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2008 Mediterranean Conference on Control and automation, MED'08

作者： Šitum, Zeljko Herceg, Srecko Department of Robotics and Automation of Production Systems Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Croatia

ISBN: (纸本)9781424425051

It seems that the pneumatic artificial muscles (PAMs) have a very great potential in industrial applications for the actuation of new types of robots and manipulators. Their properties such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity are worthy features in advanced robotics. In this paper we describe the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic muscle actuators. An antagonistic muscle pair is used in a linear translational sense to produce a force or in a rotational sense to produce a required torque on the pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. A nonlinear mathematical model of the manipulator arm driven by pneumatic artificial muscles and controlled with proportional control valve is derived, which is used in a numerical simulation program. The experiments were carried out on practically realized manipulator actuated by pair of muscle actuators set into antagonism configuration. © 2008 IEEE.

关键词： Muscle

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Modular hybrid robots with biologically inspired actuators and joint stiffness control

Modular hybrid robots with biologically inspired actuators a...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： D. Surdilovic J. Radojicic M. Schulze M. Dembek Department Automation and Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany Engineering Society for Automation and Computer Technology GmbH Berlin Germany

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

关键词： Biological control systems Pneumatic actuators Control systems Service robots Muscles Rubber Bellows Biological systems Jacobian matrices Force control

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High speed solenoid valves in pneumatic servo applications

High speed solenoid valves in pneumatic servo applications

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2007 Mediterranean Conference on Control and automation, MED

作者： Šitum, Zeljko Zilic, Tihomir Essert, Mario Faculty of Mechanical Engineering and Naval Architecture Department of Robotics and Automation of Production Systems Zagreb Croatia

ISBN: (纸本)142441282X

Pneumatic driving systems are mainly used in industrial applications where the moving parts are usually fixed by the mechanical stops. For flexible and precise positioning tasks of pneumatic drives relatively expensive proportional valves have been implemented. In order to develop cheaper pneumatic servo systems, the employment of low-cost on/off solenoid valves have received considerable attention. But, the traditional technologies used in on/off solenoid valves manifest different problems caused by the electric and thermal effects, inertial forces of their mechanical parts and friction phenomenon. However, it seems that innovative technology used in fast switching solenoid valves gives better possibilities in control of pneumatic systems due to their negligible internal friction and modular architecture. In this paper a control method based on pulse-width-modulation algorithm for position control of a pneumatic actuator with high-speed solenoid valve is considered and experimentally verified. ©2007 IEEE.

关键词： Solenoid valves

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High speed solenoid valves in pneumatic servo applications

High speed solenoid valves in pneumatic servo applications

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Mediterranean Conference on Control and automation (MED)

作者： Zeljko Situm Tihomir Zilie Mario Essert Department of Robotics and Automation of Production Systems Zagreb Croatia Faculty of Mechanical Engineering and Naval Architecture Department of Robotics and Automation of Production Systems Zagreb Croatia Faculty of Mechanical Engineering and Naval Architecture Department of Robotics and Automation of Production Systems Zagreb Croatia

关键词： Solenoids Valves Servomechanisms Friction Employment Thermal force Control systems Pneumatic systems Position control Pneumatic actuators

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Robust control design of impedance control for industrial robots

Robust control design of impedance control for industrial ro...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dragoljub Surdilovic Department Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

A widespread application of impedance control in industrial robotic systems is still a challenging problem. One of limitations is the absence of a widely-accepted framework for the synthesis of the impedance control parameters that ensure stability of both contact transition and interaction processes and guarantee desired contact performance. The existing design procedures based on robot passivity appear to be exceedingly conservative in applications in which the interaction between an industrial robot and a stiff environment should be controlled. The proposed new interaction stability paradigm ensures contact stability during all phases of interaction. Moreover, the new design framework realizes low-impedance performance allowing considerable reduction of high apparent industrial robot inertia and stiffness. The novel stability criteria are established based on robust control theory and take into account estimates of environmental stiffness, tolerating thereby large uncertainties and variations in industrial environments. These criteria are proved by extensively testing in industrial and space robots and have been recently extended to control synthesis of human robot interaction systems (haptic admittance displays and rehabilitation robots).

