Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201412
M. Galicki
This study addresses the problem of collision-free controlling a kinematically redundant manipulator whose end-effector follows a prescribed geometric path given in the task space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Through the use of the exterior penalty function approach, collision avoidance of the manipulator with obstacles may be ensured. Provided that, a solution to the aforementioned robot task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector follows a prescribed geometric path given in a work space including obstacles, illustrate the controller performance.
{"title":"Control of kinematically redundant manipulator with actuator constraints","authors":"M. Galicki","doi":"10.1109/ROMOCO.2005.201412","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201412","url":null,"abstract":"This study addresses the problem of collision-free controlling a kinematically redundant manipulator whose end-effector follows a prescribed geometric path given in the task space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Through the use of the exterior penalty function approach, collision avoidance of the manipulator with obstacles may be ensured. Provided that, a solution to the aforementioned robot task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector follows a prescribed geometric path given in a work space including obstacles, illustrate the controller performance.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116633798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201420
M. Idzikowski, L. Podsędkowski
In this paper simulation and experimental results of a new localization method of a mobile robot are presented. The new method handles both tasks of localization and mapping simultaneously. Its main feature is no assumption about the shape of obstacles. The objects in the workspace can be of any shape. In experimental phase a 3D laser rangefinder was used as a source of data.
{"title":"Simulation and experimental results of a new method of mobile robot localization","authors":"M. Idzikowski, L. Podsędkowski","doi":"10.1109/ROMOCO.2005.201420","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201420","url":null,"abstract":"In this paper simulation and experimental results of a new localization method of a mobile robot are presented. The new method handles both tasks of localization and mapping simultaneously. Its main feature is no assumption about the shape of obstacles. The objects in the workspace can be of any shape. In experimental phase a 3D laser rangefinder was used as a source of data.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126051930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201446
P. Herman, K. Kozlowski
This paper deals with problem of velocity control using a friction model which depends on kinematical and dynamical parameters of a manipulator. Both joint velocity controller and friction model are expressed in terms of unnormalized quasi-velocities (UQV). The controller is shown to be exponentially convergent. Some properties arising from investigation of the controller are considered here. The control strategy including the friction model was tested analytically on a 2 d.o.f. planar manipulator and in simulation on a 3 d.o.f. 3 - D, DDArm (direct drive arm) robot.
{"title":"Friction control in terms of unnormalized quasi-velocities","authors":"P. Herman, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201446","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201446","url":null,"abstract":"This paper deals with problem of velocity control using a friction model which depends on kinematical and dynamical parameters of a manipulator. Both joint velocity controller and friction model are expressed in terms of unnormalized quasi-velocities (UQV). The controller is shown to be exponentially convergent. Some properties arising from investigation of the controller are considered here. The control strategy including the friction model was tested analytically on a 2 d.o.f. planar manipulator and in simulation on a 3 d.o.f. 3 - D, DDArm (direct drive arm) robot.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114272075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201397
K. Wen, D. Necsulescu, J. Sasiadek
The force control is important part of robot control systems. There are two main methods of force control: impedance and admittance control. This paper presents an experimental set-up for impedance method verification. The impedance control is based on the assumption that the operator motion input is measured, and subsequently, the reaction force is fed back to the operator. Several experiments were performed to verify the suitability of impedance method in practice and its applicability in a haptic device.
{"title":"Experimental haptic device with force control","authors":"K. Wen, D. Necsulescu, J. Sasiadek","doi":"10.1109/ROMOCO.2005.201397","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201397","url":null,"abstract":"The force control is important part of robot control systems. There are two main methods of force control: impedance and admittance control. This paper presents an experimental set-up for impedance method verification. The impedance control is based on the assumption that the operator motion input is measured, and subsequently, the reaction force is fed back to the operator. Several experiments were performed to verify the suitability of impedance method in practice and its applicability in a haptic device.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130491980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201416
Stefano Carpin, G. Pillonetto
In this paper we investigate whether it is advantageous to merge some ideas formerly found in the randomized potential field planner with our recently introduced adaptive random walks planner. These aspects are biasing the generation of samples, an attractor for the samples generator, and the possibility to backtrack when the planner gets stuck while exploring the configuration space. We illustrate the numerical results of different experiments using these strategies one at the time, or combined together. It turns out that benefits of different amplitude can be obtained using them, but it is in general hard to incorporate these components in a general way independent from the problem instance to be solved.
