检索结果-内蒙古大学图书馆

Two Adaptive Control Structures of Robot Manipulators

IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

来源：评论

学校读者我要写书评

暂无评论

Task-oriented dual-arm manipulability and its application to configuration optimization

Task-oriented dual-arm manipulability and its application to...

引用

IEEE Conference on Decision and Control

作者： S. Lee J.M. Lee Department of Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.< >

关键词： Motion control Kinematics Arm Force control Ellipsoids Intelligent robots Master-slave Optimal control Jacobian matrices Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

The design of an assembly cell task supervisor

The design of an assembly cell task supervisor

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified, three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design of the supervisor is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. Using concepts from operating systems, the design of each of these supervisor blocks is examined.< >

关键词： Robotic assembly Assembly systems robotics and automation Manipulators Robot sensing systems Resource management Robot kinematics Sensor systems Job shop scheduling Robot programming

来源：评论

学校读者我要写书评

暂无评论

Analytic formulation of intelligent machines as neural nets

Analytic formulation of intelligent machines as neural nets

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： G.N. Saridis M.C. Moed Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The design of the organization level of the intelligent machine as a Boltzmann machine, as described in current neural network literature, is discussed. Since this level is responsible for planning the actions of the machine, the problem at this tier is formulated as the construction of the right sequence of tasks or events which minimizes the entropy for the desired action. Two search techniques, simulated annealing (SA) and expanding subinterval random search (ESRS), are described. These techniques are used to find the global minimum entropy of a Boltzmann machine. Simulations using these search techniques were conducted using energy as a cost function, and results indicate that ESRS converges faster than SA to a global minimum if the topology contains narrow and deep cost wells.< >

关键词： Machine intelligence Neural networks Intelligent robots Intelligent control Learning systems Artificial intelligence Entropy Control systems Humans Intelligent structures

来源：评论

学校读者我要写书评

暂无评论

An online supervisor for robotic tasks

An online supervisor for robotic tasks

引用

International Conference on Computer Integrated Manufacturing

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. The overall function of the supervisor is examined in relation to the other levels of the hierarchical system. The theoretical design of each module of the supervisor is presented and a sample assembly is executed under the supervisor's control.< >

关键词： Robotic assembly Robot sensing systems Robot kinematics Assembly systems Manipulators Sensor systems Resource management Concurrent computing Hierarchical systems Communication system control

来源：评论

学校读者我要写书评

暂无评论

Control of a 5-link biped robot for steady walking

Control of a 5-link biped robot for steady walking

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： T.-T. Lee P.L. Jeng W.A. Gruver Center for Robotics and Manufacturing Systems and Department of Electrical Engineering University of Kentucky Lexington KY USA Institute of Control Engineering National Chiao Tung University Hsinchu Taiwan

Trajectory planning methods and control algorithms for biped robot steady walking are discussed. The model following plus variable structure systems technique is developed for the control of dynamic walking in the sagittal plane. The nonlinear feedback plus modified alpha -computed torque technique is introduced for walking in the frontal plane. simulation results are provided for level walking and ascending on staircases for a five-link biped robot. These results indicate that the proposed algorithms could achieve robust trajectory tracking even in the presence of system modeling errors. Specifically, simulation results show that, even in the presence of disturbances, gait stability can be achieved within two steps after the start of walking. In addition, the biped robot can walk with prespecified patterns.< >

关键词： Legged locomotion Trajectory Leg Torso Polynomials Equations Robots Carbon capture and storage Boundary conditions Interpolation

来源：评论

学校读者我要写书评

暂无评论

Automatic construction of assembly partial-order graphs

Automatic construction of assembly partial-order graphs

引用

International Conference on Computer Integrated Manufacturing

作者： S. Lee Y.G. Shin Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department University of Southern California Los Angeles CA USA

A system is presented which automatically constructs an assembly partial-order graph from an object-oriented model describing parts and their connections. The construction is based on the principle of assembly by disassembly and on assembly heuristics representing criteria for preferred subassemblies. The system first identifies disassemblable parts and subassemblies by reasoning geometric and physical constraints as well as resource requirements, and then assigns preference to the identified disassembly options based on assembly heuristics. The recursive application of this process to the selected disassemblies results in a hierarchical partial-order graph (HPOG). The HPOG not only specifies the required precedence in part assembly but also provides parallelism for implementing multiple-robot distributed and cooperative assembly. The software is organized under the cooperative-problem-solving paradigm.< >

关键词： Robotic assembly Assembly systems robotics and automation Process planning Job shop scheduling Robot sensing systems Intelligent robots Throughput Parallel robots Motion planning

来源：评论

学校读者我要写书评

暂无评论

Learning expert systems for robot fine motion control

Learning expert systems for robot fine motion control

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems Intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

来源：评论

学校读者我要写书评

暂无评论

Minimization of energy in quasistatic manipulation

Minimization of energy in quasistatic manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Peshkin A.C. Sanderson Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Northwestern University Evanston IL USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Quasistatic mechanical systems, in which mass or acceleration is sufficiently small for the inertial term ma in F=ma to be negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. An intuitive minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or 'easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false; but it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system.< >

关键词： Friction Robots Mechanical systems Motion analysis Shape Credit cards Fingers Acceleration Energy dissipation Energy loss

来源：评论

学校读者我要写书评

暂无评论

Optimal Safe Path For Robots

Optimal Safe Path For Robots

引用

IEEE International Workshop on Intelligent Robots

作者： Tsu-tian Lee B.K. Lee T.K. Chen Department of Electrical Engineering and Also with Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Institute of Electronics National Chiao Tung University Hsinchu Taiwan

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：