Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201449
J. Tar, A. Bencsik, K. Kozlowski
In this paper electromagnetic servo valve controlled differential hydraulic cylinders are considered as paradigms of non-linear systems that have locally nonlinearizable nonlinearities. One of them is of hydrodynamic origin: the flow resistance of the system is proportional to the square root of certain pressure difference that has infinite derivative at zero. The other nonlinearity is caused by the discontinuous behavior of the friction and adhesion forces between the piston and the cylinder at zero piston velocity. Such a behavior is difficult to control by the traditional PID controllers. Furthermore, uncertainties and variation of the hydrodynamic parameters in general make it unrealistic to develop an accurate model for such systems. Brocker and Lemmen proposed two different control approaches for the differential hydraulic cylinders based on the disturbance rejection, and on the partial flatness principles, respectively. In each case it was necessary to measure the external disturbance force and its time-derivative as well as to know the exact model of the system. Later on Tar et al. proposed an alternative adaptive approach that does not require to measure the disturbance force and to know the exact parameters of the cylinder. This method rejected to use time-derivatives because of the presence of friction, and, as a consequence it resulted in a very hectic transient phase of learning. In this paper an alternative approach is presented that combines this approach with the use of calculated time-derivatives that are "rejected" by adoptively varying the order of the derivation applied. In this way the harsh initial transients can be evaded. The operation of the method is presented by simulations.
{"title":"Fractional order adaptive control for systems of locally nonlinearizable nonlinearities","authors":"J. Tar, A. Bencsik, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201449","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201449","url":null,"abstract":"In this paper electromagnetic servo valve controlled differential hydraulic cylinders are considered as paradigms of non-linear systems that have locally nonlinearizable nonlinearities. One of them is of hydrodynamic origin: the flow resistance of the system is proportional to the square root of certain pressure difference that has infinite derivative at zero. The other nonlinearity is caused by the discontinuous behavior of the friction and adhesion forces between the piston and the cylinder at zero piston velocity. Such a behavior is difficult to control by the traditional PID controllers. Furthermore, uncertainties and variation of the hydrodynamic parameters in general make it unrealistic to develop an accurate model for such systems. Brocker and Lemmen proposed two different control approaches for the differential hydraulic cylinders based on the disturbance rejection, and on the partial flatness principles, respectively. In each case it was necessary to measure the external disturbance force and its time-derivative as well as to know the exact model of the system. Later on Tar et al. proposed an alternative adaptive approach that does not require to measure the disturbance force and to know the exact parameters of the cylinder. This method rejected to use time-derivatives because of the presence of friction, and, as a consequence it resulted in a very hectic transient phase of learning. In this paper an alternative approach is presented that combines this approach with the use of calculated time-derivatives that are \"rejected\" by adoptively varying the order of the derivation applied. In this way the harsh initial transients can be evaded. The operation of the method is presented by simulations.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"26 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":"116743850","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.2005.201411
A. Lesewed, J. Kurek
The paper describes applications of recurrent neural network and back propagation learning method for calculation of mathematical model for PUMA 560 robot. The model is based on the Lagrange-Euler formulation and described by a set of nonlinear differential and algebraic equations. A numerical example has shown the comparison of neural model and robot manipulator.
{"title":"Calculation of robot parameters based on neural nets","authors":"A. Lesewed, J. Kurek","doi":"10.1109/ROMOCO.2005.201411","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201411","url":null,"abstract":"The paper describes applications of recurrent neural network and back propagation learning method for calculation of mathematical model for PUMA 560 robot. The model is based on the Lagrange-Euler formulation and described by a set of nonlinear differential and algebraic equations. A numerical example has shown the comparison of neural model and robot manipulator.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"26 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":"134323626","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.2005.201401
P. Sauer, K. Kozlowski, D. Pazderski, W. Waliszewski, Przemyslaw Jeziorek
This paper presents a concept of multi-level control system for minimal invasive surgery (MIS). The overall system is based on the Staubli robot which plays a role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick or commands from the speech recognition system. In this paper, we present experimental results of control of the Staubli RX60 robot which has been used as the robot assistant. The system is named ASYSTANT.
