The game robot soccer provides a good opportunity to implement and test the cooperative group behavior of mobile robots. In this contribution a robot soccer system (Kopacek, 2002; Putz, 2004; Würzl, 2003 and 2005...
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The game robot soccer provides a good opportunity to implement and test the cooperative group behavior of mobile robots. In this contribution a robot soccer system (Kopacek, 2002; Putz, 2004; Würzl, 2003 and 2005) will be described. The new software mainly consists, as usual, of a vision system, a communication module and a game strategy module. For the new system robots were developed and a vision system with a digital camera was implemented. The strategies for this new Multi Agent System (MAS) will be highlighted in this paper.
A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final s...
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A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing nonzero final constraints and named ASPOT. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is of discrete form so that easily applicable to most practical systems. ZSPOT is applied to a simulation of mobile-manipulator system and the effect of ASPOT is shown through experiment of a linear motor system.
End of Life Management (EOL) is currently a hot topic in the electronics industry. Currently mostly IT equipment and goods of consumer electronics are considered. In the nearest future automation equipment have also t...
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End of Life Management (EOL) is currently a hot topic in the electronics industry. Currently mostly IT equipment and goods of consumer electronics are considered. In the nearest future automation equipment have also to be taken into account. There are three possibilities depending on the age and kind of the device: Resell – Reuse – Recycle called the “3R's”. For recycling fully or semi-automated disassembly will gain in importance in the nearest future especially for automation devices. Developers of automation devices have to take into account EOL because of regulations and laws as well as according to ethical codes contributing to protection of the environment.
In this paper, we developed a performance-enhanced, stand-alone dexterous robot hand with effective mechanical structure and lightweight control hardware. In the context, the paper shows the design methodology of HIT/...
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In this paper, we developed a performance-enhanced, stand-alone dexterous robot hand with effective mechanical structure and lightweight control hardware. In the context, the paper shows the design methodology of HIT/DLR dexterous robot hand II controller using FPGA (field programmable gate array). Lower level controller is implemented in an FPGA and higher level controller is implemented in a DSP. Instead of a conventional architecture, a FPGA-based soft processor core is utilized. It includes a set of custom peripheral cores, such as data collection, brushless DC motors control and communication with palm's FPGA by point-to-point serial communication (PPSeCo). FPGAs make modular fingers more versatile, adding some new features to the design of hand like real-time control, hardware reuse, lower cost, fault-recovering, and software/hardware co-design. Finger control system use the NIOS soft CPU as hardware platform and uC/OS II real-time operating system as software platform to improve the efficiency of the system and short the responding time of a task. The experiment results clearly illustrate the high performance of the control system
The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. However, an accurate and practical thruster model has not been utilized yet. In thi...
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The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. However, an accurate and practical thruster model has not been utilized yet. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as Critical Advance Ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within ± 2N force error. The comparison results show that the new model’s matching performance is significantly better than conventional models’.
The problem of designing discrete-time attitude controllers for magnetically actuated spacecraft is considered. Several methods are discussed and a novel approach to the tuning of ”projection based” controllers is p...
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The problem of designing discrete-time attitude controllers for magnetically actuated spacecraft is considered. Several methods are discussed and a novel approach to the tuning of ”projection based” controllers is proposed relying on periodic optimal output feedback control techniques. The main advantages of the proposed method are discussed and illustrated in a simulation study.
In systems with switching actuators persistent motions of different nature may occur, such as limit cycles, quasi-periodic and chaotic motions. In this contribution the nature of persistent motions in an attitude cont...
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In systems with switching actuators persistent motions of different nature may occur, such as limit cycles, quasi-periodic and chaotic motions. In this contribution the nature of persistent motions in an attitude control system with switching actuators subject to switching restrictions are examined as a function of controller parameters. Bifurcation diagrams are used to describe observations. In the light of the bifurcation diagrams, control issues and earlier results obtained with the describing function method are assessed from a more general perspective.
The paper presents a Cartesian impedance controller for flexible joint robots based on the feedback of the complete state of the system, namely the motor position, the joint torque and their derivatives. The approach ...
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ISBN:
(纸本)0780382323
The paper presents a Cartesian impedance controller for flexible joint robots based on the feedback of the complete state of the system, namely the motor position, the joint torque and their derivatives. The approach is applied to a quite general robot model, in which also a damping element is considered in parallel to the joint stiffness. Since passivity and asymptotic stability of the controller hold also for varying damping matrices, some possibilities of designing those gain matrices (depending on the actual inertia matrix) are addressed. The passivity of the controller relies on the usage of only motor side measurements for the position feedback. A method is introduced, which provides the exact desired link side stiffness based on this motor position information. Experimental results are validating the proposed controller.
In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based o...
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In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which means robots with passively (or mechanically) compliant joints, ...
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ISBN:
(纸本)0780384636
In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which means robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffness only, as coupling of joint stiffness seems to be mechanically difficult to realize. Finally we discuss a Cartesian controller which incorporates the compliance of the joints and ensures the correct stiffness behavior also for high displacements from the desired position.
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