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IEEE International Symposium on Industrial Electronics (ISIE)

作者： S.G. Tzafestas C.S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.

关键词： Virtual reality Telerobotics Robot control Virtual environment Mobile robots Humans Geometry Intelligent robots robotics and automation Laboratories

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Influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators

Influence of shear, rotary inertia on the dynamic characteri...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D. Wang M. Meng Y. Liu ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

The influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators is studied through frequency analysis. In terms of the various geometric effects, dynamic models of flexible manipulators are set up and characteristic equations are derived. By using the analysis, the influences of shear, rotary inertia, axial force on the flexible manipulator are given.

关键词： Manipulator dynamics Frequency Deformable models Equations Nonlinear dynamical systems Payloads Subspace constraints Robots Solid modeling Energy consumption

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Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Adaptive force tracking impedance control of robot for cutti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory(ROCIL) Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking.

关键词： Force control Programmable control Adaptive control Impedance Robot control Deburring Milling Stability analysis Process control Uncertainty

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The challenge of using soft computing methodologies in supervisory control systems

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IFAC Proceedings Volumes 1999年第2期32卷 285-290页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Tel +30 61 997293 Fax. +30 61 997309

In Complex Large Scale Systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control Problem of Complex Systems is presented. Then, the use of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling Supervisory Complex Systems, using is investigated. The description and the construction of Fuzzy Cognitive Map is examined and a model for the supervisor is proposed.

关键词： Supervisory Control Cognitive Systems Modeling Complex Systems

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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European Control Conference (ECC)

作者： Costas S. Tzafestas Spyros G. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou 157 73 Athens Greece

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.

关键词： Navigation Collision avoidance Robot kinematics Mobile robots Path planning Neurons

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene.

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Real-time collision-free path planning of robot manipulators using neural network approaches

Real-time collision-free path planning of robot manipulators...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： S.X. Yang M. Meng School of Engineering University of Guelph Guelph ONT Canada ART (Advanced Robotics and Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

In this paper, a novel neural network approach to real-time collision-free path planning of robot manipulators in a nonstationary environment is proposed, which is based on a biologically inspired neural network model for dynamic trajectory generation of a point mobile robot. The state space of the proposed neural network is the joint space of the robot manipulators, where the dynamics of each neuron are characterized by a shunting equation. The real-time robot path is planned through the dynamic neural activity landscape that represents the dynamic environment. The proposed model for robot path planning with safety consideration is capable of planning a real-time "comfortable" path without suffering from the "too close" nor "too far" problems. The model algorithm is computationally efficient. The computational complexity is linearly dependent on the neural network size. The effectiveness and efficiency are demonstrated through simulation studies.

关键词： Path planning Orbital robotics Manipulator dynamics Neural networks Mobile robots Computational modeling Biological system modeling Trajectory State-space methods Neurons

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Stability and convergence analysis of robust adaptive force tracking impedance control of robot manipulators

Stability and convergence analysis of robust adaptive force ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory Chungnam National University Taejon South Korea Department of Electrical and Computer Engineering University of California Davis CA USA

A simple adaptive robust force tracking impedance control scheme that has the capability to track a specified desired force is proposed. The new impedance function is realized by the relationship between force error and velocity/acceleration error. The proposed control scheme uses the adaptive technique to compensate for uncertainties in environment location and stiffness. The robot dynamic model uncertainty is compensated by a robust position control algorithm based on time-delayed information. Simulation studies are shown to demonstrate the analysis of the stability and the convergence of the proposed scheme under uncertainties.

关键词： Robust stability Stability analysis Convergence Uncertainty Programmable control Adaptive control Robust control Force control Impedance Acceleration

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Team scheduling by genetic search

Team scheduling by genetic search

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Proceedings of the International Conference on Intelligent Processing and Manufacturing of Materials, IPMM

作者： Tiehua Zhang W.A. Gruver M.H. Smith Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University Burnaby BC Canada Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple travelling salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem.

关键词： Genetics Job shop scheduling Educational institutions Processor scheduling Intelligent robots Packaging Manufacturing systems Laboratories USA Councils Cost function

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects Intelligent robots robotics and automation Communication channels Displays Computational modeling computer simulation

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