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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), vol.1

作者： Angelika Peer Sandra Hirche Carolina Weber Inga Krause Martin Buss Sylvain Miossec Paul Evrard Olivier Stasse Ee Sian Neo Abderrahmane Kheddar Kazuhito Yokoi Institute of Automatic Control Engineering Technische Universität München Munich Germany Joint Japanese-French Robotics Laboratory AIST/CNRS Tsukuba Japan

In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.

关键词： Humans Stability analysis Admittance Stability criteria Force Haptic interfaces Robots

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Conception of Wheeled Mobile Robots with Reconfigurable control using Integrate Prototyping

Conception of Wheeled Mobile Robots with Reconfigurable Cont...

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IEEE Conference on robotics, Automation and Mechatronics

作者： J.M. Rosario R. Pegoraro H. Ferasoli D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Sao Paulo Brazil Laboratory of Automation and Robotics UNESP Sao Paulo Brazil Department of Automatic Control Supelec Gif-sur-Yvette France

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA)

关键词： Mobile robots Robot control Prototypes Software prototyping Application software automatic control Hardware Logic testing Technological innovation robotics and automation

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Analysis of fractional - Order robot axis dynamics

Analysis of fractional - Order robot axis dynamics

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作者： Rosario, J.M. Dumur, D. Tenreiro Machado, J.A. Laboratory of Automation and Robotics Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 - Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

ISBN: (纸本)9783902661128

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics. Copyright © 2006 IFAC.

关键词： Calculations

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An integrated environment for the modeling and simulation of mechatronics devices

An integrated environment for the modeling and simulation of...

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International Workshop on Advanced Motion control (AMC)

作者： J.M. Rosario D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Campinas Brazil Automatic Control Department SUPELEC Gif-sur-Yvette France

One of the most common sources of performance limitation in the control of mechatronic systems is associated to the coupling dynamics of the different degrees of freedom, induced by the elasticity in some components. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of generalized predictive control (GPC) to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices

关键词： Mechatronics control systems Predictive models Elasticity Electrical equipment industry Production Service robots Predictive control Trajectory Robot control

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A 3 DOF robotic platform dynamics control using rapid prototyping tools

A 3 DOF robotic platform dynamics control using rapid protot...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： J.M. Rosario E.R. Cassemiro D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Sao Paulo Brazil Department of Automatic Control SUPELEC Gif-sur-Yvette France

As the main aim for mechatronics engineers in the field of industrial robotic is basically to enhance velocity and accuracy of the treated structure, more and more powerful systems for the design and optimization process are developed. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. The rapid control prototyping is executed with simulation programs (mechanical and electronics devices) embedded in the real time environment. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of predictive control laws to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices

关键词： Robot control Prototypes Service robots Mechatronics Electrical equipment industry Predictive models Design engineering Power engineering and energy Process design Design optimization

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Conception of Stewart-Gough platform with reconfigurable control using integrate prototyping

Conception of Stewart-Gough platform with reconfigurable con...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： J.M. Rosario E. Oliveira D. Dumur Laboratory of Automation and Robotics DPM-FEM Unicamp Campinas Sao Paulo SP Brazil Automatic Control Department Gif-sur-Yvette France

This paper shows that a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing, enables to take into account the easiness of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart-Gough platform control, platform applied as a solution of countless practical problems, is presented using reconfigurable computing. The developed software and hardware are structured in independent blocks. This open architecture implementation allows an easy expansion of the system and a better adaptation of the platform to its related tasks

关键词： Prototypes Hydraulic actuators robotics and automation automatic control Leg Vectors Brazil Council Laboratories Robot kinematics Extremities

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ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

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IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

关键词： Mechatronics robotics Simulation Dynamics control Fractional calculus

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Improved AFM Scanning Methodology with Adaptation to the Target Shape

Improved AFM Scanning Methodology with Adaptation to the Tar...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L.M. Munoz A. Casals J. Amat M. Puig-Vidal J. Samitier Department Automatic Control-UPC Center of Bioengineering of Catalonia Barcelona Spain Institute of Robotics UPC-CSIC Center of Bioengineering of Catalonia Barcelona Spain CBEN Laboratory Center of Bioengineering of Catalonia Barcelona Spain

This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time.

关键词： Shape Atomic force microscopy Optical microscopy Cells (biology) Biomedical optical imaging Biological cells Optical polymers Image resolution Testing Laboratories

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