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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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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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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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Modeling and instrumentation for fault detection and isolation of a cooling system

Modeling and instrumentation for fault detection and isolati...

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IEEE Southeastcon

作者： P.J. Feenstra E.-J. Manders P.J. Mosterman G. Biswas R.J. Barnett Department of Electrical Engineering University of Twente Enschede Netherlands Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA DLR Oberpfaffenhofen Institute of Robotics and Mechatronics WeBling Germany Department of Mechanical Engineering Vanderbilt University

Functional redundancy techniques for fault detection and isolation (FDI) in dynamic systems requires close interaction between system instrumentation, modeling and analysis. Effective FDI requires detailed and accurate models to trade and analyze system behavior, including transient phenomena that result from faults. It also requires appropriate instrumentation technology to provide the measurements to capture and analyze system behavior. Models and measurements must be matched carefully to provide sufficient observability and effective analysis. In this paper we demonstrate the development of FDI systems for complex applications by presenting the modeling and instrumentation of an automobile combustion engine cooling system. We have developed a qualitative parameter estimation methodology for FDI. A system model is represented as a graph that captures the dynamic behavior of the system. To demonstrate the applicability a small leak is artificially introduced in the cooling system and accurately detected and isolated.

关键词： Instruments Fault detection Vehicle dynamics Cooling Redundancy Transient analysis Appropriate technology Isolation technology Observability Automobiles

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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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Blending multi-behaviors of intelligent reactive navigation for legged walking robot in unstructured environment

Blending multi-behaviors of intelligent reactive navigation ...

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IEEE Region 10 International Conference TENCON

作者： A.A.S. Al-Jumaily S.H.M. Amin Intelligent system Engineering Group Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Fbgmeering Universiti Teknologi Malaysia Skudai Johor Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in control of the intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fuzzy behaviors based reactive navigation to reach the goal, propose new method to blend and coordinate multiple behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior. Our behaviors system is test by building our simulation and animation programs that reflect online the robot movement using graphical user interface (GUI).

关键词： Intelligent robots Legged locomotion Navigation Mobile robots Robot kinematics Robot sensing systems Control systems Uncertainty Intelligent sensors Intelligent systems

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Experimental Verification of an Advanced Space Teleoperation System Using the Internet

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Journal of robotics and mechatronics 2000年第4期12卷 356-363页

作者： Tsumaki, Yuichi Goshozono, Toshihiko Abe, Koyu Uchiyama, Masaru Koeppe, Ralf Hirzinger, Gerd Department of Aeronautics and Space Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan Institute of Robotics and Mechatronics DLR German Aerospace Research Center P.O. Box 1116 Wessling82230 Germany

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system that includes all the above elements. As a result, with the good perception for the operator, the system realizes safety against both singularities and excessive force. In addition, to verify the effectiveness of this system, we conducted experiments over the Internet between DLR in Germany and Tohoku University in Japan in January 1999. © 2000, Fuji Technology Press. All rights reserved.

关键词： Haptic interfaces

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A Combined Qualitative/Quantitative Approach for Fault Isolation in Continuous Dynamic Systems

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IFAC Proceedings Volumes 2000年第11期33卷 505-510页

作者： Eric-J. Manders Sriram Narasimhan Gautam Biswas Pieter J. Mosterman Department of Electrical Engineering and Computer Science Vanderbilt University P.O. Box 1679 Sta. B Nashville TN 37235 Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O. Box 1116 D-82230 Wessling Germany

The TRANSCEND system for fault detection and isolation in continuous systems uses qualitative reasoning methods to analyze transients caused by abrupt faults. Qualitative transient analysis avoids some of the computational difficulties associated with numerical schemes, but they lack discriminating power. This paper presents the formal basis for qualitative transient analysis, and then establishes the limits of the discriminatory power of this methodology. An integrated scheme that starts with qualitative fault isolation to narrow down possible fault hypotheses, and then uses a focused quantitative parameter estimation scheme to identify the true fault is developed. This approach provides a number of advantages over purely quantitative FDI schemes.

关键词： Fault detection isolation monitoring qualitative analysis transient analysis parameter estimation

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