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A new neural network control technique for robot manipulators

A new neural network control technique for robot manipulator...

引用

American Control Conference (ACC)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the effects of the uncertainties. The proposed NN control approach is conceptually different in that it is aimed at prefiltering the desired joint trajectories before they are used to command the computed-torque-controlled robot system (the plant) to counteract performance degradation due to plant uncertainties. In this framework, the NN controller serves as the inverse model of the plant, which can be trained online using joint tracking error. Several variations of this basic technique are introduced. Backpropagation training algorithms for the NN controller have been developed. Simulation results have demonstrated the excellent tracking performance of the proposed control technique.

关键词： Neural networks Robot control Manipulators Uncertainty Degradation Torque control Control systems Inverse problems Error correction Backpropagation

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New neural network control technique for non-model based robot manipulator control

New neural network control technique for non-model based rob...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

In this paper a new neural network (NN) control technique for non-model based PD control of robot manipulators are proposed. The main difference between the proposed technique and the existing feedback error learning (FEL) technique of Kawato et al. is that compensation of robot dynamics uncertainties is done outside the control loop by modifying the desired input trajectory. By using different NN training signals, two NN control algorithms are developed. One is comparable to that in the FEL technique and the another involves the Jacobian of the PD controlled robot dynamic system. Performances of both controllers with different trajectories and PD controller gains are examined and compared with that of the FEL controller. It is shown that the new control technique is superior.

关键词： Neural networks Manipulators Robot control PD control Robot kinematics Uncertainty Control systems Motion control Trajectory Nonlinear control systems

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On reference trajectory modification approach for Cartesian space neural network control of robot manipulators

On reference trajectory modification approach for Cartesian ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance when the same NN compensator is applied at different locations in the controller. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying joint torque/force. To facilitate the analysis, a new NN training signal is introduced. The study is extended to non-model based Cartesian control problem. Simulation results are also presented.

关键词： Neural networks Uncertainty computer networks Robot control Degradation Orbital robotics System performance Control systems Torque Signal analysis

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Categorical color projection for robot road following

Categorical color projection for robot road following

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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On neural network application to robust impedance control of robot manipulators

On neural network application to robust impedance control of...

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IEEE International Conference on robotics and automation (ICRA)

作者： S. Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

Performance of impedance controller for robot force tracking is affected by the uncertainties in the robot model and environment stiffness. The purpose of the paper is to improve the controller robustness by applying the neural network technique to compensate for the uncertainties in the robot model. A novel error signal is proposed for the neural network training. In addition, an algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. Simulations show that highly robust position/force tracking by a three degrees-of-freedom robot can be achieved under large uncertainties.

关键词： Neural networks Robust control Impedance Robot control Force control Uncertainty Manipulator dynamics Robot sensing systems Orbital robotics robotics and automation

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Resource requirements for field programmable interconnection chips

Resource requirements for field programmable interconnection...

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International Conference on VLSI Design

作者： D. Bhatia J. Haralambides Design Automation Laboratory Department of Electrical and Computer Engineering University of Cincinnati Cincinnati OH USA

In this paper we prove an /spl Omega/(n log n) lower bound on the number of edges of an n-permutation graph G=(V, E). The lower bound is applicable to and characterizes permutations for Field Programmable Interconnection Chips and, more importantly, permutation networks in general. We also propose a family of permutation networks as a variation of the known Benes network with a wide range of diameters, a network property directly related to routing delays. Finally, the relation between the total number of programmable switches and the routing delay (maximum length of routing paths for specific I/O permutations) is explored.

关键词： Switches Routing Pins Delay Joining processes Network topology Genetic mutations Very large scale integration computer architecture Design automation

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Task planning and project management using Petri nets

Task planning and project management using Petri nets

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Jongwook Kim A.A. Desrochers A.C. Sanderson Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representation. The Petri net controller maintains three plan representations. The reference, monitor and predictor Petri nets. These three nets are configured with the resource database to form a feedback loop such that the controller can monitor and control the project online. This structure is applicable to the control of more general discrete event dynamic systems as well as the project management problem. In case no admissible control action can be found, the manager turns to the rescheduling/replanning mode to generate a new plan and schedule.

关键词： Project management Petri nets Monitoring robotics and automation Costs Resource management Building materials Scheduling Visualization Roads

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Resource Requirements for Field Programmable Interconnection Chips

Resource Requirements for Field Programmable Interconnection...

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Proceedings of the 8th International Conference on VLSI Design

作者： Bhatia, Dinesh Hardambidest, James Design Automation Laboratory Department of Electrical and Computer Engineering University of Cincinnati ML - 0030 CincinnatiOH45221-0030 United States Department of Mathematics and Computer Science Barry University 11300 NE 2nd Avenue Miami ShoresFL33161-6695 United States

In this paper we prove an fl(n1og n) lower bound on the number of edges of an n-permutation gmph G = (V,E). The lower bound is applicable to and characterizes permutations for Field Progmmmable Interconnection Chips and, more importantly, permutation networks in geneml. We also propose a family of permutation networks as a variation of the known Bened network with a wide mnge of diameters, a network property directly related to routing delays. Finally, the relation between the total number of progmmmable switches and the routing delay (mazimum length of routing paths for specific 1/0 permutations) is explored. © 1995 IEEE computer Society. All rights reserved.

关键词： Integrated circuit interconnects

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Robot motion planning for sensor-based control with uncertainties

Robot motion planning for sensor-based control with uncertai...

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IEEE International Conference on robotics and automation (ICRA)

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

This paper describes a new representation for sensing and control uncertainties in sensor-based robot control, and presents motion planning algorithms that use this representation. The planning algorithms employ a robot's sensing capabilities as needed to accomplish a task, by activating sensors at points or intervals during motion. A sensor is represented by three quantities: a domain, which is the set of robot configurations at which a valid measurement can be taken; an absolute sensing uncertainty held, which describes the sensor's absolute (global) accuracy; and an incremental motion uncertainty, which describes the sensor's relative (pertaining to displacements) accuracy. Control uncertainty represents the ability of a controller to drive the measured error near zero. These descriptions of sensing and control capability determine the evolution of uncertainty in a sensor-based motion plan. Two complementary algorithms for motion planning with the new representation are presented. One is a backprojection algorithm which searches globally (in configuration space and the available sensors) for ways to achieve a particular subgoal. The other searches locally (in path space) to satisfy all the constraints in a planning problem. Examples of uncertainty evaluation and motion planning in two degrees of freedom are presented.

关键词： Robot motion Motion planning Motion control Uncertainty Robot sensing systems Robot control Sensor phenomena and characterization Displacement measurement Motion measurement Error correction

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