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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Advances in Telerobotics 1

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丛书名： Springer Tracts in Advanced robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collaborations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： control, robotics, Mechatronics Artificial Intelligence Systems Theory, control

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The Tinyphoon's control concept

The Tinyphoon's control concept

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2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entails new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75x75x150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Approximation and Optimization of L1-norm for Continuous-Time Linear Systems

Approximation and Optimization of L1-norm for Continuous-Tim...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xiajiao Wang Jun Wu Weihua Xu Sheng Chen Xiaoliang Wang National Laboratory of Industrial Control Technology Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK Department of Electronics College of Information Science and Technology Jinan University Guangzhou China

A method is derived to approximate the L 1 -norm of continuous-time linear time-invariant systems. The optimization problem is then formulated to design fixed-order L 1 -controller. The method of approach and simulate... 详细信息

关键词： Linear systems Industrial electronics Simulated annealing Laboratories Industrial control process control Educational institutions Information science Design optimization control system synthesis

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Modeling and control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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The Tinyphoon's control Concept

The Tinyphoon's Control Concept

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International Conference on Mechatronics (ICM)

作者： Gregor Novak Charlotte Roesener Markus Bader Tobias Deutsch Stefan Jakubek Stefan Krywult Martin Seyr Institute of Computer Technology University of Technology Vienna Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic University of Technology Vienna Vienna Austria

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control

关键词： Service robots Motion control robotics and automation Automatic control Mobile robots control systems Electrical equipment industry Robot sensing systems Mobile computing Robotic assembly

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Low-Level Finger Coordination for Compliant Anthropomorphic Robot Grippers

Low-Level Finger Coordination for Compliant Anthropomorphic ...

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IEEE Conference on Decision and control

作者： A. Lehmann R. Mikut D. Osswald Institute of Applied Computer Science Forschungszentrum Karlsruhe GmbH (FZK) Germany Institute for Process Control and Robotics University of Karlsruhe Germany

The execution of a grasp process with an anthropomorphic multi-finger robot gripper has to base on an appropriate movement planning and an accurate low-level control strategy. Stability problems may arise, if there is a deviation, e.g. through position, orientation and/or size perturbation of the object, between planned and real executable movement patterns. One opportunity to react to such perturbations is the use of visual information. But if the there is no visual system available or even the object is concealed, e.g. through the robot gripper, the robot arm or another object, then the use of a visual system is insufficient. For this reason a low-level finger coordination depending on the actual state of the grasp (grasp phase) is presented. With this concept it is possible to coordinate the grasp on the level of the low-level controller and therefore to improve the grasp performance.

关键词： Fingers Anthropomorphism Robot kinematics Grippers Visual system Strategic planning Motion planning Humans computer science Object detection

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Parameter estimation for Choquet fuzzy integral based on Takagi–Sugeno fuzzy model

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Information Fusion 2005年第2期6卷 175-182页

作者： Shihong Yue Ping Li Zongxian Yin Institute of Industrial Process Control Zhejiang University HangZhou 310027 China Department of Computer Science and Information National Cheng Kung University Tainan 70101 Taiwan

Currently, both Choquet fuzzy integral and Takagi–Sugeno fuzzy models are popular synthetic evaluation and fuzzy modeling tools. In this paper, we prove that Choquet fuzzy integral is a special version of Takagi–Suguno fuzzy model in the sense of structure, thus the learning algorithm of the latter is used to develop a parameter estimation procedure for the former. The parameter estimation procedure actually is performed in each ordinal subspace of input space, in which all input data have unique ordering of components. The proposed approach in this paper has been proven to possess better performance than the existing ones by not only theoretical analysis but also experiments.

关键词： Synthetic evaluation Fuzzy integral Takagi–Sugeno fuzzy model

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories computer science

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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