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Visual Based Control Scheme for a Robotic Manipulator with Duality of Task-space Information and Friction Compensation

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Procedia computer Science 2014年 42卷 279-286页

作者： Zool H. Ismail Ahmad A’.M. Faudzi Matthew W. Dunnigan Centre for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi MalaysiaJalan Semarak 54100 Kuala Lumpur Malaysia Department of Electrical Electronics and Computer EngineeringSchool of Engineering and Physical SciencesHeriot-Watt University EH14 4AS UK

This paper presents a new control technique for a robot manipulator with dual task-space information and friction compensation. The control scheme allows the end effector to transit smoothly from Cartesian-space feedback to vision-space feedback when the target is inside the vicinity of the camera. An adaptive term is integrated into the proposed controller to compensate the uncertainty associated with parameters in the friction model, including the Stribeck effect. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed control law for robot manipulator.

关键词： adaptive control region control visual control robot manipulator

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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Declarative Approach to AGVS Modeling and Cyclic Scheduling

Declarative Approach to AGVS Modeling and Cyclic Scheduling

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2013 4th International Conference on Information Technology for Manufacturing Systems(ITMS 2013)

作者： Bocewicz Grzegorz Muszyński Wojciech Banaszak Zbigniew Dept. of Electronics and Computer Science Koszalin University of Technology Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Dept. of Business informatics Warsaw University of Technology

The paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System(FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems(AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. The AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems(CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. The paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling.

关键词： Discrete event simulation DEVS Environmental science Decision support systems

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1D representations and systems theory for a class of 2D linear systems 4

1D representations and systems theory for a class of 2D line...

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4th European Control Conference, ECC 1997

作者： Galkowski, K. Rogers, E. Owens, D.H. Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland ISIS Group Dept. Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom School of Engineering University of Exeter North Park Road ExeterEX4 4QF United Kingdom

ISBN: (纸本)9783952426906

Repetitive, or multipass, processes are a class of systems characterised by a series of sweeps through a set of dynamics defined over a finite fixed duration. The class of so-called discrete linear repetitive processes have strong structural links with well studied classes of 2D linear systems and also with standard (1D) linear systems. One possible approach to the (control related) analysis of these processes is to embed their basic 2D structure in a 1D representation. This paper develops such a representation and uses it to characterise the key systems theoretic property of controllability for this class of linear repetitive processes.

关键词： Linear systems

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Lyapunov stability theory for linear repetitive processes - The 1D equation approach

Lyapunov stability theory for linear repetitive processes - ...

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1999 European Control Conference, ECC 1999

作者： Rogers, E. Gramacki, J. Gramacki, A. Galkowski, K. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper reports further development of the so-called ID Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of 'transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted. © 1999 EUCA.

关键词： Linear systems

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A Comparison of Approximate Analytic and Neural Network Solutions for Effective Mass Schrodinger Equation With Yukawa's Potential 2

A Comparison of Approximate Analytic and Neural Network Solu...

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2nd IEEE International Conference on Artificial Intelligence in Everything, AIE 2022

作者： Fotso Kamsu, Brigitte Vubangsi, Mercel Tchoffo, M. Al-Turjman, Fadi University of Dschang Condensed Matter Electronics and Signal Processing Research Unit Department of Physics Faculty of Science Cameroon Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Nicosia Turkey University of Bamenda Nwr Computational Materials Science Lab Department of Computer Science Htttc Bambili Cameroon University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Cyprus

ISBN: (数字)9781665474009

ISBN: (纸本)9781665474009

We model a compositionally graded heterostructure using the effective mass approach with a screened Coulomb potential. Approximate analytical solutions to the model are compared with a Neural Network output and good agreement is achieved, paving the way for Artificial Intelligence modeling of systems with graded composition. © 2022 IEEE.

关键词： Grading

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Self-folded soft robotic structures with controllable joints

Self-folded soft robotic structures with controllable joints

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Sung, Cynthia Lin, Rhea Miyashita, Shuhei Yim, Sehyuk Kim, Sangbae Rus, Daniela The Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology CambridgeMA United States The Department of Electronics University of York York United Kingdom Robotics and Media Institute Korea Institute of Science and Technology Seoul Korea Republic of The Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA United States

ISBN: (纸本)9781509046348

This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly focused on rigid objects or objects that can achieve small deformations. In contrast, soft robots often require elastic materials and large amounts of movement. Additive self-folding is a process that involves cutting slices of a 3-D object in a long strip and then pleat folding them into a likeness of the original model. The zigzag pattern for folding enables large bending movements that can be actuated and controlled. Gaps between slices in the folded model can be designed to provide larger deformations or higher shape accuracy. We advance existing planar fabrication and self-folding techniques to automate the fabrication process, enabling highly compliant structures with complex 3-D geometries to be designed and fabricated within a few hours. We describe this process in this paper and provide algorithms for converting 3-D meshes into additive self-folding designs. The designs can be rapidly instrumented for global control using magnetic fields or tendon-driven for local bending. We also describe how the resulting structures can be modeled and their responses to tendon-driven control predicted. We test our design and fabrication methods on three models (a bunny, a tuna fish, and a starfish) and demonstrate the method’s potential for actuation by actuating the tuna fish and starfish models using tendons and magnetic control. © 2017 IEEE.

