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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： I.H. Suh H.J. Yeo J.H. Kim J.S. Ryoo S.R. Oh C.W. Lee B.H. Lee Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Kyunggi South Korea Advanced Robotics Research Center KIST Seoul South Korea Department of Control and Instrumentation Engineering Seoul National University South Korea

This paper presents a design experience of a supervisory control system for coordination of multiple robotic devices. To effectively program job commands, a Petri net-type graphical robot language(PGRL) is proposed, where some functions for coordination among tasks such as concurrency and synchronization, can be easily programmed. Each task of PGRL is described by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal model languages, one can efficiently describe a job or task, and hence can easily operate a complex real-time concurrent system. The proposed control system has been implemented by using VME-based 32-bit microprocessor boards and a real-time multitasking operating system (VxWorks), and is shown to successfully work for robotic jobs.

关键词： Supervisory control Robot kinematics Robot sensing systems Real time systems Concurrent computing Data handling control systems Microprocessors Multitasking Operating systems

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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An intelligent coordinated control system for steering and traction of electric vehicles

An intelligent coordinated control system for steering and t...

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International Conference on Industrial Electronics, control and instrumentation

作者： M.K. Park I.H. Suh S.J. Byoun S.R. Oh Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Seoul South Korea Department of Control and Instrumentation Engineering Dong Yang University Youngju South Korea Division of Electronics Information Technology India

An intelligent coordinated control system is designed for the active steering and the left/right traction force distribution control of 2-wheel-drive and 2-wheel-steering (2WD/2WS) electric vehicles, where input-output linearization is employed. Also, a fuzzy-rule-based cornering force estimator is suggested to avoid using an uncertain highly nonlinear expression, and a neural network compensator is additionally utilized for the estimator to correctly find cornering force. With these techniques, the proposed control system is shown by simulation results to be robust against drastic change of the external environments such as road conditions.

关键词： intelligent systems intelligent control control systems Force control intelligent vehicles Electric vehicles Neural networks control system synthesis Robust control Roads

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Shared-control and force-reflection joystick algorithm for the door passing of mobile robot or powered wheelchair

Shared-control and force-reflection joystick algorithm for t...

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1999 IEEE Region 10 Conference, TENCON 1999

作者： Hong, Jun-Pyo Kwon, Oh-Sang Lee, Eung-Hyuk Kim, Byung-Soo Hong, Seung-Hong BISE Lab. Department of Electronic Engineering Inha University YongHyun-Dong Nam-Ku Inchon402-751 Korea Republic of Department of Control and Instrumentation Engineering Konyang University Korea Republic of Department of Computer Engineering Konyang University San Naedong Nonsan Chungnam320-800 Korea Republic of Hanwool Robotics Corporation Korea Republic of

ISBN: (纸本)0780357396

Proposes a shared control method which is capable of passing doors when an operator drives a mobile robot or electric-powered wheelchair by using a force-reflection joystick. When the operator controls the mobile-base like robot or wheelchair with attached distance-measuring sensors, the system can provide many advantages because the operator can be conscious of obstacles around the robot by force reflection. The role of the distance-measuring sensors in this case is to provide discrete graph information. Therefore, we can calculate the force that should be generated. The sensor data is considered as vector components. However, this theory has a defect that the robot could not pass a door because of the door architecture. In this case, the vector force concept interferes with the operator's steering. Therefore, we proposed a shared control method using a vector value with Gaussian distribution and obstacle information. This method modifies subtly the direction of steering by those data. Through the experiments, we have confirmed that the proposed shared-control algorithm is very efficient at door passing. © 1999 IEEE.

关键词： Mobile robots

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Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control control systems Roads Computer science intelligent systems intelligent control

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Nonlinear adaptive control of a 3D overhead crane 15

Nonlinear adaptive control of a 3D overhead crane

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15th International Conference on control, Automation and systems, ICCAS 2015

作者： Nguyen, Quoc Chi Ngo, Ha-Quang-Thinh Kim, Won-Ho Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Control and Automation Lab Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Department of Intelligent System Engineering Dong-Eui University Busan Korea Republic of

ISBN: (纸本)9788993215090

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane is developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values are used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. © 2015 Institute of control, robotics and systems - ICROS.

关键词： Lyapunov methods

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Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Baghani M.N. Ahmadabadi A. Harati Robotics and AI Lab Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

关键词： Climbing robots Wheels Mobile robots Robot kinematics Road transportation intelligent robots Inspection Cleaning Artificial intelligence Stability

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Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol

Learning Distributed Object Pushing: Individual Learning and...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics intelligent robots Fuzzy systems Learning Friction control systems Artificial intelligence Robot control Fuzzy control

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Robotic assistants for aircraft inspectors

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IEEE instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control intelligent robots Robot kinematics Instruments Computer science intelligent systems intelligent control control system synthesis

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