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作者： Al-Jumaily, Adel Ali S. Amin, Shamsudin H. M. Intelligent System Engineering Group Department of Mechatronics Engineering International Islamic University Jalan Gombak Kuala Lumpur53100 Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia UTM Skudai Johor81310 Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in the control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fiizzy? behavior based reactive navigation of goal achieving, obstacle avoidance, and propose new method to blend and coordinate multi behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior We build our simulation and animation programs that can reflect on-line the robot movement and have capability' to using graphical user interface (GUI). © 2000 IEEE.

关键词： Mobile robots

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Pre-transition phase control : three different approaches

Pre-transition phase control : three different approaches

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nakju Doh Gyudong Jeon Wan Kyun Chung Youngil Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and we propose three control methods. First, we propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Second, we present passive damper named as "flexible-damped joint" which is a good solution to circumvent the pre-transition phase. Third, we suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in the flexible-damped joint. It is named as "joint damping controller". The effectiveness of these three approaches are verified via experiments using the POSTECH 1-DOF DD arm.

关键词： Phase control Damping Robots Equations Friction Biomechatronics Mechanical engineering Shock absorbers Force control Stability

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Bandwidth modulation of rigid subsystem for the class of flexible robots

Bandwidth modulation of rigid subsystem for the class of fle...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joono Cheong Wankyun Chung Youngil Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint tracking performance and vibration suppression capability using the joint motion bandwidth parameter. For the flexibility isolated system, the independent sub-controllers for the rigid and flexible part are proposed just like the singular perturbation approach. The validity of the proposed method is verified by experiments.

关键词： Bandwidth Robots Vibrations Manipulator dynamics Torque control Adaptive control Equations Biomechatronics Mechanical engineering Motion control

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Towards procedures for systematically deriving hybrid models of complex systems 3rd

Towards procedures for systematically deriving hybrid models...

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3rd International Workshop on Hybrid Systems: Computation and Control, HSCC 2000

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Department of Electrical Engineering and Computer Science Vanderbilt University Box 1679 Sta B NashvilleTN37235 United States

ISBN: (纸本)9783540464303

In many cases, complex system behaviors are naturally modeled as nonlinear differential equations. However, these equations are often hard to analyze because of "stiffness" in their numerical behavior and the difficulty in generating and interpreting higher order phenomena. Engineers often reduce model complexity by transforming the nonlinear systems to piecewise linear models about operating points. Each operating point corresponds to a mode of operation, and a discrete event switching structure is added to implement the mode transitions during behavior generation. This paper presents a methodology for systematically deriving mixed continuous and discrete, i.e., hybrid models from a nonlinear ODE system model. A complete switching specification and state vector update function is derived by combining piecewise linearization with singular perturbation approaches and transient analysis. The model derivation procedure is then cast into the phase space transition ontology that we developed in earlier work. This provides a systematic mechanism for characterizing discrete transition models that result from model simplification techniques. Overall, this is a first step towards automated model reduction and simplification of complex high order nonlinear systems. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Nonlinear systems

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On hard contact force control

On hard contact force control

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： N. Doh W.K. Chung Y. Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In hard contact, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Based on this result, we suggest a hard contact force control scheme which is named "hybrid suppression controller". The effectiveness of these approaches are verified via experiments using POSTECH 1 DOF DD arm.

关键词： Force control Velocity control Robust stability Robots Robust control Humans Robustness Biomechatronics Mechanical engineering Electronic mail

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Normalized impact geometry and performance index for redundant manipulators

Normalized impact geometry and performance index for redunda...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wankyun Chung Youngil Youm Robotics & Bio-Mechatronics Lab Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

We investigate the instantaneous impact phenomenon due to the collision between the manipulator and the environment for kinematically redundant manipulators. First, we define a normalized impact geometry in the viewpoint of normalized velocity change. We then reduce the impulsive effects under uncertain environment for redundant manipulators. A new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments.

关键词： Geometry Performance analysis Manipulators Solid modeling Equations Transmission line matrix methods Kinematics Jacobian matrices Torque Force control

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WinReC v.1: real-time control software for Windows NT and its applications

WinReC v.1: real-time control software for Windows NT and it...

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American Control Conference (ACC)

作者： C.J. Lee C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

In this paper, a method is proposed to perform control using INTEL(R) based personal computers operated by Windows NT/sup TM/ directly. The software package that was developed is called WinReC v.1 (Windows Real-time Control). This low cost method keeps all the advantages of Windows NT without attaching any other kernels and avoids switching different operating systems between experimentation and control design/analysis. A thorough description of the method to set up the multimedia timer provided by Microsoft Development Network (MSDN) Library is presented. Self-customized algorithms based on advanced control techniques can be implemented with the standard protocol that is established here. The proposed protocol is evaluated using two different tasks in control experiments. An industrial robot manipulator is controlled by applying an independent joint PID control scheme. Results are also shown from experiments where LQR and H/sub 2/ controllers are applied to suppress vibrations of a flexible payload carried by the robot manipulator.

关键词： Protocols Service robots Manipulators Microcomputers Software packages Costs Joining processes Kernel Operating systems Control design

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Rapid prototyping of robotic systems

Rapid prototyping of robotic systems

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Won K. DeLaurentis C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace engineering of Rutgers University, and the selective laser sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator; (2) a four degree of freedom finger of a five-fingered robotic hand.

关键词： Prototypes Educational robots Robotic assembly Stereolithography Parallel robots Fabrication Laser sintering Aerospace engineering Manipulators Testing

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DESIGN AND MODELING OF AN ELECTRO-RHEOLOGICAL FLUID BASED HAPTIC INTERFACE

DESIGN AND MODELING OF AN ELECTRO-RHEOLOGICAL FLUID BASED HA...

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Mavroidis, C. Pfeiffer, C. Celestino, J. Bar-Cohen, Y. Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Laboratory Rutgers University 98 Brett Rd. PiscatawayNJ08854-8058 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109-8099 United States

ISBN: (纸本)9780791835173

In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical Mirroring using Controlled stiffness and Actuators). MEMICA is intended to provide himan operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/ virtual sites. The ECS elements make use of Electro- Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling ofstiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF basedforce feedback element. Copyright © 2000 by ASME.

关键词： Stiffness

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Modelling and visualisation for mobile robots working in severe environment

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IFAC Proceedings Volumes 2000年第20期33卷 345-350页

作者： Ivan L. Ermolov Philip R. Moore Jury V. Poduraev Department of Robotics and Mechatronics Moscow State Technological University “STANKJN” Vadkovsky per. ЗА Moscow 101472 RUSSIA Faculty of Computing Sciences and Engineering De-Montfort University Leicester LEI 3BH UK

Modern mobile robots are more and more often used for implementing various complicated tasks in severe environment. The goal is to free human from the exposure of dangerous and harmful influence which may damage its health. The later years mobile robots more often are used in autonomous mode implementing most of the tasks without direct human interaction. As soon as environment usually is rather complicated it causes the necessity to involve advanced and sophisticated techniques for modelling and visualisation. It can be successfully realised with modern software improving the performance of mobile robots.

关键词： mobile robots visual motion modelling simulation motion parameters computer graphics man/machine interfaces

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