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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Kiguchi T. Fukuda Department of Industrial and Systems Engineering Niigata College of Technology Niigata Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Position and force controls are important and fundamental tasks of robot manipulators. In order to control position of the robot which simultaneously applies force to the environment, the friction between the robot and the environment has to be compensated. However, the friction force varies according to the applied force to the environment. Therefore, it is difficult to compensate the friction effectively with conventional controllers if we do not know the friction coefficient. Many researches have been done on fuzzy neural control, the combination of neural networks and fuzzy control, in order to make up for each other's weak points. The fuzzy neural control is expected to perform more sophisticated control than conventional control in an unknown environment. In this paper, we propose a new friction compensation method using the fuzzy neural network which contains a specialized neuron for friction compensation and a switch-learning. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the proposed method.

关键词： Fuzzy control Friction Force control Fuzzy neural networks Manipulators Neural networks Service robots Robot kinematics Control systems Neurons

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State estimator and its application for systems with disturbances

State estimator and its application for systems with disturb...

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International Workshop on Variable Structure systems, VSS

作者： X. Chen T. Fukuda T. Hori Department of Electrical and Electronic Engineering Me University Tsukuba Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Based on the implicit observer techniques, a new expression of the state is obtained by the first order filters of the input, output and disturbance. For the minimum phase dynamical systems with arbitrary relative degrees (with respect to the relation between disturbance-output), the higher order filters of the disturbance is estimated by using the VSS equivalent control method. Then, by some new techniques, the lower order filter of the disturbance is estimated. Eventually, the disturbance is also estimated. Thus, the state vector is asymptotically expressed by the first order filters of the input and output and the estimate of the first order filters of the disturbance. The estimated state and the disturbance are applied to a controller to place a desired pole and to cancel the disturbance. Examples and simulation results are presented to show the effectiveness of the proposed algorithms.

关键词： State estimation Filters Observers Variable structure systems Control systems Electronic mail Phase estimation Design methodology Robustness

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Force control of parallel link manipulator with hydraulic actuators

Force control of parallel link manipulator with hydraulic ac...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Kosuge K. Takeo T. Fukuda H. Kitayama N. Takeuchi H. Murakami Department of Machine Intelligence and Systems Engineering University of Tohoku Sendai Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Ishikawajima-Harima Heavy Industries Company Limited Koto Tokyo Japan

This paper proposes a force control algorithm for Stewart platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom, hydraulic actuator then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.

关键词： Force control Hydraulic actuators Manipulator dynamics Velocity control Servomechanisms Electrical equipment industry Algorithm design and analysis Kinematics Damping Stability

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Quantum and thermodynamic self-organization conditions for artificial life of biological mobile micro-nano-robot with AI control. (Report 2. Methodology of R&D and stochastic dynamic)

Quantum and thermodynamic self-organization conditions for a...

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International Symposium on micro Machine and Human Science

作者： S.V. Ulyanov K. Yamafuji T. Fukuda F. Arai G.G. Rizzotto A. Pagni Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan SGS-THOMSON Microelectronics Corporate Advanced System Architectures Agrate-Brianza Italy

A new methodology of R&D of micronano-robots (MNR) based on modelling of the nonlinear master dissipative stochastic equations of MNR-motion with minimum entropy production is described. The methodology includes: hierarchical levels for the description of the dynamic behavior of MNR based on laws of microphysics, an extraction of information from coherent states of MNR using quantum non-demolition (QND) measurement processes, logic of intelligent dynamic behavior, optimal control of states, and the dynamic system theory of mechanical motion. On the basis of nonlinear dissipative equations of motion a new quantum postulate for the description of MNR as open thermodynamic and quantum dynamic systems is introduced. Physical conditions for optimal intelligent control of thermodynamic and quantum systems are introduced. The intelligent thermodynamic behaviour of MNR from the artificial life point of view is described. New nonlinear mechanics with entropy exchange are used. The thermodynamic stability conditions for MNR are developed.

关键词： Thermodynamics Nonlinear dynamical systems Nonlinear equations Entropy Stochastic processes Production Data mining Quantum mechanics Mechanical variables measurement Motion measurement

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Editorial

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Robotics and Autonomous systems 1996年第1-2期17卷 1-1页

作者： Volker Graefe Toshio Fukuda Institut für Meβtechnik LRT/6 Universität der Bundeswehr München 85577 Neubiberg Germany Department of Mechano-Informatics and Systems School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-01 Japan

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Construction mechanism of group behavior with cooperation

Construction mechanism of group behavior with cooperation

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and systems. Human Robot Interaction and Cooperative Robots

作者： T. Fukuda G. Iritani Department of Micro System Engineering School of Engineering University of Nagoya Nagoya Japan Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Japan

This paper describes a construction mechanism of group behavior on decentralized autonomous robotic systems with cooperation. The decentralized autonomous robotic systems refer to multiple robotic systems including many autonomous robots, such as the cellular robotic system (CEBOT). The CEBOT consists of a number of functional robotic units called "cells". In the research on the CEBOT, same as the decentralized robotic systems, it is one of the most important issues to cooperate among many robots for the group behavior and to coordinate the group behavior, since it is important to organize the behavior of each robot in the multiple robotic systems. In order to organize the behavior in dynamic environment, we proposed a concept of the "self-recognition" for the decision making of the behavior in a robotic group. In addition to the proposed concept, this paper shows the construction mechanism of group behavior using the character of attractor. Based on this idea, we present the behavioral evolution of the group robotic systems.

