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American Control Conference (ACC)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the effects of the uncertainties. The proposed NN control approach is conceptually different in that it is aimed at prefiltering the desired joint trajectories before they are used to command the computed-torque-controlled robot system (the plant) to counteract performance degradation due to plant uncertainties. In this framework, the NN controller serves as the inverse model of the plant, which can be trained online using joint tracking error. Several variations of this basic technique are introduced. Backpropagation training algorithms for the NN controller have been developed. Simulation results have demonstrated the excellent tracking performance of the proposed control technique.

关键词： Neural networks Robot control Manipulators Uncertainty Degradation Torque control Control systems Inverse problems Error correction Backpropagation

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New neural network control technique for non-model based robot manipulator control

New neural network control technique for non-model based rob...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

In this paper a new neural network (NN) control technique for non-model based PD control of robot manipulators are proposed. The main difference between the proposed technique and the existing feedback error learning (FEL) technique of Kawato et al. is that compensation of robot dynamics uncertainties is done outside the control loop by modifying the desired input trajectory. By using different NN training signals, two NN control algorithms are developed. One is comparable to that in the FEL technique and the another involves the Jacobian of the PD controlled robot dynamic system. Performances of both controllers with different trajectories and PD controller gains are examined and compared with that of the FEL controller. It is shown that the new control technique is superior.

关键词： Neural networks Manipulators Robot control PD control Robot kinematics Uncertainty Control systems Motion control Trajectory Nonlinear control systems

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On reference trajectory modification approach for Cartesian space neural network control of robot manipulators

On reference trajectory modification approach for Cartesian ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance when the same NN compensator is applied at different locations in the controller. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying joint torque/force. To facilitate the analysis, a new NN training signal is introduced. The study is extended to non-model based Cartesian control problem. Simulation results are also presented.

关键词： Neural networks Uncertainty computer networks Robot control Degradation Orbital robotics System performance Control systems Torque Signal analysis

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On neural network application to robust impedance control of robot manipulators

On neural network application to robust impedance control of...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

Performance of impedance controller for robot force tracking is affected by the uncertainties in the robot model and environment stiffness. The purpose of the paper is to improve the controller robustness by applying the neural network technique to compensate for the uncertainties in the robot model. A novel error signal is proposed for the neural network training. In addition, an algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. Simulations show that highly robust position/force tracking by a three degrees-of-freedom robot can be achieved under large uncertainties.

关键词： Neural networks Robust control Impedance Robot control Force control Uncertainty Manipulator dynamics Robot sensing systems Orbital robotics robotics and automation

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

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IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

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Tactical route planning: new algorithms for decomposing the map

Tactical route planning: new algorithms for decomposing the ...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： J. Benton S.S. Iyengar W. Deng N. Brener V.S. Subrahmanian Simulation and Visualization Laboratory U.S. Army Topographic Engineering Center Alexandria VA USA Department of Computer Science & Robotics Research Laboratory Louisiana State University Baton Rouge LA USA Department of Computer Science & Institute for Advanced Computer Studies University of Maryland College Park MD USA

The paper defines a new approach and investigates a fundamental problem in route planners. This capability is important for robotic vehicles (Martian Rovers, etc.) and for planning off road military manoeuvres. The emphasis throughout the paper is on the design and analysis and hierarchical implementation of our route planner. The work was motivated by anticipation of the need to search a grid of a trillion points for optimum routes. This cannot be done simply by scaling upward from the algorithms used to search a grid of 10,000 points. Algorithms sufficient for the small grid are totally inadequate for the large grid. Soon, the challenge will be to compute off road routes more then 100 km long and with a one or two meter grid. Previous efforts are reviewed and the data structures, decomposition methods and search algorithms are analyzed and limitations are discussed. A detailed discussion of a hierarchical implementation is provided and the experimental results are analyzed. The principal contributions of the paper are: new algorithms for decomposing the map and new search methods; analysis of new approaches; and the use of expert systems, deductive databases and mediators. Experimental results are included of a detailed implementation.

关键词： Roads Vehicles computer science Laboratories Robots Military computing Algorithm design and analysis Constraint optimization Computational modeling computer simulation

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A robotic system to locate hazardous chemical leaks

A robotic system to locate hazardous chemical leaks

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell D. Thiel R. Deveza A. Mackay-Sim Intelligent Robotics Research Centre Department of Electrical&Computer Systems Engineering Monash University Clavton VIC Australia School of Microelectronic Engineering Griffith University Brisbane QLD Australia School of Science Griffith University Brisbane QLD Australia

Tracing leaks of airborne radioactive, poisonous or flammable materials is a potentially dangerous activity that could be undertaken by robotic systems. This paper describes a practical investigation of the possibility of developing simple, low cost, autonomous robots to perform this task. It is envisaged that these robots would be used in large numbers. This would improve reliability through redundancy and provide large area coverage from a wide distribution of robots. Failure of a single unit would not jeopardise the overall sensing operation. Sensing and control techniques developed to perform leak location in a simplified laboratory environment are described and experimental results are presented.

关键词： Chemical hazards Robot sensing systems Mobile robots Chemical sensors Wheels Intelligent robots Chemical technology Orbital robotics Computational geometry Vehicles

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Adaptive visual tracking algorithm and real-time implementation

Adaptive visual tracking algorithm and real-time implementat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Colmputer Engineerirrg Department University of Tennessee Knoxville TN USA University of Tennessee Knoxville Knoxville TN US Dept. of Electr. & Comput. Eng. Tennessee Univ. Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The minimum noise and correlation energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 Hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation.

关键词： Target tracking Cameras Robot vision systems Filters Visual servoing Image motion analysis computer vision Laboratories Power engineering and energy Pipelines

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SIMULATION AND ANIMATION OF SENSOR-DRIVEN ROBOTS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1994年第5期10卷 684-704页

作者： CHEN, CX TRIVEDI, MM BIDLACK, CR Computer Vision and Robotics Research Laboratory the Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

关键词： Animation Robot sensing systems robotics and automation Visualization Robot programming Software safety Computational modeling computer simulation Automatic programming Software systems

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