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Planning motion of manipulators with local manipulability optimization

Lecture Notes in control and Information Sciences 2012年 422卷 365-375页

作者： Dulȩbe, Ignacy Karcz-Dulȩba, Iwona Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

An original algorithm of locally optimal (w.r.t. the manipulability criterion) motion planning for manipulators is presented. It takes advantage of the Singular Value Decomposition algorithm to decompose the Jacobian matrix of a manipulator and to transform a local motion planning problem into a task of finding a tangent point of a given manipulability ellipsoid with a family of spheres. This task supported by an analytic geometry technique generates one-dimensional optimization task. Its solution determines a short term motion at a current configuration. Performance of the algorithm was illustrated on a 3D planar pendulum manipulator. © 2012 Springer London.

关键词： Motion planning

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Task-priority motion planning of wheeled mobile robots subject to slipping

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Lecture Notes in control and Information Sciences 2012年 422卷 75-85页

作者： Zadarnowska, Katarzyna Ratajczak, Adam Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

Wheeled mobile robots are most often assumed to be capable of rolling without slipping, and modeled as nonholonomic systems [3, 7, 19]. Such an assumption is far from realistic in practice. Since friction is the major mechanism for generating forces acting on the vehicle's wheels, the problem of modeling and predicting tire friction has always been an area of intense research in the automotive industry [4, 13, 17]. Modeling friction forces exerted at the wheels has been used for various studies [1, 2, 10, 15]. © 2012 Springer London.

关键词： Mobile robots

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Robust control of differentially driven mobile platforms

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Lecture Notes in control and Information Sciences 2012年 422卷 53-64页

作者： Mazur, Alicja Cholewiński, Mateusz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

Wheeled mobile platforms constitute an important group of robotic objects. They can be treated as independent robots or as a transportation part of a composite robotic assembly, for instance mobile manipulators. Depending on the kind of the wheels and the way in which they are fixed to the cart, motion of wheeled mobile platforms can be realized with or without slippage phenomenon. If no slippage effect between the wheels and the surface occurs, then there exists some equation describing forbidden directions of realized velocities of the system. Such a relationship is called the nonholonomic constraint in the platform's motion. © 2012 Springer London.

关键词： Wheels

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Optimal extended Jacobian inverse kinematics algorithm with application to attitude control of robotic manipulators

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Lecture Notes in control and Information Sciences 2012年 422卷 237-246页

作者： Karpińska, Joanna Tchoń, Krzysztof Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

We study the approximation problem of Jacobian inverse kinematics algorithms for robotic manipulators. A novel variational formulation of the problem is explored in the context of the optimal approximation of the Jacobian pseudo inverse algorithm by the extended Jacobian algorithm for the coordinate-free definition of the manipulator's kinematics. The attitude control problem of a robotic manipulator is solved as an illustration of the approach. © 2012 Springer London.

关键词： Attitude control

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Approach to methods of network services exploitation

Advances in Intelligent and Soft Computing

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Advances in Intelligent and Soft Computing 2012年 170 AISC卷 165-178页

作者： Nowak, Katarzyna Mazurkiewicz, Jacek Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9783642306617

The chapter is focused on the methods of network services exploitation. The approach is based on two streams of data: dependability factors and the features defined by the type of business service realized. The dependability means the combination of the reliability and functional parameters of the network. We try to analyze two types of sophisticated systems: discrete transport systems and the computer networks. The proposed method is based on modeling and simulating of the system behavior. This way it is possible to operate with large and complex networks described by various-not only classic-distributions and set of parameters. The results are converted to the unified system description and generic model. The model can be used as a source to create different measures-also for the economic quality of the network systems. The presented problem is practically essential for defining and organization of network services exploitation. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Complex networks

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Practical efficiency evaluation of a nilpotent approximation for driftless nonholonomic systems

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Lecture Notes in control and Information Sciences 2012年 422卷 283-292页

作者： Dulȩba, Ignacy Jagodziński, Jacek Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

While planning motion of any system, it is desirable to have a reliable and possibly analytic method to perform the task. Usually the analytic (or almost analytic) methods are not offered for general systems but are available for their special subclasses (flat, nilpotent, in a chain form). Therefore a quite impressive amount of work has been done towards transforming a given system into its easy-to-control equivalent. The transformations are usually local, i.e. valid in an open neighborhood of a given configuration. From a practical point of view, it is important not only to know whether such a local transformation exists but also how large the neighborhood is and what kind of equivalence between the original and the transformed systems is obtained. © 2012 Springer London.

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Motion planning of nonholonomic systems - Nondeterministic endogenous configuration space approach

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Lecture Notes in control and Information Sciences 2012年 422卷 305-315页

作者： Janiak, Mariusz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

This paper presents a new nondeterministic motion planning algorithm for nonholonomic systems. Such systems are represented by a driftless control system with outputs. The presented approach combines two different methods: the endogenous configuration space approach and the Particle Filters. The former, fully deterministic, was originally dedicated to the motion planning problem for mobile manipulators. The latter, of stochastic approach, was designed for solving optimal estimation problems in non-linear non-Gaussian systems. A mixture of these methods results in a nondeterministic endogenous configuration space approach that outperforms the traditional one in regions where the classical inverse Jacobian algorithm loses convergence. In accordance with the Particle Filters approach the new algorithm consists of three major steps: prediction, update, and resampling. In contrast to its original version, the presented algorithm contains an additional step of dividing the particles into different subsets. Each subset is processed in a different way during the prediction phase. The performance of the new algorithm is illustrated by solving the motion planning problem for a rolling ball. © 2012 Springer London.

关键词： Motion planning

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Mixed parametric-nonparametric identification of Hammerstein and Wiener systems - a survey 1

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IFAC Proceedings Volumes 2012年第16期45卷 464-469页

作者： Zygmunt Hasiewicz Grzegorz Mzyk Przemyslaw Śliwiński Paweł Wachel Institute of Computer Engineering Control and Robotics Wrocław University of Technology 50-370 Wrocław Poland phone: +48 71 320 32 77

The paper surveys the ideas of cooperation between parametric and nonparametric (kernel-based) algorithms of nonlinear block-oriented system identification. Various strategies are proposed, dependently on the system structure, number of data and the prior knowledge. The estimates are consistent and their rates of convergence are presented. The aim of the paper is to show some recent results in the field in a systematic, ordered way.

关键词： Hammerstein system Wiener system nonparametric identification kernel estimate least squares instrumental variables semiparametric methods recursive algoritms

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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CP-driven modelling for multi-modal cyclic transport systems

CP-driven modelling for multi-modal cyclic transport systems

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Bocewicz, G. Wójcik, R. Banaszak, Z. Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

ISBN: (纸本)9783902661982

This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model. © 2012 IFAC.

关键词： Travel time

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