关键词： Robot kinematics Service robots Decision making systems engineering and theory Robot sensing systems Application software Costs Laboratories Industrial plants Teamwork

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Manipulation of a flexible object by dual manipulators

Manipulation of a flexible object by dual manipulators

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Kosuge H. Yoshida T. Fukuda M. Sakai K. Kanitani Department of Mechanical Engineering University of Tohoku Sendai Japan Robot Development Department Nachi-Fujikoshi Corporation Ishigami Toyama Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Proposes a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First the authors derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using Lagrange's equation based on a finite element model of the sheet. The authors then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, the authors cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots illustrate the validity of the proposed control system.

关键词： Force control Motion control Algorithm design and analysis Lagrangian functions Equations Finite element methods Deformable models Impedance Electrical equipment industry Industrial control

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Self-organizing control strategy for group robotics

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Advanced Robotics 1995年第6期10卷 637-658页

作者： Sekiyama, Kosuke Fukuda, Toshio Department of Mechano-Informatics and Systems School of Engineering Nagoya University Nagoya 464-01 Furo-cho Chikusa-ku Japan

This paper descries a self-organizing coordination strategy for group robotics. While the distributed autonomous robot system has advantages in flexibility of the system, it has also difficulties in coordinating a global system as the designer expects. Self-organization is a natural principle in which process functions group toward a certain attractor. These properties of self-organization can give controllability for the coordination of group behavior. We emphasize the functional aspect of temporal self-organization. Modeling and analysis of group behavior is firstly made, then we perform the simulation to verify the theoretical description. In particular, self-organization of temporal behavior patterns is utilized for group level cooperation in this paper. © 1995 VSP and Robotics Society of Japan 1996.

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Manipulation of sheet metal by dual manipulators based on finite element model

Manipulation of sheet metal by dual manipulators based on fi...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： K. Kosuge H. Yoshida T. Fukuda M. Sakai K. Kanitani Machine Intelligence and Systems Engineering University of Tohoku Sendai Japan Mechano-Informatics and Systems University of Nagoya Nagoya Japan Robot Development Department Nachi-Fujikoshi Corporation Toyama Japan

Control algorithms of dual manipulators handling a flexible sheet metal is discussed in this paper. We consider two types of problems. One is the bending of a sheet metal, which is treated by a two-dimensional model, and the other is the twisting of a sheet metal where three dimensional deformation should be considered. In both cases, we derive the relation between the static deformation of the sheet metal and the bending and twisting moments exerted on the flexible sheet metal based on a finite element model. The experimental results using two industrial robots illustrates the validity of the proposed methods.

关键词： Finite element methods Deformable models Force control Motion control Impedance Manipulators Service robots Control systems Industrial control Algorithm design and analysis

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Decentralized control of robots for dynamic coordination

Decentralized control of robots for dynamic coordination

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Kosuge D. Taguchi T. Fukuda M. Sakai K. Kanitani Machine Intelligence and Systems Engineering University of Tohoku Sendai Japan Mechano-Informatics and Systems University of Nagoya Nagoya Japan Robot Development Department Nachi-Fujikoshi Corporation Ishigane Toyama Japan

We propose a coordinated motion control algorithm of manipulators, by which each manipulator is controlled by its own controller in a decentralized way. We select a manipulator as a leader and a task is described by the motion of the leader and the motions of the other manipulators relative to the motion of the leader. The latter manipulators are referred to the followers. First we consider the problem of manipulation of a single object by multiple manipulators. In this task, the motion of the object is given to the leader. To execute the task in a decentralized way, we propose an algorithm for each follower to estimate the notion of the leader based on the information from its own force sensor. Using the algorithm, the manipulation of a single object is executed in a decentralized way. We consider the parts-mating problem, next, by two manipulators in coordination. An assembly task is described by the motion of a part manipulated by the leader and the relative motion between two parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results using two industrial robots will illustrate the validity of the proposed control system.

关键词： Distributed control Robot kinematics Motion control Manipulator dynamics Force sensors Robotic assembly Electrical equipment industry Industrial control Service robots Robot sensing systems

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