{"title":"The robot assistant system for surgeon in laparoscopic interventions","authors":"P. Sauer, K. Kozlowski, D. Pazderski, W. Waliszewski, Przemyslaw Jeziorek","doi":"10.1109/ROMOCO.2005.201401","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201401","url":null,"abstract":"This paper presents a concept of multi-level control system for minimal invasive surgery (MIS). The overall system is based on the Staubli robot which plays a role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick or commands from the speech recognition system. In this paper, we present experimental results of control of the Staubli RX60 robot which has been used as the robot assistant. The system is named ASYSTANT.","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":"130248291","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.2005.201423
T. Fukao, T. Kanzawa, K. Osuka
Inverse optimal tracking control is applied to an aerial blimp which is one of the underactuated systems. In the inverse optimal control approach, a controller is designed by using a control Lyapunov function and Sontag's formula. The controller minimizes some meaningful cost dependent on the controller, which is not given in advance, and the designed system has a stability margin which guarantees robustness with respect to input uncertainties. This robust property is a very important issue for a blimp which has large uncertainties. Some experiments are performed by using an indoor blimp.
{"title":"Inverse optimal tracking control of an aerial blimp robot","authors":"T. Fukao, T. Kanzawa, K. Osuka","doi":"10.1109/ROMOCO.2005.201423","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201423","url":null,"abstract":"Inverse optimal tracking control is applied to an aerial blimp which is one of the underactuated systems. In the inverse optimal control approach, a controller is designed by using a control Lyapunov function and Sontag's formula. The controller minimizes some meaningful cost dependent on the controller, which is not given in advance, and the designed system has a stability margin which guarantees robustness with respect to input uncertainties. This robust property is a very important issue for a blimp which has large uncertainties. Some experiments are performed by using an indoor blimp.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"22 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":"121430132","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.2005.201417
F. Capezio, A. Sgorbissa, R. Zaccaria
The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.
{"title":"GPS-based localization for a surveillance UGV in outdoor areas","authors":"F. Capezio, A. Sgorbissa, R. Zaccaria","doi":"10.1109/ROMOCO.2005.201417","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201417","url":null,"abstract":"The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"121 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":"121363622","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.2005.201399
F. Cepolina, M. Zoppi
The paper discusses the architecture and the workspace of a special modular surgical robot designed for minimally invasive surgery (keyhole surgery). The surgeon can be asked to operate on an organ not directly reachable through any keyhole opened on the patient abdomen, e.g. due to the presence of other organs surrounding it. In this case, an alternative to complex and dangerous displacement operations of the surrounding organs inside the patient is the use of a highly dexterous robotic arm able to reach the operating region by moving around the organs. The paper proposes a mini robot composed of modules with different mobility connected in series through mechanical/power/control interfaces. The workspace and performances of the robot can be adapted to the particular surgical operation to be carried out by changing the composition of the chain (type and position of the modules). Data stored in a database allow the easy determination of the workspace and provide information about the velocity ellipsoids and the presence of singularities. With reference to the results of the preoperative exams and by means of the information stored in the database, the best robot architecture, for the surgical operation to be carried out, can be selected.
{"title":"Snail surgeon: a new robotic system for minimally invasive surgery","authors":"F. Cepolina, M. Zoppi","doi":"10.1109/ROMOCO.2005.201399","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201399","url":null,"abstract":"The paper discusses the architecture and the workspace of a special modular surgical robot designed for minimally invasive surgery (keyhole surgery). The surgeon can be asked to operate on an organ not directly reachable through any keyhole opened on the patient abdomen, e.g. due to the presence of other organs surrounding it. In this case, an alternative to complex and dangerous displacement operations of the surrounding organs inside the patient is the use of a highly dexterous robotic arm able to reach the operating region by moving around the organs. The paper proposes a mini robot composed of modules with different mobility connected in series through mechanical/power/control interfaces. The workspace and performances of the robot can be adapted to the particular surgical operation to be carried out by changing the composition of the chain (type and position of the modules). Data stored in a database allow the easy determination of the workspace and provide information about the velocity ellipsoids and the presence of singularities. With reference to the results of the preoperative exams and by means of the information stored in the database, the best robot architecture, for the surgical operation to be carried out, can be selected.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"40 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":"123293004","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.2005.201406
E. Jarzębowska
The paper presents a model-based tracking control strategy for a mobile robot based on a controller design that uses only position and orientation measurement. This model-based tracking strategy is the programmed motion tracking originally developed under the assumption that the foil state of a system is available for measurement. To meet practical requirements that not all state variables are accessible, we develop the programmed motion tracking for a mobile robot using only position and orientation measurement. Our approach exploits a structure of a control dynamics of the mobile robot.
