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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

引用

IEEE Conference on Control technology and Applications (CCTA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This work targets the navigation and control of multi-linked manipulators in tight, constrained spaces as are encountered in problems of robotic packaging or loading and unloading of pallets. The modified magnetic field algorithm was introduced by the authors (1996, 1997) for the specific purposes of generating motion plans for a robot moving in a complex and constrained workspace while veering around enclosing Cartesian space obstacle walls. The modified magnetic field method allows global convergence and collision constraint satisfaction while allowing the application of this method as a dynamic online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF for the online dynamic closed loop control of a robot arm in the presence of Cartesian obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration. This is done by extending the concept of the MMF through a detailed analysis of exactly what constitutes a desirable path in both Cartesian and configuration spaces. The dynamic control is performed in a hybrid manner to account for both, Cartesian as well as configuration space obstacles.

关键词： Manipulator dynamics Motion control Magnetic fields Orbital robotics Space technology Motion planning robotics and automation Electrostatics Feedback Automatic control

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration.

关键词： Manipulator dynamics Motion control Magnetic fields Motion planning Orbital robotics Convergence Robot motion robotics and automation Path planning Feedback

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation Computer aided manufacturing Laboratories Data mining

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and Automation (ICRA)

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

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A path-space search algorithm for motion planning with uncertainties

A path-space search algorithm for motion planning with uncer...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： L.A. Page A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This paper describes an algorithm for adjusting a robot motion plan in order to make it feasible in spite of control and sensing uncertainties in the robot configuration. The type of motion plan considered consists of a nominal commanded path, augmented by sensing mode specifications. The algorithm uses a bounding-set representation of uncertainties, which is also described. The control uncertainty is history independent, but the sensing uncertainty at one point in a plan depends on the prior sensing actions and the path traversed. The algorithm is a path-space algorithm, because it adjusts the entire plan simultaneously as it carries out the search.

关键词： Path planning Uncertainty Robot sensing systems Motion planning robotics and automation Manufacturing automation Motion control Robotic assembly Robot motion Robot vision systems

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control robotics and automation Automatic control

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