检索结果-内蒙古大学图书馆

IEEE International Conference on systems, Man and Cybernetics

作者： K. Izumi H. Tamura K. Watanabe Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

Describes the construction of a task-oriented configuration structure in the cellular robotic system as a three-dimensional self-organizing robot by using genetic algorithms (GAs). To deal with the optimal configuration in a three-dimensional environment, a special fitness of a GA is introduced: it consists of the reachable height and lifting capacity of the robot. The simulation result shows that the present task-oriented configuration structure method in three dimensional environment can be used to find the desired configuration for a given task.

关键词： Genetic algorithms Genetic engineering Mechanical engineering control engineering Intelligent robots Collision mitigation Couplings Binary trees

来源：评论

学校读者我要写书评

暂无评论

Servocontrol of a Mobile Robot by Using Genetic Algorithms

引用

Journal of Robotics and Mechatronics 1999年第2期11卷 140-147页

作者： Tang, Jun Watanabe, Keigo Kuribayashi, Katsutoshi Department of Mechanical Engineering Faculty of Engineering Yamaguchi University 2557 Tokiwadai Ube755-8611 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi-1 Saga840-8502 Japan

One problem that not yet solved in optimum servocontroller design is determination of positive definite matrices and R for the Riccati equation, although such servocontrollers have been applied in many complex control processes. We propose a way to tune weighting matrices by applying genetic algorithms (GAS) to type 1 and 2 optimum linear servocontrollers for a mobile robot. Simulation verified the controller's effectiveness. © 1999, Fuji Technology Press. All rights reserved.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

Generalized fuzzy environment models learned with genetic al...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F. Nagata K. Watanabe K. Sato K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In the paper generalized fuzzy environment models with anisotropy are proposed to systematically determine the desired damping against unknown environments. The models learned with genetic algorithms, can estimate each directional stiffness of the environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

关键词： Damping Impedance Force control Manipulators Tuning Fuzzy systems Anisotropic magnetoresistance Genetic algorithms Yield estimation control system synthesis

来源：评论

学校读者我要写书评

暂无评论

Identification of robot manipulators using neural networks and genetic programming

Identification of robot manipulators using neural networks a...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： K. Kiguchi Hyeon-Ho Jang T. Fukuda Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Industrial and Systems Engineering Niigata College of Technolgoy Niigata Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

An evolving neural networks (NNs) based identification method is proposed using genetic programming (GP). Advantages of both NNs and GP are combined in the proposed method. Identification of unknown/uncertain robot manipulators is realized by using the adaptation ability of NNs, and the architecture of the NNs is evolved by using the GP technique. Consequently, evolution of the NN architecture and adaptation of its weights are carried out in the proposed method. In the proposed GP, the architecture of each individual in the population is the same as a NN. The adaptation process of each NN (each individual in the population) to the unknown/uncertain robot manipulator is carried out using the back-propagation learning algorithm during the fitness evaluation process of each NN in GP. Therefore, the NN, which shows better adaptation to the unknown/uncertain robot manipulator, results in better fitness in the proposed method. In order to avoid frequent disruption of the important subtree of the NN caused by crossover operators, the worst subtree of one selected NN is replaced with the best subtree of the other NN. The back-propagated errors during the adaptation process are used for evaluation of the subtrees of each NN. This strategy makes the evolution of NN architecture more efficient than traditional GP. The effectiveness of the proposed identification method has been evaluated with a 2DOF planar robot manipulator.

关键词： Manipulators Neural networks Genetic programming Genetic engineering Electronic mail Nonlinear systems Service robots control engineering Electrical equipment industry Industrial control

来源：评论

学校读者我要写书评

暂无评论

Evolving Runge-Kutta-Gill RBF networks to estimate the dynamics of a multi-link manipulator

Evolving Runge-Kutta-Gill RBF networks to estimate the dynam...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： T. Nanayakkara K. Watanabe K. Izumi Graduate School of Science and Engineering Faculty of Engineering Systems and Technology Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Proposes a method for identification of dynamics of a multi-link robot arm using Runge-Kutta-Gill neural networks (RKGNN). Shape adaptive radial basis function (RBF) neural networks have been employed with an evolutionary algorithm to optimize the shape parameters and the weights of the RKGNN. Due to the fact that the RKGNN can accurately grasp the changing rates of the states, this method can effectively be used for long term prediction of the states of the robot arm dynamics. Unlike in conventional methods, the proposed method can even be used without input torque information because a torque network is part of the functional network. This method can be proposed as an effective option for dynamics identification for manipulators with high degrees of freedom, as opposed to the derivation of dynamic equations and making additional hardware changes in the case of statistical parameter identification such as linear least-squares method.