{"title":"Design of a tracking controller-observer system for a mobile robot","authors":"E. Jarzębowska","doi":"10.1109/ROMOCO.2005.201406","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201406","url":null,"abstract":"The paper presents a model-based tracking control strategy for a mobile robot based on a controller design that uses only position and orientation measurement. This model-based tracking strategy is the programmed motion tracking originally developed under the assumption that the foil state of a system is available for measurement. To meet practical requirements that not all state variables are accessible, we develop the programmed motion tracking for a mobile robot using only position and orientation measurement. Our approach exploits a structure of a control dynamics of the mobile robot.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"13 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":"131719118","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.2005.201433
Tomasz Winiarski, C. Zieliński
The paper concentrates on the way that position-force control has been implemented in the MRROC++ robot programming framework. Moreover, a position-force control based application is presented. Besides executing the control task the controller collected experimental data enabling the evaluation of the implementation of the control scheme.
{"title":"Implementation of position-force control in MRROC++","authors":"Tomasz Winiarski, C. Zieliński","doi":"10.1109/ROMOCO.2005.201433","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201433","url":null,"abstract":"The paper concentrates on the way that position-force control has been implemented in the MRROC++ robot programming framework. Moreover, a position-force control based application is presented. Besides executing the control task the controller collected experimental data enabling the evaluation of the implementation of the control scheme.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"114 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":"126910468","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.2005.201448
Piotr Prokopowicz
The model of the ordered fuzzy numbers (OFN) has been defined and explored in the recent publications of the author and his co-workers (2003 and 2004). It provides a quite simple representation of non-precise information and algebraic operations on them. If one performs many operations on OFN's then the fuzziness of their results is limited in contrast to the operations on standard convex fuzzy numbers. The implementation of OFN in a fuzzy controller is made. The controller makes use of multi-conditional fuzzy rules. New methods of determining their levels of activities are proposed as well inference methods based on special properties of OFNs. Fuzzy control is applied here to a hypothetical process of moving device (can be related to car, robot, etc.). Proposed control uses the readings from two devices: actual speed and distance to a critical (boundary) point, which cannot be achieved. The control variable is the applying acceleration. Goal of the control is to keep the device in a safe distance from the critical point.
{"title":"Methods based on ordered fuzzy numbers used in fuzzy control","authors":"Piotr Prokopowicz","doi":"10.1109/ROMOCO.2005.201448","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201448","url":null,"abstract":"The model of the ordered fuzzy numbers (OFN) has been defined and explored in the recent publications of the author and his co-workers (2003 and 2004). It provides a quite simple representation of non-precise information and algebraic operations on them. If one performs many operations on OFN's then the fuzziness of their results is limited in contrast to the operations on standard convex fuzzy numbers. The implementation of OFN in a fuzzy controller is made. The controller makes use of multi-conditional fuzzy rules. New methods of determining their levels of activities are proposed as well inference methods based on special properties of OFNs. Fuzzy control is applied here to a hypothetical process of moving device (can be related to car, robot, etc.). Proposed control uses the readings from two devices: actual speed and distance to a critical (boundary) point, which cannot be achieved. The control variable is the applying acceleration. Goal of the control is to keep the device in a safe distance from the critical point.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"109 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":"115380184","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.2005.201435
Tobias Larsen, S. Hansen
We have developed a composite control system for solving complex tasks with autonomous robots. The control system is evolved using artificial evolution and can be regarded as a modular decision tree where every node is a neural network. We show that the control system is robust to noise, is reactive, is extendable and can be set up to be configured automatically. Furthermore we show that robots in the real world work using this control system.
{"title":"Evolving composite robot behaviour - a modular architecture","authors":"Tobias Larsen, S. Hansen","doi":"10.1109/ROMOCO.2005.201435","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201435","url":null,"abstract":"We have developed a composite control system for solving complex tasks with autonomous robots. The control system is evolved using artificial evolution and can be regarded as a modular decision tree where every node is a neural network. We show that the control system is robust to noise, is reactive, is extendable and can be set up to be configured automatically. Furthermore we show that robots in the real world work using this control system.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"90 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":"122551824","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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