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IEEE International Conference on robotics and Automation (ICRA)

作者： J.K. Tar O.M. Kaynak J.F. Bito I.R. Rudas Department of Information Technology Bánki Donát Polytechnic Budapest Hungary UNESCO Chair of Mechatronics Faculty of Engineering Bogaziçi University Istanbul Turkey Centre of Robotics and Automation Bánki Donát Polytechnic Budapest Hungary

On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic interaction with an unmodeled environment. This standardized form contains well defined free parameters by tuning of which the complex effect of the behavior of the controlled system as well as that of the external interactions can be 'imperfectly' modeled and learned. These structures, free parameters and procedures play exactly the same role as that of the traditional artificial neural networks (ANNs) or fuzzy controllers: the structures and the procedures are fit for a wide class of problems more or less similar to each other, while parameter tuning corresponds to learning the concrete properties of a particular element of this wider set. While in the case of the standard soft computing methods there is no reliable a priori information on the number of the concrete elements in the uniform structures, the proposed method has definite indication for this by using the Lie parameters of the orthogonal group. In the initial stage of learning the proposed methods also use a standardized ancillary procedure, a very simple form of regression analysis based controller compensating the remnant errors whenever appropriate. In this paper certain details of the uniform control and parameter-tuning are discussed on the basis of simulation results. It can be concluded that the approach is promising therefore experimental investigations are under preparation.

关键词： Analytical models Mechanical systems Concrete Lagrangian functions Adaptive control Robots Control system synthesis Artificial neural networks Fuzzy control Fuzzy neural networks

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Analysis of nonlinear neural network impedance force control for robot manipulators

Analysis of nonlinear neural network impedance force control...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics and Computational Intelligence Laboratory Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California슠Davis Davis CA USA

A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness.

关键词： Neural networks Impedance Force control Robots Manipulators Iron Orbital robotics Nonlinear equations Uncertainty Nonlinear control systems

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Traveling electric field conveyor for contactless manipulation of microparts

Traveling electric field conveyor for contactless manipulati...

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

作者： F.M. Moesner T. Higuchi Higuchi 'Ultimate Mechatronics' Project Kanagawa Academy of Science and Technology Kawasaki Japan Swiss Federal Institute of Technology Zur Institute of Robotics Zurich Switzerland Department of Precision Machinery Engineering University of Tokyo Tokyo Japan

In an earlier paper by the authors (1995), down-scaled devices for microparts handling utilizing an AC electric field boundary wave were proposed. Devices that instantly generate contactless microparts driving forces through electric field creation have been designed and fabricated. In a further attempt, the mechanisms behind microparts conveyance are subsequently validated in experiments and simulations. Particles as a micropart substitute are actuated. On a thin protecting insulation-film above a series of encased and insulated parallel field electrodes, particles become either triboelectrically or induction charged through the application of balanced multi-phase voltages. The created nonuniform traveling field-wave conveys the charged particles perpendicular to the electrodes confined in potential wells from electrode to electrode. A series of particle materials with diameters up to 400 /spl mu/m has been examined; metal, glass and plastic spheres showed the best performances. Simulations of the potential distribution underline the experimental findings on the electric panel and dots device. One further result, which could have been shown by experiments, is the pre-oscillation of a moving particle caused by gravity.

关键词： Electrodes Electric fields Insulation Protection Voltage Potential well Inorganic materials Glass Plastics Gravity

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Contactless manipulation of microparts by AC electric fields

Contactless manipulation of microparts by AC electric fields

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： F.M. Moesner T. Higuchi Higuchi Ultimate Mechatronics' Project KSP Bldg Kanagawa Academy of Science and Technology Kawasaki Japan Institute of Robotics Swiss Federal Institute of Technology Zurich Switzerland Department of Precision Machinery Engineering University of Tokyo Bunkyo Tokyo Japan

Summary form only given. Small-scale devices for microparts handling employing an AC electric field boundary wave were proposed previously by the authors (1995). These devices, with various novel manipulation features, that instantly generate contactless microparts driving forces through electric field creation, have been designed and produced and experimentally validated. Particles as a special group of microparts have been taken as a substitute. On a thin protecting and insulating film interface above a series of encased and insulated parallel field electrodes, particles become either tribo-electrically or inductively charged through the application of balanced three- or six-phase voltages. The resulting nonuniform traveling field-wave conveys the charged particles perpendicular to the electrodes by repulsive forces in a hopping mode from electrode to electrode. Various particle materials with diameters up to 400 /spl mu/m have been examined; metal, glass, and plastic spheres showed the best performances. The transient charge distribution on particles and on the activated electric device, which is responsible for the particle conveyance, has been statically and dynamically inspected by a modified scanning electron microscope (SEM). Theoretical considerations and simulations underline the experimental findings.

关键词： Electric fields Electrodes Induction generators Electrons Electrostatics Robots mechatronics Design engineering Protection Voltage

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Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm

Fuzzy parameter adaptation for a sliding mode controller as ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Erbatur O. Kaynak A. Sabanovic I. Rudas Robotics and Automation Group TUBITAK Marmara Research Center Gebze Turkey Mechatronics Research and Application Center and UNESCO Chair on Mechatronics Boğaziçi University Bebek Istanbul Turkey B. H. Engineering and Consulting Company Limited Ulus Istanbul Turkey Department of Information Technology Banki Donat Polytechnic Budapest Hungary

A number of approaches based on sliding mode control methodology are proposed in the literature for the position control of robotic manipulators. An important problem in this context is chattering, that is high frequency oscillations in the velocity. In this paper, a novel approach is considered which eliminates chattering if the controller parameters are set suitably. A fuzzy adaptation scheme is devised for the online adaptation of the parameters of this method. Simulation results show that the fuzzy rule based adaptation scheme ensures good controller performance without chattering.

