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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

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Identification of robot manipulators using neural networks and genetic programming

Identification of robot manipulators using neural networks a...

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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

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An Adaptive PI control System for an Omnidirectional Mobile Robot

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Journal of Robotics and Mechatronics 1999年第5期11卷 349-355页

作者： Sato, Kazuya Watanabe, Keigo Izumi, Kiyotaka Watanabe, Makoto Department of Advanced Systems and Control Engineering Graduate School of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Telecommunication System Engineering Information Technology Division Nitsuko Corporation 2-6-1 Kitamigata Takatsu-ku Kawasaki210 Japan

Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be reacĳusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method. © 1999, Fuji Technology Press. All rights reserved.

关键词： Mobile robots

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Signal separation of background EEG and spike by using morphological filter

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IFAC Proceedings Volumes 1999年第2期32卷 4301-4306页

作者： Shigeto Nishida Masatoshi Nakamura Akio Ikeda Hiroshi Shibasaki Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka 811-0295 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan Department of Brain Pathophysiology Kyoto University Faculty of Medicine Kyoto 606-8507 Japan

A signal separation method for extracting background electroencephalogram (EEG) from EEG containing spikes was proposed. Morphological filters were designed for extracting spike waveforms, and then the background EEG was obtained by subtracting the detected spike waveforms from the EEG with spike . The proposed method was evaluated by using simulated EEG data, which consisted of a summation of EEG without spike and model waveform of typical spike. The background EEG separated by the method was processed by the automatic background EEG interpretation.

关键词： Signal separation Background EEG Spike Morphological filter Automatic EEG interpretation

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Fuzzy-neuro position/force control of robot manipulators-two-stage adaptation approach

Fuzzy-neuro position/force control of robot manipulators-two...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

Position/force control is one of the most important and fundamental tasks of robot manipulators. Since the desired position and force required to perform certain tasks are usually designated in the operational space, the control force vector should be given to the end-effector in the operational space. However, friction of each joint of a robot manipulator impedes control accuracy. Therefore, friction should be effectively compensated for in order to realize precise control of robot manipulators. The fuzzy-neuro approach, a combination of fuzzy reasoning and neural networks, has been playing an important role in the control of robots. Applying the fuzzy-neuro approach, learning/adaptation ability and human knowledge can be incorporated into a robot controller. We propose an effective robot manipulator fuzzy-neuro position/force control method in which joint friction is effectively compensated for using adaptive friction models. The effectiveness of the proposed control method was evaluated by experiments.

关键词： Force control Orbital robotics Manipulators Friction Robot control Impedance Fuzzy reasoning Neural networks Humans Programmable control

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Robot manipulator control with soft computing - application of adaptive friction models

Robot manipulator control with soft computing - application ...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

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

The resolved acceleration control method is one of the most effective and fundamental control methods for robot manipulators. However, friction of each joint of a manipulator impedes control accuracy. Therefore, friction has to be effectively compensated for in order to realize precise control of robot manipulators. Recently, soft computing, such as fuzzy reasoning, neural networks, and genetic algorithms, have been playing an important role in the control of robots. Applying soft computing, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose an effective robot manipulator fuzzy-neuro control method based on the resolved acceleration control method in which joint friction is effectively compensated for using adaptive friction models.

关键词： Manipulators Robot control Computer applications Friction Acceleration Impedance Computer networks Fuzzy reasoning Neural networks Genetic algorithms

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Two-stage adaptation of a position/force robot controller application of soft computing techniques

Two-stage adaptation of a position/force robot controller ap...

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International Conference on Knowledge-Based Intelligent Information engineering systems (KES)

作者： L. Kiguchi K. Watanabe K. Izumi T. Fukuda Department of Advance Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Center for Cooperative Research in Advanced Science and Tech University of Nagoya Nagoya Japan

Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithms) have played an important role in the control of robots. By applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamics of the environment are compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.

关键词： Force control Robot control Orbital robotics Friction Manipulator dynamics Computer networks Fuzzy reasoning Neural networks Genetic algorithms Humans

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A study on speed control law for automated driving of heavy-duty vehicles considering acceleration characteristics (simulation of transient responses)

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JSAE Review 1999年第3期20卷 331-336页

作者： Shinjiro Endo Hiroshi Ukawa Kazushi Sanada Ato Kitagawa Isuzu Motors Ltd. ITS Planning Department 8 Tsuchidana Fujisawa-shi Kanagawa 252-8501 Japan Department of Mechanical Engineering and Materials Science Faculty of Engineering Yokohama National University 79-5 Tokiwa-dai Hodogaya-ku Yokohama-shi Kanagawa 240-8501 Japan Department of Control and Systems Engineering Faculty of Engineering Tokyo Institute of Technology 2-12-1 Ohokayama Meguro-ku Tokyo 152-8552 Japan

In order to develop a proper speed control technique for automated driving of heavy-duty vehicles, in the situation of mixed traffic of heavy-duty vehicles and passengers cars, a simulation study is carried out considering the transient characteristics of heavy-duty vehicles in acceleration and deceleration. The control performance is observed and some problems to be solved are listed as follows: (1) to check control performance for time-dependent target speed and distance (2) to improve the control algorithms to suppress chattering of the acceleration.

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Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

Physical interaction between human and a bipedal humanoid ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.A. Setiawan J. Yamaguchi Sang Ho Hyon A. Takanishi Dept. of Mech. Eng. Waseda Univ. Tokyo Japan Humanoid Research Laboratory Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (Waseda bipedal humanoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we present a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot is able to perform dynamic stepping and walking forward and backward in a continuous time while someone is pushing or pulling its hand. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

关键词： Humans Humanoid robots Legged locomotion Motion control Space technology Workability Trajectory Motion planning Equations Mechanical engineering

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An application of the cutting technology on biomechanics for vegetative tissue processing

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IFAC Proceedings Volumes 1999年第2期32卷 5742-5746页

作者： Yoshifumi Nishiura Haruhiko Murase Lab. of Bioinstrumentation Control and Systems Engineering Department of Regional Environmental Science Faculty of Agriculture University of Osaka Prefecture 1-1 Gakuen-cho Sakai Osaka 599-8531 Fax +81-722-54-9918 JAPAN

A technique for the mechanical processing of living vegetative tissue such as peeling and cutting of fruits and vegetables with the minimum damage to the processed tissue was investigated. The performance of a high frequency vibrating blade in the cutting of living vegetative tissue was examined. It was found that the high frequency vibrating blade can reduce the damage to the processed tissue significantly in comparison to a still blade. Two different frequencies (40 kHz with 0.03 mm amp. and 115 Hz with 3 mm amp.) were tested. The higher frequency gave better results in both processing time and cutting quality in terms of unwanted cell damage. A direct application of this cutting technology for vegetative tissue processing has been made during the development of a new grafting robot system.

关键词： Biomaterials Biomechanics Biomodeling Cutting technology Frequency control

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