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检索条件"机构=Department of Robotics and Control Engineering"

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Neural network designs with genetic learning for control of a single link flexible manipulator

Neural network designs with genetic learning for control of ...

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American control Conference (ACC)

作者： Sandeep Jain Pei-Yuan Peng A. Tzes F. Khorrami Elect Engineering Department Control Robotics Research Laboratory Polytechnic University Brooklyn NY USA

The application of neural networks for active control of lightly damped systems is considered. The training process of the neural-network controller is based on the genetic learning algorithm. The scheme imitates nature's cleansing phenomena of natural selection and survival of the fittest to generate individual controllers with the best fitness values. It essentially incorporates an exhaustive search in the weight-space governed by the rituals of crossover and mutation to seek the optimum neural-network weights to satisfy certain performance criteria. Several appropriate modifications of the classical genetic algorithm for neural-network control purposes are discussed. The genetic-trained neural-network controller is applied for tip position tracking and vibration suppression of a single-link flexible arm. Simulation studies are presented to validate the effectiveness of the advocated algorithms.

关键词： Neural networks control systems Lighting control Genetic algorithms Vibration control Nonlinear equations Manipulator dynamics Neurofeedback Robot control Laboratories

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A fuzzy-neural-network-based visual feedback learning control for robot manipulators

A fuzzy-neural-network-based visual feedback learning contro...

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International Joint Conference on Neural Networks (IJCNN)

作者： Il Hong Suh Tae Won Kim Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Gyeonggi South Korea

A visual feedback learning control algorithm is proposed for a robot manipulator equipped with joint position servos employing fuzzy-membership-function-based neural networks (FMFNN), where weightings of FMFNN's are adjusted in such a way that the robot manipulator with an eye in hand is capable of not only tracking a moving object along the line of sight but also stopping in front of a static object, wherever it is. The training mechanisms of FMFNN are extended to be applied to the control of dynamic systems. To show the validity of the proposed algorithm, several numerical examples are illustrated for a robot manipulator equipped with position servos.< >

关键词： Feedback Robot control Intelligent robots Manipulator dynamics Servomechanisms Neural networks control systems Computer vision Jacobian matrices Robot motion

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Inversion of nonlinear systems via the trajectory pattern method

Inversion of nonlinear systems via the trajectory pattern me...

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IEEE Conference on Decision and control

作者： J. Rastegar F. Khorrami Z. Retchkiman Department of Mechanical Engineering State University of New York Stony Brook NY USA Control Robotics Research Laboratory (CRRL) Department of Electrical Engineering Polytechnic University Brooklyn NY USA Control Robotics Research Laboratory CRRL Department of Electrical Engineering Polytechnic University Brooklyn NY USA

This paper deals with a new inversion technique for nonlinear control systems called the trajectory pattern method (TPM). The objective of this study is to lay out the foundation for the TPM and generalize the open loop results already obtained. Furthermore, a feedback control law based on TPM which allows one to obtain tracking is proposed. The methodology proposed is applied to attain bounded solutions for the inverse of nonminimum phase systems; moreover, under some mild assumptions one is able to get output tracking. The authors also show how the trajectory pattern method is utilized to get point to point motion for nonholonomic control systems. Finally an adaptive based uncertainty scheme is discussed.< >

关键词： Nonlinear systems control systems Nonlinear control systems Trajectory Feedback control Open loop systems Robot control Laboratories Mechanical engineering Motion control

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Associative datafields in automotive control

Associative datafields in automotive control

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IEEE Conference on control Technology and Applications (CCTA)

作者： Schmitt Ullrich Tolle Department of Motor Vehicle Safety Systems Robert Boach GmbH Schwieberdingen Germany Institute of Control Engineering Department of Control System Theory and Robotics Technical University of Darmstadt Germany

This work presents an associative datafield structure that has been developed for automotive control applications by the Institute of control engineering, department of control Systems Theory and robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.< >

关键词： Road vehicles Interpolation Real time systems Road vehicle control Intelligent control Learning control systems

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Experimental verification of bilateral force/position control schemes using the communication network analogy

Experimental verification of bilateral force/position contro...

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IEEE Conference on Decision and control

作者： A. Eusebi A.C. van der Ham Robotics and Automation Laboratory DEIS Department of Electrical Engineering University of Bologna Bologna Italy Control Laboratory Department of Electrical Engineering Delft University of Technnology Delft Netherlands

Investigations in the field of telemanipulation have resulted in effective and theoretically elegant bilateral force/position control algorithms based on the communication network analogy. Nevertheless, implementation of these algorithms can give instability problems mainly due to the time-delay and temporal drift of some variables of the tele-operator. In this paper, the nature of these problems is identified and solutions of implementation problems and compensation of undesired effects are presented.< >

关键词： Force control Position control Communication system control Stability Optimal control Communication networks robotics and automation Laboratories Humans Master-slave

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Cartesian-level control strategy for a system of manipulators coupled through a flexible object

Cartesian-level control strategy for a system of manipulator...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Svinin M. Uchiyama Automatic Control Department SystemTheory and Robotics Section Technical University Darmstadt Hessen Germany Aeronautics and Space Engineering Department University of Tohoku Sendai Japan

This paper presents a dynamic model and a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are derived, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.< >

关键词： control systems Force control Robot kinematics Orbital robotics Service robots Manipulator dynamics Aerodynamics Force feedback Master-slave Robot control

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control control systems Robot sensing systems Commercialization Service robots Servomechanisms

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Fault diagnosis in complex systems using artificial neural networks

Fault diagnosis in complex systems using artificial neural n...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tzafestas Dalianis Intelligent Robotics and Control Unit (IRCU) Computer Science Division Electrical & Computer Engineering Department National and Technical University of Athens Athens Greece

Very complex technical and other physical processes require sophisticated methods of fault diagnosis and online condition monitoring. Various conventional techniques have already been well investigated and presented in the literature. However, in the last few years, a lot of attention has been given to adaptive methods based on artificial neural networks, which can significantly improve the symptom interpretation and system performance in a case of malfunctioning. Such methods are especially considered in cases where no explicit algorithms or models for the problem under investigation exist. In such problems, automatic interpretation of faulty symptoms with the use of artificial neural network classifiers is recommended. Two different models of artificial neural networks, the extended backpropagation and the radial basis function, are discussed and applied with appropriate simulations for a real world applications in a chemical manufacturing plant.< >

关键词： Feedforward neural networks Backpropagation Fault diagnosis Large-scale systems Chemical industry Neural network applications

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Coordination strategy for a system of manipulators coupled via a flexible object

Coordination strategy for a system of manipulators coupled v...

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International Conference on Industrial Electronics, control and Instrumentation

作者： M.M. Svinin M. Uchiyama Aeronautics and Space Engineering Department University of Tohoku Sendai Miyagi Japan Automatic Control Department System Theoryand Robotics Section Darmstadt University of Technology Darmstadt Hessen Germany

This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling central law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.< >

关键词： Force control control systems Force feedback Manipulator dynamics Robot kinematics Orbital robotics Equations Acceleration Trajectory Testing

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control control design Design engineering Robot kinematics

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