes 2006年第20期39卷 26-31页

作者： Mike Peasgood John McPhee Christopher Clark Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1 Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1

This paper addresses the challenging problem of finding collision-free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially; such decoupled methods may fail to find a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L – 1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： mobile robots efficient algorithms path planning trajectory planning

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Development of ADLER: The Activities of Daily Living Exercise Robot

Development of ADLER: The Activities of Daily Living Exercis...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： M.J. Johnson K.J. Wisneski J. Anderson D. Nathan R.O. Smith Department of Biomedical Engineering Olin Engineering Center Marquette University Milwaukee WI USA Department of Physical Medicine & Rehabilitation Medical College Milwaukee WI USA Rehabilitation Robotics Research and Design Laboratory Medical College Milwaukee WI USA Rehabilitation Research Design and Disability Laboratory University of Wisconsin Milwaukee Milwaukee WI USA

Robot-assisted therapy devices are being used in the physical and neurological rehabilitation of persons after stroke, which is the leading cause of disability among adults in the United States. Motor gains after robot-assisted therapy may not transfer to functioning on activities of daily living. It is conceivable that carryover after training may be improved through the use of training activities that are patient-centered, engaging and focused on daily living activities. We have developed the activities of daily living exercise robot (ADLER) stroke training environment to test this idea. This environment permits the consistent and repeated practice of daily living tasks such as drinking. This paper describes the ADLER training system

关键词： Robots Rehabilitation robotics Medical treatment Medical robotics robotics and automation Educational institutions Biomedical engineering Orbital robotics design engineering Testing

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Assessing Impaired Arm Use and Learned Bias after Stroke Using Unimanual and Bimanual Steering Tasks

Assessing Impaired Arm Use and Learned Bias after Stroke Usi...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Ruta P. Paranjape Michelle. J. Johnson Brinda Ramachandran Department of Biomedical Engineering Marquette University Milwaukee WI USA Rehabilitation Robotics Research and Design Lab Zablocki VA Medical Center Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

Learned nonuse is often seen in stroke survivors with hemiparesis. In these cases, stroke survivors exhibit a bias for using the less impaired arm on daily living tasks despite latent functionality as measured by clinical motor function. We used the TheraDrive system, a low-cost, stroke rehabilitation system using commercial force-feedback steering wheels along with unimanual and bimanual steering tasks, to quantify the motor impairment, arm use bias and the effect of functioning levels on tracking performance. We present the methodology and tracking results that support the use of steering tasks to detect the presence of motor impairment in the contralateral side of the brain injury, the presence of learned nonuse, the relationship between level of functionality (low-to-medium versus high stroke) and these measures and the effect of handedness and side of injury after stroke

关键词： Wheels Rehabilitation robotics Biomedical measurements Brain injuries Medical treatment Biomedical engineering Accelerometers Time measurement Feedback Cities and towns

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Should Object Function Matter during Modeling of Functional Reach-to-Grasp Tasks in Robot-Assisted Therapy?

Should Object Function Matter during Modeling of Functional ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Dominic E. Nathan Michelle J. Johnson Rehabilitation Robotics Research and Design Laboratory Zablocki VA Medical Center Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

Recent literature support the idea of using an intense, task-oriented, stroke rehabilitation to promote motor learning and cerebral reorganization. Supporting a task-oriented, robot-assisted therapy approach requires better understanding of the components of real tasks and the limitations and benefits of current trajectory models. We set out to understand natural reach-to-grasp kinematics as it relates to various functional bilateral and unilateral tasks so as to better map this information to a robotic reach-to-grasp therapy systems. To do so, we investigated the influence of arm use and object functionality on four reaching kinematics in reach-to-grasp daily living tasks. We compared our results with the minimum jerk trajectory model used in robot-assisted therapy with the goal of understanding how best to support these real movements in a robotic environment. Eight neurologically intact, right handed subjects participated in the motion analysis study. They completed unilateral and bilateral reaching to objects in the same location with the same orientation, and with handles of the same size and shape. We discuss our results in terms of the minimum jerk model, which is typically used in robot-assisted trajectory planning. Our results showed significant differences in peak velocities, movement time and total displacement across tasks and across arm use conditions

关键词： Medical treatment Robot kinematics Rehabilitation robotics Trajectory Shape Biomedical engineering Acceleration Cities and towns USA Councils Motion analysis

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