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IEEE International Conference on robotics and automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Systems Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Los Angeles Davis CA USA

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Optimal adaptive control of an LQG system

Optimal adaptive control of an LQG system

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IEEE Conference on Decision and Control

作者： M.C. Campi P.R. Kumar Department of Electrical Engineering and Automation University of Brescia Brescia Italy Department of Electrical and Computer Engineering and theCoordinated Science Laboratory University of Illinois Urbana IL USA

We consider the problem of adaptively controlling a linear system so as to minimize a long-term average quadratic cost criterion. It is well known that certainty equivalent controllers based on standard parameter estimators run into an identifiability problem which leads to a strictly suboptimal performance. In this contribution, a cost-biased parameter estimator is introduced to overcome this difficulty. The corresponding adaptive scheme is proven to be stable and optimal when the unknown system parameter lies in an infinite, yet compact, parameter set.

关键词： Adaptive control Cost function Parameter estimation Optimal control Control systems Linear systems Programmable control Symmetric matrices Maximum likelihood estimation State-space methods

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation computer aided manufacturing Orbital robotics Electrostatics Navigation

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Improved inference for Takagi-Sugeno models

Improved inference for Takagi-Sugeno models

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： R. Babuska C. Fantuzzi U. Kaymak H.B. Verbruggen Department of Electrical Engineering Control Laboratoiy Delft University of Technnology Delft Netherlands Laboratory of Automation and Robotics University of Bologna-DEIS Bologna Italy

Some undesirable properties of the standard Takagi-Sugeno (TS) inference method are discussed in relation to an analysis of the TS model and its approximation accuracy. A new inference method based on a smoothing maximum function is proposed. This method guarantees smoothness of the model output to a desired degree, boundedness of the output gradient at each point by the local gradients of the rule consequences and also improves the accuracy of the TS model, as demonstrated in the given numerical examples.

关键词： Takagi-Sugeno model Fuzzy sets Interpolation Vectors Artificial intelligence

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Nonlinear observer design using dynamic recurrent neural networks

Nonlinear observer design using dynamic recurrent neural net...

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IEEE Conference on Decision and Control

作者： Y.H. Kim F.L. Lewis C.T. Abdallah Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

A nonlinear observer for a general class of single-output nonlinear systems is proposed based on a generalized dynamic recurrent neural network (DRNN). The neural network (NN) weights in the observer are tuned online, with no off-line learning phase required. The observer stability and boundness of the state estimates and NN weights are proven. No exact knowledge of the nonlinear function in the observed system is required. Furthermore, no linearity with respect to the unknown system parameters is assumed. The proposed DRNN observer can be considered as a universal and reusable nonlinear observer because the same observer can be applied to any system in the class of nonlinear systems.

关键词： Recurrent neural networks Neural networks Observers Nonlinear systems State estimation Stability Erbium Chaos robotics and automation Linearity

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems Laboratories computer science Nanofabrication Uniform resource locators

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An object-oriented approach to video coding via the CNN Universal Machine

An object-oriented approach to video coding via the CNN Univ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： A. Toffels T. Roska L.O. Chua Inst. of Power Syst. & Power Econ. Tech. Hochschule Aachen Germany Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Nonlinear Electronics Laboratory at the Department of Electrical Engineering and Computer Science University of California Berkeley USA

The cellular neural network Universal Machine (CNNUM) is applied to object-oriented image compression algorithms and proves its universality as a hardware platform for future applications. The estimated processing times allow a real-time analysis of the video sequence and outdo the performance of other comparable digital devices reported.

关键词： Video coding Cellular neural networks Turing machines Image segmentation Labeling Image coding Power system economics Power engineering computing Video sequences Video compression

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Stability analysis of a robust PD control law for robot manipulators

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Journal of Field robotics 1996年第6期13卷

作者： T. C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 Intel Corporation 2200 Mission College Blvd. Santa Clara CA 95052

The purpose of this article is to examine the stability of a robust and decentralized PD control law for robot manipulator control. The control law, which was developed by the authors, has been shown experimentally to be extremely simple to implement and highly accurate for position and force tracking in the presence of robot model uncertainty and payload variation. However, stability analysis has been difficult due to the nonlinearity of robot dynamics and the use of time-delayed measurements of joint torques and joint accelerations in the control law. A rigorous stability analysis is presented in this article using Popov's hyperstability theory. A sufficient condition for global stability is obtained that supports previous theoretical and experimental results. © 1996 John Wiley & Sons, Inc.

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