{"title":"Merging the adaptive random walks planner with the randomized potential field planner","authors":"Stefano Carpin, G. Pillonetto","doi":"10.1109/ROMOCO.2005.201416","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201416","url":null,"abstract":"In this paper we investigate whether it is advantageous to merge some ideas formerly found in the randomized potential field planner with our recently introduced adaptive random walks planner. These aspects are biasing the generation of samples, an attractor for the samples generator, and the possibility to backtrack when the planner gets stuck while exploring the configuration space. We illustrate the numerical results of different experiments using these strategies one at the time, or combined together. It turns out that benefits of different amplitude can be obtained using them, but it is in general hard to incorporate these components in a general way independent from the problem instance to be solved.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127938512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201413
R. Kapela, A. Rybarczyk, M. Szulc
This paper describes the approach to collision avoidance problem for 3-DOF anthropomorphic robot manipulators. The novelty of the approach is the decomposition of 3D space to two 2D spaces. Resulting is the computationally efficient algorithm, suitable for implementation in the real-time systems. Simulation of the anthropomorphic manipulator operating in three dimensional space with obstacles is also presented.
{"title":"Trajectory realization with collision avoidance algorithm","authors":"R. Kapela, A. Rybarczyk, M. Szulc","doi":"10.1109/ROMOCO.2005.201413","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201413","url":null,"abstract":"This paper describes the approach to collision avoidance problem for 3-DOF anthropomorphic robot manipulators. The novelty of the approach is the decomposition of 3D space to two 2D spaces. Resulting is the computationally efficient algorithm, suitable for implementation in the real-time systems. Simulation of the anthropomorphic manipulator operating in three dimensional space with obstacles is also presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134370985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201424
J. Majchrzak, M. Michalski
In this paper the results of research of mobile robot control system are presented, namely the quality of regulation with and without on-board velocity controllers taken into account. To verify the behaviour of the control system an time-varying controller was chosen which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The control system consists of kinematic oscillator algorithm implemented in real time operating system (RTAI Linux) and PI on-board controllers. Experimental results were obtained on a new mobile robot platform, Mini-Tacker 3.0.
{"title":"On selected features of mobile robot control system","authors":"J. Majchrzak, M. Michalski","doi":"10.1109/ROMOCO.2005.201424","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201424","url":null,"abstract":"In this paper the results of research of mobile robot control system are presented, namely the quality of regulation with and without on-board velocity controllers taken into account. To verify the behaviour of the control system an time-varying controller was chosen which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The control system consists of kinematic oscillator algorithm implemented in real time operating system (RTAI Linux) and PI on-board controllers. Experimental results were obtained on a new mobile robot platform, Mini-Tacker 3.0.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117045510","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201432
C. Zieliński, W. Szynkiewicz, Tomasz Winiarski
The paper concentrates on the way that the MRROC++ robot programming framework has been applied to produce control systems for robots of different types performing diverse tasks. Moreover, both a brief formal specification and the method of implementation of the MRROC ++ based system is presented.
{"title":"Applications of MRROC++ robot programming framework","authors":"C. Zieliński, W. Szynkiewicz, Tomasz Winiarski","doi":"10.1109/ROMOCO.2005.201432","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201432","url":null,"abstract":"The paper concentrates on the way that the MRROC++ robot programming framework has been applied to produce control systems for robots of different types performing diverse tasks. Moreover, both a brief formal specification and the method of implementation of the MRROC ++ based system is presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"5 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113981488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201450
P. Szulczyhski, K. Kozlowski
This paper describes the steering of a unicycle-like vehicle using the algorithm proposed by Morin and Samson (2000) in trajectory tracking process. The influence of controller parameters on quality steering was tested by choosing quality factors. Simulation results illustrating quality factors are presented.
{"title":"Control of nonholonomic robot with quality factors","authors":"P. Szulczyhski, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201450","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201450","url":null,"abstract":"This paper describes the steering of a unicycle-like vehicle using the algorithm proposed by Morin and Samson (2000) in trajectory tracking process. The influence of controller parameters on quality steering was tested by choosing quality factors. Simulation results illustrating quality factors are presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133413329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201421
L. Beji, A. Abichou, K. M. Zemalache
A particular structure of a four rotors mini-flying robot where two rotors are directional (X4 bidirectional rotors) is presented in this paper. The two internal degree of freedom leads to a transformation between the equivalent system of the control-inputs and the rotor force-inputs which is not a diffeomorphism. This makes our system different from that of the classical flyer robot (X4 flyer). The dynamic model involves five control inputs which will be computed to stabilize the engine with predefined trajectories. A path-like flying road, described as straight-lines with rounded corners permits to prove the effectiveness of the proposed static feedback control law.
{"title":"Smooth control of an X4 bidirectional rotors flying robot","authors":"L. Beji, A. Abichou, K. M. Zemalache","doi":"10.1109/ROMOCO.2005.201421","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201421","url":null,"abstract":"A particular structure of a four rotors mini-flying robot where two rotors are directional (X4 bidirectional rotors) is presented in this paper. The two internal degree of freedom leads to a transformation between the equivalent system of the control-inputs and the rotor force-inputs which is not a diffeomorphism. This makes our system different from that of the classical flyer robot (X4 flyer). The dynamic model involves five control inputs which will be computed to stabilize the engine with predefined trajectories. A path-like flying road, described as straight-lines with rounded corners permits to prove the effectiveness of the proposed static feedback control law.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"373 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124666323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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