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检索条件"机构=Laboratory for Robotics and Engineering Systems"

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control Intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements

On-line trajectory planning for autonomous robotic excavatio...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Fei-Yue Wang P.J.A. Lever Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Advanced Mining Systems Laboratory Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA

This paper describes the authors' initial investigation into on-line trajectory planning for autonomous robotic excavation. A dynamic model for arm/environment interaction is proposed. Excavation trajectories are generated using a trapezoidal velocity profile under the maximum force/torque constraints. A scheme for real-time identification of dynamic arm/environment interaction parameters is implemented with a first-order algorithm of Saridis-Stein stochastic approximation. The result of a simulation study is presented to illustrate the proposed trajectory planning approach.< >

关键词： Force measurement Trajectory Robot sensing systems Force sensors Torque measurement robotics and automation Humans Automatic control Fuzzy logic Control systems

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A fuzzy-behavior-based approach for controlling mining excavator bucket/rock interactions

A fuzzy-behavior-based approach for controlling mining excav...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： P.J.A. Lever Fei-Yue Wang Xiaobo Shi Deqian Chen Advanced Mining Systems Laboratory Mining and Geological Engineering Department University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

Successful control of an autonomous mining excavator requires sensor feedback from the excavation tool to control unpredictable tool/rock interactions. Conventional control approaches cannot deal effectively with uncertainties in the dynamic and unstructured mining environment. This paper presents a new intelligent control approach that utilizes fuzzy behaviors with fuzzy strategies to control bucket motions for autonomous excavation tasks. In this approach, the control system uses feedback from a bucket mounted force/torque sensor to control excavation motions by sensing and reacting to interactions with rock particles during excavation. A behaviour coordination configuration is developed to improve the controllers effectiveness in reaching its overall excavation goals. It uses fuzzy logic rules to adjust control system output variables and performs goal-driven behaviour selection. This technique is a first step towards realistic control of complex machine/environment interactions in difficult and unpredictable environments, where traditional control approaches are either impossible or computationally excessive. The discussion here focuses on: (a) development of a new control architecture; (b) the individual components of the architecture; and (c) experiments with a simulated excavator using a PUMA 560 robotic arm.< >

关键词： Motion control Control systems Intelligent sensors Fuzzy control Force control Torque control Force feedback Computer architecture Uncertainty Intelligent control

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Fuzzy, neural network, and genetic algorithm based control system

Fuzzy, neural network, and genetic algorithm based control s...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： T. Fukuda K. Shimojima T. Shibata Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Bio-Robotics Division Robotics Department Mechanical Engineering Laboratory M.I.T.I. Tsukuba Japan

This paper introduces a hierarchical control scheme based on a fuzzy, neural network, and a genetic algorithm for intelligent robotics. The scheme has three levels: learning level, skill level and adaptation level. The learning level manipulates symbols to reason logically for control strategies. The skill level produces control references along with the control strategies and sensory information on environments. The adaptation level controls robots and machines while adapting to their environments which include uncertainties. For these levels and to connect them, artificial intelligence, neural networks, fuzzy logic, and genetic algorithms are applied to the hierarchical control system while integrating and synthesizing themselves. To be intelligent, the hierarchical control system learns various experiences both in top-down manner and bottom-up manner. The hierarchical control scheme is effective for intelligent robotics and mechatronics.< >

关键词： Fuzzy control Fuzzy neural networks Fuzzy systems Neural networks Genetic algorithms Control systems Intelligent robots Artificial intelligence Intelligent sensors Learning systems

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Probability-based weighting of performance criteria for a redundant manipulator

Probability-based weighting of performance criteria for a re...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. McGhee T.F. Chan R.V. Dubey R.L. Kress Mechanical & Aerospace Engineering University of Tennessee Knoxville TN USA Robotics & Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

A method to simultaneously optimize multiple performance criteria for a redundant manipulator is presented. Preferred formulation requirements for the criteria are discussed, and previously proposed normalization methods are examined. A statistically based variable weighting technique is developed and evaluated. A seven-degree-of freedom robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme.< >

关键词： Manipulators Optimization methods Welding Orbital robotics Aerospace engineering Testing Position control End effectors Service robots Cost function

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Utilization of torque wheels for active damping of flexible manipulators

