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Accurate odometry and error modelling for a mobile robot

Accurate odometry and error modelling for a mobile robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kok Seng Chong L. Kleeman Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper presents the key steps involved in the design, calibration and error modelling of a low cost odometry system capable of achieving high accuracy dead-reckoning. A consistent error model for estimating position and orientation errors has been developed. Previous work on propagating odometry error covariance relies on incrementally updating the covariance matrix in small time steps. The approach taken here sums the noise theoretically over the entire path length to produce simple closed form expressions, allowing efficient covariance matrix updating after the completion of path segments. Systematic errors due to wheel radius and wheel base measurement were first calibrated with UMBmark test. Experimental results show that, despite its low cost, our system's performance, with regard to dead-reckoning accuracy, is comparable to some of the best reported odometry vehicle.

关键词： Mobile robots Wheels Robot kinematics Covariance matrix Rotation measurement computer errors Motion measurement intelligent robots Calibration Costs

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A capacitive tri-axial tactile force sensor design

A capacitive tri-axial tactile force sensor design

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： T.A. Chase R.C. Luo Center of Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Summary form only given. A tri-axial tactile force sensor design is presented. The multiple electrode design allows the sensor to detect displacements of an electrode relative to a second set of electrodes. The primary role of this force sensor is for integration into the finger of an articulated hand such as the Stanford/JPL hand or the Utah/MIT hand. The sensor is fabricated on a Kapton substrate to allow for the required flexibility. Electrodes are patterned using microelectronic fabrication techniques providing both dimensional accuracy and the ability to fabricate very small sensor elements. Once the single sensor elements have been sufficiently tested, arrays of sensor elements can be integrated into a tactile finger design.

关键词： Force sensors Electrodes Sensor arrays intelligent robots intelligent sensors Fingers Tactile sensors Robot sensing systems Machine intelligence Microelectronics

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation computer aided manufacturing Information geometry systems engineering and theory

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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When to explicitly replan paths for mobile robots

When to explicitly replan paths for mobile robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.R. Murphy A. Marzilli K. Hughes Center for Robotics and Intelligent Systems Colorado Schml of Mines Golden CO USA Mathematical Sciences Department Emory University Atlanta GA USA Electrical and Computer Engineering University of the Pacific Stockton Stockton CA USA

This paper investigates a range of strategies for determining when to explicitly replan paths. An computationally inexpensive event-driven method is presented which allows the robot to execute an a priori path reactively until a significant deviation in the path occurs, at which point the robot explicitly replans. The event-driven strategy is compared to replanning after every move, and replanning after every n moves on a mobile robot for a wide variety of influences, including different unmodeled obstacle configurations and densities, and quality of the a priori map. The paper concludes that, in general, planning as frequently as resources permits results in smoother actual paths and faster completions. However, if the updated map is inaccurate, the event-driven method is superior.

关键词： Mobile robots Path planning intelligent robots Navigation intelligent systems systems engineering and theory Strategic planning Testing Timing Fault detection

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A flexible software architecture for agile manufacturing

A flexible software architecture for agile manufacturing

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yoohwan Kim Ju-Yeon Jo V.B. Velasco N.A. Barendt A. Podgurski G. Ozsoyoglu F.L. Merat Computer Engineering & Science Department Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA Electrical Engineering & Applied Physics Department Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA

The flexibility required of an agile manufacturing system must be achieved largely through computer software. The system's control software must be adaptable to new products and to new system components without becoming unreliable or difficult to maintain. This requires designing the software specifically to facilitate future changes. As part of the Agile Manufacturing Project at Case Western Reserve University, we have developed a software architecture for control of an agile manufacturing workcell, and we have demonstrated its flexibility with rapid changeover and introduction of new products. In this paper, we describe the requirements for agile manufacturing software and how our software architecture addresses them.

关键词： Software architecture Agile manufacturing Hardware Robotic assembly Control systems Motion control computer aided manufacturing computer architecture Machine vision Physics computing

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling computer aided manufacturing Manufacturing processes Containers Inorganic materials

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Advances in agile manufacturing

Advances in agile manufacturing

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IEEE International Conference on robotics and Automation (ICRA)

作者： F.L. Merat N.A. Barendt R.D. Quinn G.C. Causey W.S. Newman V.B. Velasco A. Podgurski Y. Kim G. Ozsoyoglu J.-Y. Jo Center for Automation and Intelligent Systems Research Department of electrical Engineeisng and Applied Physics Case Western Reserve University Cleveland OH USA Center for Automation and Intelligent Systems Research Department of Mechanical and Aerospace Engineering Case Western Reserve University Cleveland OH USA Center for Automation and Intelligent Systems Research Department of Computer Engineering and Science Case Western Reserve University Cleveland OH USA

An agile workcell has been developed for light mechanical assembly in collaboration with industrial sponsors. The workcell includes multiple Adept robots, a Bosch conveyor system, multiple flexible parts feeders at each robot's workstation, CCD cameras for parts feeding and hardware registration, and a dual VMEbus control system. Our flexible pairs feeder design uses multiple conveyors to singulate the parts and machine vision to locate them. Specialized hardware is encapsulated on modular grippers and modular worktables which can be quickly interchanged for assembly of different products. Object-oriented software (C++) running under VxWorks, a real-time operating system, is used for workcell control. An agile software architecture was developed for rapid introduction of new assemblies through code re-use. A simulation of the workcell was developed so that controller software could be written and tested off-line, enabling the rapid introduction of new products.

关键词： Agile manufacturing Robotic assembly Service robots Hardware Control systems Collaborative work electrical equipment industry Manufacturing industries Workstations Charge coupled devices

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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