关键词： Sliding mode control Fuzzy control Automatic control Manipulator dynamics mechatronics robotics and automation Ultra large scale integration Uncertainty Robot control Control systems

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A generalized approach for Lyapunov design of sliding mode controllers for motion control applications

A generalized approach for Lyapunov design of sliding mode c...

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International Workshop on Advanced Motion Control (AMC)

作者： M. Ertugrul O. Kaynak A. Sabanovic K. Ohnishi CAD/CAM-Robotics Department TUBITAK Marmara Research Center Turkey Mechatronics Mechatronics Research and Appl Center Boğaziçi University Istanbul Turkey Department of Electical Engineering Keio University Yokohama Japan

In the application of sliding mode controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the design of SMC based on the selection of a Lyapunov function are proposed for motion control applications that evade these problems and are easily implementable. A general criterion is established for stability and chattering elimination. Two novel schemes are proposed for the estimation of the equivalent control to avoid the computational burden. Simulation studies carried out on a direct drive arm indicate that the proposed approaches are a good candidate for motion control applications.

关键词： Motion control Sliding mode control Variable structure systems Control systems Nonlinear control systems mechatronics MIMO Recursive estimation Equations Design automation

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Robot trajectory control in Cartesian space with sliding modes

Robot trajectory control in Cartesian space with sliding mod...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： K. Erbatur A. Sabanovic O. Kaynak Robotics and Automation Group MITAK Marmara Research Centre Kocaeli Turkey B and H Engineering and Consulting Company Limited Istanbul Turkey UNESCO Chair on Mechatronics Boğaziçi University Istanbul Turkey

Trajectory generation and tracking in Cartesian space are essential in many industrial robotics applications. A control method using the relation between the force applied to the tool tip and joint torques is applied in this paper to track desired trajectories specified in Cartesian space. The controlled variables are the coordinates of the tip of the robot. The coupled and nonlinear dynamics involved cause difficulties in the robot control. The dynamics equations when expressed in tip coordinates get even more complicated. Variable structure systems based control methodologies are proposed in the literature to overcome the difficulties encountered, without using elaborate models of the plants to be controlled. High frequency oscillations in the joint velocities-chattering-is a problem faced when using such methods. A chattering free sliding mode control algorithm is considered here in order to deal with the complicated dynamics without causing oscillations in the velocity. Variable structure systems and Lyapunov designs are combined in the method implemented. The controller possesses the robustness properties of sliding mode systems. Experimental results obtained with a direct drive SCARA type manipulator are presented.

关键词： Orbital robotics Robot control Sliding mode control Service robots Robot kinematics Trajectory Variable structure systems Aerospace industry Industrial relations Force control

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New considerations for travelling wave particle handling

New considerations for travelling wave particle handling

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

作者： F.M. Moesner T. Higuchi Y. Tanii Higuchi 'UZtimate Mechatronics' Project Kanagawa Academy of Science and Technology Kawasaki Japan Swiss Federal Institute of Technology Zurich Institute of Robotics Zurich Switzerland Department of Precision Machinery Engineering University of Tokyo Bunkyo Tokyo Japan

Different small-scale devices for particle micro-handling using an AC electric field boundary wave were proposed by F.M. Moesner et. al. (1995). These devices, with various novel transportation and manipulation features, that instantly generate particle driving forces through electric field creation, have been designed and produced. In a further endeavour, the mechanisms of particle conveyance are subsequently validated in experiments. Particles on a thin protecting and insulating film interface above a series of encased and insulated parallel field electrodes become either tribo-electrically or induction charged through the application of balanced three- or six-phase voltages. The created nonuniform travelling field-wave conveys the charged particles perpendicular to the electrodes by repulsive forces in a hopping mode from electrode to electrode. In a temperature and humidity controlled environment, experiments surveying particle conveyance dynamics on these electric devices have been carried out with help of a high speed camera. The applied experimental voltages included triangular, ramp and two customized profiles. Various particle materials with diameters up to 400 /spl mu/m have been examined; metal, glass, and plastic spheres showed the best performances. The transient charge distribution on particles and on the activated electric device, which is responsible for the particle conveyance, has been inspected by a modified scanning electron microscope (SEM). Further, theoretical considerations underline the experimental findings.

关键词： Electrodes Electric fields Insulation Voltage Scanning electron microscopy Transportation Induction generators Protection Humidity control Temperature control

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NEURAL-NETWORK-BASED INSPECTION OF SOLDER JOINTS USING A CIRCULAR ILLUMINATION

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IMAGE AND VISION COMPUTING 1995年第6期13卷 479-490页

作者： KIM, JH CHO, HS Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea

In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.

关键词： SOLDER JOINT INSPECTION CIRCULAR ILLUMINATION TECHNIQUE LEARNING VECTOR QUANTIZATION ADAPTIVE LEARNING MECHANISM

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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