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Control issues of an autonomous vehicle

Control issues of an autonomous vehicle

引用

22nd International Symposium on Automation and robotics in Construction, ISARC 2005

作者： Ha, Q.P. Tran, T.H. Scheding, S. Dissanayake, G. Durrant-Whyte, H.F. Faculty of Engineering Mechatronics and Intelligent Systems Group University of Technology Sydney Australia Australian Centre for Field Robotics University of Sydney Australia

This paper addresses some control issues of a robotic amphibious vehicle that can serve as a general framework for automation of tractors used in construction. These include the vehicle's low-level dynamic equations, the development of its braking control system, kinematics in interactions with ground and the slip problem. Simulation and real-time results to date are presented.

关键词： Kinematics

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Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

Development of a humanoid robot having 2-DQF waist and 2-DOF...

引用

2005 5th IEEE-RAS International Conference on Humanoid Robots

作者： Orner, Aiman Musa M. Ogura, Yu Kondo, Hideki Morishima, Akitoshi Carbone, Giuseppe Ceccarelli, Marco Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy Department of Mechanical Engineering Kanagawa University Yokohama Japan Department of Mechanical Engineering Humanoid Robotics Institute Waseda University Tokyo Japan

ISBN: (纸本)0780393201

A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed. ©2005 IEEE.

关键词： Intelligent robots

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A new methodology for deformable object simulation

A new methodology for deformable object simulation

引用

2005 IEEE International Conference on robotics and Automation

作者： Yongmin, Zhong Shirinzadeh, Bijan Alici, Gursel Smith, Julian Robotics and Mechatronics Research Laboratory Monash University Vic. 3800 Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW 2522 Australia Department of Surgery Monash Medical Centre Monash University Vic. 3800 Australia

ISBN: (纸本)078038914X

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the principle of heat conduction. An improved heat conduction model is developed for propagating the energy generated by the external force in a natural manner. A method is presented to derive the internal forces from the potential energy distribution. This methodology not only deals with large-range deformation, but also accommodates both isotropic and anisotropic materials by simply changing thermal conductivity constants. Examples are presented to demonstrate the efficiency of the proposed methodology. ©2005 IEEE.

关键词： robotics

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Robust Control Framework for Piezoelectric Actuation Systems in Micro/Nano Manipulation

Robust Control Framework for Piezoelectric Actuation Systems...

引用

IEEE Region 10 International Conference TENCON

作者： Hwee Choo Liaw Denny Oetomo Bijan Shirinzadeh Gursel Alici Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia

Micro/nano manipulation has been identified as one of the key enabling technologies for many emerging challenges. Within this scope, piezoelectric actuators have played major roles in achieving the required nano-resolution motion. This paper proposes a robust control framework for piezoelectric actuation systems to follow specified motion trajectories. The basic concept associated with this methodology lies in the specification of a target performance and the robust control scheme formulation for piezoelectric actuation systems to ensure the convergence of the position tracking error to zero. This control methodology is attractive as its implementation requires only the knowledge of the estimated system parameters and their corresponding bounds, including bound of hysteresis and external disturbances. Feasibility study of the framework for piezoelectric actuation systems in micro/nano manipulation is described. Simulation results validated the suitability of the proposed control approach.

关键词： Robust control Mathematical model Hysteresis Sliding mode control Voltage Piezoelectric actuators Control systems Uncertainty mechatronics Parameter estimation

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An adaptive control of a space manipulator for vibration suppression

An adaptive control of a space manipulator for vibration sup...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. Abiko K. Yoshida Institute of Robotics and mechatronics German Aerospace Center Wessling Germany Department of AeroSpace Engineering University of Tohoku Sendai Japan

This paper addresses an adaptive control of a space manipulator termed JEMRMS for vibration suppression. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies lead to vibration excitation, or to inaccurate positioning of the end point. In this paper, an adaptive control for the vibration suppression control is addressed to guarantee the stability of the system in the presence of model uncertainty.

关键词： Adaptive control Vibration control Manipulator dynamics Motion control Space technology Orbital robotics Payloads System testing mechatronics Aerospace control

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Assembly Modelling Through Constraint-based Manipulations in A Virtual Reality Environment

Assembly Modelling Through Constraint-based Manipulations in...