关键词： Fabrication

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Design and Implementation of IoT Enabled Smart Assistive Systems for Healthcare Applications 2

Design and Implementation of IoT Enabled Smart Assistive Sys...

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2nd IEEE Global Conference on Communications and Information Technologies, GCCIT 2024

作者： Dankan Gowda, V. Srinivas, D. Srinivas, Rachakonda Ingole, Balaji Shesharao Jadhav, Priya Dongare Prasad, K.D.V. Bms Institute of Technology and Management Department of Electronics and Communication Engineering Karnataka Bangalore India Sr University School of Business Telangana Warangal506371 India Aditya Institute of Technology and Management Department of Computer Science & Engineering Tekkali Andhra Pradesh Srikakulam India GA United States Department of Robotics and Automation Maharashtra Pune412115 India Symbiosis Institute of Business Management Hyderabad India Pune India

ISBN: (纸本)9798350388916

The use of IoT technology in healthcare systems has been adopted in patient monitoring because IoT technology has been adopted rapidly in the systems. This paper discusses on design and implementation of an IoT integrated smart assistive health care system to enhance the precision and speed of patient health assessment. In the proposed system, wearable sensors are used to capture respiratory rate, pulse rate, blood pressure, oxygen saturation, and body temperature with data to be sent to the cloud server as and when it is received. Some of the features are, however, small data transmission delays, high accuracy in the physiological signals and long durations of monitoring due to the low power consumption. The simulations showed that the response time falls below 500ms, and physicians retain up to a 2 % variance to clinical grade devices, which actualized robust and effective patient care. The incorporation of predicting capacities, thus providing ways of early identification of health complications, makes the system applicable in chronic disease treatments and telemedicine. © 2024 IEEE.

关键词： Blood pressure

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Cooperative Intelligence for Autonomous Driving

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ZTE Communications 2019年第2期17卷 44-50页

作者： CHENG Xiang DUAN Dongliang YANG Liuqing ZHENG Nanning State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer SciencePeking UniversityBeijing 100871China Department of Electrical and Computer Engineering University of WyomingLaramieWY 82071USA Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsCO 80523USA Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’anShaanxi 710049China

Autonomous driving is an emerging technology attracting interests from various sectors in recent *** of existing work treats autonomous vehicles as isolated individuals and has focused on developing separate intelligent *** this paper,we attempt to exploit the connectivity among vehicles and propose a systematic framework to develop autonomous driving *** first introduce a general hierarchical information fusion framework for cooperative sensing to obtain global situational awareness for *** this,a cooperative intelligence framework is proposed for autonomous driving *** general framework can guide the development of data collection,sharing and processing strategies to realize different intelligent functions in autonomous driving.

关键词： autonomous driving cooperative intelligence information fusion vehicular communications and networking

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Design and Implementation of Neuro-Fuzzy Control Approach for Robot's Trajectory Tracking 7

Design and Implementation of Neuro-Fuzzy Control Approach fo...

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7th International Conference on electronics, Communication and Aerospace Technology, ICECA 2023

作者： Kiruba Sandou, D. Sunad Kumara, A.N. Choudhary, Binod Kumar Gurpur, Shashikala Sarishma Natrayan, L. Sivaramkumar, M. Manakula Vinayagar Institute of Technology Department of Robotics and Automation Pondicherry605107 India BGS Institute of Technology Department of Computer Science and Engineering Adichunchanagiri University Karnataka Mandya571448 India ARKA Jain University Department of Electrical and Electronics Engineering Jharkhand Jamshedpur832108 India Maharashtra Pune411014 India Graphic Era Deemed to Be University Department of Management Studies Uttarakhand Dehradun India Saveetha School of Engineering SIMATS Department of Mechanical Engineering Tamilnadu Chennai602105 India Karpagam Academy of Higher Education Department of EEE Tamiinadu Coimbatore India

ISBN: (纸本)9798350340600

Achieving precise trajectory tracking while minimizing errors, reducing settling time, and curbing overshoot presents a significant challenge in the domain of robot-manipulator control. In response, this paper proposes a novel controller design for robot manipulators, incorporating two distinct approaches: a conventional fuzzy controller and an advanced Neuro-Fuzzy controller. These controllers are tailored to elevate trajectory tracking performance by simultaneously optimizing time characteristics in robot manipulator responses. To assess their efficacy, a range of test scenarios is devised, encompassing different trajectory types, including linear and nonlinear paths. Upon comparative analysis, the results highlight an intriguing contrast: while the fuzzy controller exhibits higher maximum overshoot and longer settling times in the robot's response, the Neuro-Fuzzy controller consistently demonstrates superior performance. The comprehensive error analysis such as Integral Square Error (ISE) and Integral Absolute Error (IAE) further underscores the capability of the Neuro-Fuzzy-based robot manipulator in delivering trajectory tracking precision. This study contributes to the advancement of trajectory control techniques for robot manipulators, paving the way for enhanced automation and performance across various applications. © 2023 IEEE.

关键词： Controllers

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