Utilization of torque wheels for active damping of flexible ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Khorrami A.A. Gomez M.D. Hills Polytechnic University School of Electrical Engineering 4 Computer Science Control/Robotics Research Laboratory Brooklyn NY USA Bernoulli Optical Systems Company Danbury CT USA Control/Robotics Research Laboratory (CRRL) School of Electrical Engineering 4 Computer Science University of California Brooklyn NY USA

Utilization of inertial actuators, such as torque wheels, for vibration damping of a single-link flexible manipulator is considered. The torque wheel is mounted at the end effector of the manipulator to provide a bending moment at the tip for vibration suppression and pointing purposes. The torque exerted by the torque wheel at the end-effector of the manipulator is achieved through controlling the velocity of the torque wheel. A decentralized control scheme is advocated in this paper for slewing and vibration suppression. The local loop around the torque wheel is closed through feedback of the accelerometer signal at the tip. Experimental results are provided to show the effectiveness of the proposed method for end-effector positioning of flexible-link manipulators. Although the experimental results reported are for a single-link flexible manipulator, the results are applicable to the multi-link case. It may be shown that the dynamics from the voltage input to the torque wheel mounted at the tip to the tip position is minimum phase and hence invertible given that an inner-loop controller has been applied to stabilize the rigid-body motion.< >

关键词： Wheels Damping Torque control Manipulator dynamics Actuators End effectors Velocity control Distributed control Vibration control Feedback loop

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control Control systems Robot sensing systems Commercialization Service robots Servomechanisms

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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Automatic generation of hierarchical structure of fuzzy inference by genetic algorithm

Automatic generation of hierarchical structure of fuzzy infe...

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International Joint Conference on Neural Networks (IJCNN)

作者： H. Ishigami Y. Hasegawa T. Fukuda T. Shibata Shin-Nagoya Thermal Power Station Cyubu Electric Power Company Inc. Nagoya Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Bio-Robotics Division Robotics Department MITI Mechanical Engineering Laboratory Tsukuba Japan

This paper deals with an automatic generation algorithm of a hierarchical fuzzy inference using genetic algorithms and the delta rule. The fuzzy inference can be applied to various problems. However, the determination of the membership functions is a difficult problem because the determination depends on human experts. The auto-tuning methods of the fuzzy model have been proposed to develop the time-consuming operation used by human experts. The problem is that a number of the fuzzy rules in the multiple input and multiple output is needed in the case of simple fuzzy inference. Therefore, the authors propose an auto-tuning method of hierarchical fuzzy inference. The proposed method enables the fuzzy model to construct the optimal and the minimal structures. In this paper, the authors show the effectiveness of the proposed method by simulation of water tanks level control. This general system can be applied to robotic motion control, sensing and recognition problems.< >

关键词： Genetic algorithms Humans Fuzzy systems Control systems Power generation Robot motion Motion control Robot control Fuzzy neural networks Inference algorithms

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Spatial characteristics of human hand impedance in multi-joint arm movements

Spatial characteristics of human hand impedance in multi-joi...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： T. Tsuji K. Goto M. Moritani M. Kaneko P. Morasso Computer Science and Systems Engineering Hiroshima University Hiroshima Japan Hiroshima Daigaku Higashihiroshima Hiroshima JP Dept. of Comput. Sci. & Syst. Eng. Hiroshima Univ. Japan Laboratory for Integrated Advanced Robotics DIST-University of Genoa Genoa Italy

The present paper examines spatial characteristics of human hand impedance in multi-joint arm movements. While a subject maintains a hand location, small external disturbance to his hand is applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured and the hand impedance is estimated using a second-order linear model. The estimated hand impedance in different subjects and hand locations are summarized as follows: (1) spatial variations of the estimated hand impedance ellipses approximately agree with the experimental results of other researchers (Mussa-Ivaldi et at, 1985: Dolan et al., 1993), (2) the human hand inertia characteristics can be explained from basic biomechanics of the passive inertial effects (3) the grip force of the subject increases the size of the stiffness and viscosity ellipses, and (4) spatial features of the orientation. And the shape characteristics of the stiffness and viscosity ellipses are mostly explained from the kinematics point of view of the human arm.< >

关键词： Humans Impedance Viscosity Robots Kinematics Muscles Shape Control systems Man machine systems systems engineering and theory

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