引用

IEEE Region 10 International Conference TENCON

作者： Yongmin Zhong Bijan Shirinzadeh Weiyin Ma Hwee Choo Liaw Robotics & Mechatronics Research Laboratory Monash University VIC Australia Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

With today's virtual reality (VR) systems, it is difficult to create precise assembly models through 3D interactions due to hardware limitations. In this paper, an efficient approach is presented for intuitive and precise assembly modeling in a VR environment. Assembly modelling is performed by precise constraint-based 3D direct manipulations in an intuitive manner. Constraint-based manipulations are accompanied with automatic constraint recognition and precise constraint satisfaction, and are realized by allowable motions for precise 3D interactions in the VR environment. Some special constraint-based assembly operations are constructed for assembly modelling in the VR environment. A method for recognizing the pairs of mating features between assembly components is presented. This method integrates 3D direct manipulations with a feature mating knowledge base and makes the process of recognizing a pair of mating features intuitive. A concept of offset solid is also presented for determining assembly components. A prototype system has been developed for assembly modelling through precise constraint-based manipulations in an intuitive manner in the VR environment.

关键词： Virtual reality Assembly systems Robotic assembly Solids Virtual environment Hardware Prototypes Design automation mechatronics Virtual manufacturing

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Deformable object simulation with Poisson equation

Deformable object simulation with Poisson equation

引用

IEEE International Conference on mechatronics and Automation

作者： Yongmin Zhong B. Shirinzadeh G. Alici J. Smith Robotics & Mechatronics Research Laboratory Monash University VIC Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia Department of Surgery Monash Medical Centre Monash University VIC Australia

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between Poisson equation and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the Poisson equation. An improved Poisson model is developed for propagating the energy generated by the external force in a natural manner. A method is presented to derive the internal forces from the potential energy distribution. This proposed methodology not only deals with large-range deformations, but also accommodates both isotropic and anisotropic materials by simply changing the constitutive coefficients. Examples are presented to demonstrate the efficiency of the proposed methodology.

关键词： Deformable models Poisson equations Potential energy Computational modeling Surgery Anisotropic magnetoresistance mechatronics Medical simulation Medical robotics Laboratories

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A New Methodology for Deformable Object Simulation

A New Methodology for Deformable Object Simulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yongmin Zhong B. Shirinzadeh G. Alici J. Smith Robotics & Mechatronics Research Laboratory Monash University VIC Australia School of Mechanical Materials Mechatronics Engineering University of Wollongong NSW Australia Department of Surgery Monash Medical Centre Monash University VIC Australia

关键词： Deformable models Potential energy Computational modeling Surgery Anisotropic magnetoresistance mechatronics Thermal conductivity Springs Medical simulation Medical robotics

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Development of a humanoid robot having 2-DOF waist and 2-DOF trunk

Development of a humanoid robot having 2-DOF waist and 2-DOF...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： A.M.M. Omer Y. Ogura H. Kondo A. Morishima G. Carbone M. Ceccarelli Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy Kanagawa University Yokohama Japan Department of Mechanical Engineering Humanoid Robotics Institute Waseda University Tokyo Japan

A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed

关键词： Humanoid robots Legged locomotion Humans Instruments Mechanical engineering Service robots Leg Medical treatment Torque measurement Laboratories

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Omnidirectional mobile robots with powered caster wheels: design guidelines from kinematic isotropy analysis

Omnidirectional mobile robots with powered caster wheels: de...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Oetomo Yuan Ping Li M.H. Ang Chee Wang Lim Robotics & Mechatronics Research Lab Department of Mechanical Engineering Monash University Australia National University of Singapore Singapore Singapore Institute of Manufacturing Technology Singapore

Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by observing the mathematical expression of the equations of motion rather than by numerical evaluation of specific parameters or actuation schemes. Optimal design guidelines are provided. Singularity analysis is given to support the proposed design guidelines. Simulation results are presented to verify the conclusions drawn.

关键词： Mobile robots Wheels Guidelines Kinematics Design optimization Manufacturing Equations Motion analysis Mechanical factors Performance analysis

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