关键词： Robust control Impedance Robot control Industrial control Service robots Electrical equipment industry Stability Orbital robotics Human robot interaction Control system synthesis

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Safety concept for robotic gait trainers

Safety concept for robotic gait trainers

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt S. Hesse R. Bernhardt Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

The work presents a newly developed safety concept for application of robotic walking simulators based on the principle of programmable footplates in gait rehabilitation. Unlike robotic hand devices or exoskeleton robots for gait training on treadmills, which can be built relatively lightweight and require only small drives which can hardly do harm to the patient, a programmable footplate walking simulator with permanent foot fixture essentially needs to have powerful drives in order to carry and move the full body weight of the patient. The developed safety concept comprises several redundant algorithms and devices in the real-time robot control software, electrical emergency stop circuitry and machine mechanics. The mechanical core is a machine design offering maximum passive security by covering all moving parts (i.e. robot drives and linkages) and a newly developed foot safety release binding, which is mounted on each footplate. The release binding allows a safe release from the footplate in all directions in any degree of freedom in the sagittal plane. It is combined with an ankle goniometer which is equipped with adjustable emergency stop limit switches, thus ensuring that the allowed ankle range-of-motion is not exceeded.

关键词： Railway safety Robots Legged locomotion Rehabilitation robotics Foot Software safety Exoskeletons Circuit simulation Fixtures Electrical safety

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Upper and lower extremity robotic devices to promote motor recovery after stroke -recent developments

Upper and lower extremity robotic devices to promote motor r...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt S. Hesse C. Werner A. Bardeleben Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

Successful motor rehabilitation of stroke, TBI and SCI subjects requires an intensive and task-specific therapy approach. Budget constrains limit a hand-to-hand therapy approach, so that intelligent machines may offer a solution to further promote motor recovery and to better understand motor control. This new field of automated or robot-assisted motor rehabilitation has emerged since the nineties. The article presents clinically viable devices for the upper and lower extremity rehabilitation, which have been developed by our group. The Bi-Manu-Track, enables the bilateral practice of a forearm and wrist movement, and is currently tested. For gait rehabilitation after stroke, the electromechanical gait trainer GT I has proven effective as compared to treadmill training with body weight support (BWS). The latest development is the HapticWalker, a robotic walking simulator for gait training, which allows the training of arbitrary daily life foot trajectories. The foot trajectories can be individually adjusted to each patient, in addition the machine will offer a sophisticated patient-machine-interaction. A prototype of the machine has been designed and built succesfully and is being evaluated at present. Technical possibilities are one aspect, but multi-centre trials and the consideration of unsubstantiated fears among therapists of being replaced by the machines will decide on the successful implementation of this most promising field to the benefit of patients.

关键词： Extremities Rehabilitation robotics Medical treatment Legged locomotion Foot Intelligent robots Machine intelligence Motor drives robotics and automation Wrist

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Robotic walking simulator for neurological gait rehabilitation

Robotic walking simulator for neurological gait rehabilitati...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt D. Sorowka S. Hesse R. Bernhardt Department of Neurological Rehabilitation University of Berlin Berlin Germany Department of Neurological Rehabilitation Free University of Berlin Berlin Germany Department of Automation & Robotics Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany

The restoration of walking capability is a key goal after stroke, traumatic brain injury and spinal cord injury. Conventional training methods, e.g. treadmill training, require great physical effort from the therapists to assist the patient. A robotic training machine would be desirable in order to improve the training and to relieve the therapists. In addition to the general robot kinematics design issues, the designer of such a machine has to take into account several considerations specific to patient treatment In a rehabilitation clinic. Such a robotic walking simulator for neurological rehabilitation has been designed by our group and a prototype is currently being built. It will enable the therapist to let the machine move the patients feet on programmable foot trajectories (e.g. walking on plane floor, stepping stairs up and down, walking on rough surfaces, disturbances during walking). Therefore the patients feet will be fixed on two separate footplates mounted on the robot endeffectors. The highly dynamic robotic system can be used as a universal walking simulator, not only for rehabilitation purposes, i.e. as a haptic foot device for a variety of virtual ground conditions.

关键词： Legged locomotion Rehabilitation robotics Foot Brain modeling Brain injuries Spinal cord injury Robot kinematics Medical treatment Virtual prototyping Rough surfaces

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