关键词： Radial basis function networks Manipulator dynamics Robots Neural networks Shape Torque Evolutionary computation Equations Hardware Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Evolutionary trajectory learning for autonomous robots by means of geometric approximations of polygonal obstacles

Evolutionary trajectory learning for autonomous robots by me...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： M.M.A. Hashem K. Watanabe K. Izumi Graduate School of Science and Engineering Faculty of Engineering Systems and Technology Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Addresses the issue of flexible geometric approximations of polygonal obstacles for intelligent autonomous robot (IAR) navigation which is an extension of our previous work (1998). The trajectory learning problem for IAR navigation is formulated as a constrained discrete-time-optimal control problem where the polygonal obstacles are the constraints. From the visibility and sensor modeling concepts, polygonal obstacles within the environment are approximated as either by circles or by ellipses depending on the shape and size of them. Furthermore, some practical issues are identified and resolved through these type of approximations. The effectiveness of these methods is illustrated by some simulations of the robot within a heavily obstacled environment.

关键词： Navigation Intelligent robots Trajectory Optimal control Robot sensing systems Programmable control Adaptive control Intelligent sensors Shape Motion planning

来源：评论

学校读者我要写书评

暂无评论

Autonomous Trajectory Planning of Mobile Robots Using an Evolution Strategy

引用

IFAC Proceedings Volumes 1999年第2期32卷 8468-8473页

作者： M.M.A. Hashem Keigo Watanabe Kiyotaka Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Japan Saga University 1-Honjomachi Saga 840-8502 Japan

This paper deals with a new technique for autonomous trajectory planning of mobile robots using a Novel Evolution Strategy (NES) algorithm. Two-dimensional trajectory planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. The polygonal obstacles are modeled as circles from the visibility concept. In contrast to traditional evolutionary representations, special representations of individuals and crossover operation are adopted for a potential evolutionary search. The effectiveness of the proposed technique is demonstrated by presenting asimulation result of the robot within a heavily obstacle environment.

关键词： Constraint satisfaction global optimization obstacle avoidance path planning time-optimal control

来源：评论

学校读者我要写书评

暂无评论

A survey of force control of robot manipulators using soft computing techniques

A survey of force control of robot manipulators using soft c...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： K. Kiguchi T. Fukuda Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Center for Cooperative Research Advanced Science and Technology University of Nagoya Nagoya Japan

One of the most important and fundamental tasks of the robot manipulators is position/force control. It is necessary to realize the desired force to perform sophisticated tasks such as grinding, deburring, wiping, or assembling of objects with the robot. In this survey paper, we mainly discuss on existing several force control systems for robot manipulators by applying soft computing techniques, such as neural networks, fuzzy reasoning, and fuzzy-neural networks. We also point out some open problems for future work.

关键词： Force control Robot kinematics Robotic assembly Service robots Robot control Fuzzy reasoning Humans Manipulator dynamics Deburring Neural networks

来源：评论

学校读者我要写书评

暂无评论

A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

Fuzzy Behavior-Based control for a Task of Three-Link Manipulator with Obstacle Avoidance

引用

Journal of Robotics and Mechatronics 1999年第6期11卷 502-509页

作者： Dassanayake, Palitha Watanabe, Keigo Izumi, Kiyotaka Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1 Honjomachi Saga840-8502 Japan Department of Advanced Systems Control Engineering Saga University 1 Honjomachi Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjomachi Saga840-8502 Japan

Our objective is for a 3-link manipulator to reach a target while avoiding obstacles with online information using a fuzzy-behavior-based control approach. control applied to mobile robots elsewhere is modified to suit to the manipulator. Fuzzy behavior elements are trained using a genetic algorithm. A component apart from the basic concept is introduced to overcome gravitøti@n. Result shows the manipulator reaches the target with an acceptable solution for 3 simulations, so the proposed approach is suitable to multilink manipulator task control. © 1999, Fuji Technology Press. All rights reserved.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：