Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201431
L. Vajta, Gergely Galambos
This paper presents a mobile robot system with vision based teleoperation for the use in unstructured outdoor environment. Our system makes use of a camera-laser combined sensor system, which gives suitable information for the operator in such unstructured environments with homogenous reflection, as the surface of the frozen Lake Balaton. The role of the human vision is essential in visual guided teleoperation. A comprehensive overview of the human's 3D sensing, and the role of the different vision cues is introduced. The need for the combined 2D-3D vision, our approach for that and the first experimental results in teleoperation are presented.
{"title":"Vision guided mobile platform for outdoor use in unstructured environment","authors":"L. Vajta, Gergely Galambos","doi":"10.1109/ROMOCO.2005.201431","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201431","url":null,"abstract":"This paper presents a mobile robot system with vision based teleoperation for the use in unstructured outdoor environment. Our system makes use of a camera-laser combined sensor system, which gives suitable information for the operator in such unstructured environments with homogenous reflection, as the surface of the frozen Lake Balaton. The role of the human vision is essential in visual guided teleoperation. A comprehensive overview of the human's 3D sensing, and the role of the different vision cues is introduced. The need for the combined 2D-3D vision, our approach for that and the first experimental results in teleoperation are presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"31 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":"123157086","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.2005.201414
V. Marchenko, O. N. Poddubnaya, Z. Zaczkicwicz
The paper considers several models of linear hybrid systems described by discrete-difference and difference-differential equations with control. Special attention is paid to the difference-differential hybrid systems in symmetric form. For solutions of such systems, a variation-of-constants formula is proposed and the relative controllability-observability principle is established. For stationary systems, we introduce the determining equations and present solutions in the form of series of their determining equation solutions. Then algebraic properties of solutions of determining equation are investigated, in particular, the well-known Hamilton-Cayley matrix theorem is extended to the solutions of the system of determining equations. As a result, parametric criteria for the relative controllability and relative observability are given.
{"title":"Hybrid control and observation systems in symmetric form","authors":"V. Marchenko, O. N. Poddubnaya, Z. Zaczkicwicz","doi":"10.1109/ROMOCO.2005.201414","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201414","url":null,"abstract":"The paper considers several models of linear hybrid systems described by discrete-difference and difference-differential equations with control. Special attention is paid to the difference-differential hybrid systems in symmetric form. For solutions of such systems, a variation-of-constants formula is proposed and the relative controllability-observability principle is established. For stationary systems, we introduce the determining equations and present solutions in the form of series of their determining equation solutions. Then algebraic properties of solutions of determining equation are investigated, in particular, the well-known Hamilton-Cayley matrix theorem is extended to the solutions of the system of determining equations. As a result, parametric criteria for the relative controllability and relative observability are given.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"7 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":"123626916","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.2005.201441
K. Mianowski, M. Wojtyra
The prototype of parallel manipulator of Stewart platform type destined for the measuring applications and some technological problems concerned with its design is presented in the paper. The design of mechanical part of the robot has been worked out in UNIGRAPHICS system while engineering simulations was made in ADAMStrade environment. Preliminary results of the design and initial investigations concerned with measuring applications, and conclusions are presented. Main advantages of this solution are simplicity, compactness and lightness of the construction. The POLMAN design provides a systematic approach to the development of modular parallel robotic systems which can be configured into a wide variety of different forms for different applications. Because of special construction of kinematic pairs, manipulator can assure very small mechanical hysteresis. Manipulator is applied to robotized measuring of two cooperated robots in the laboratory stand
{"title":"On some technological problems concerned with kinematical properties of parallel manipulator's for measuring applications","authors":"K. Mianowski, M. Wojtyra","doi":"10.1109/ROMOCO.2005.201441","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201441","url":null,"abstract":"The prototype of parallel manipulator of Stewart platform type destined for the measuring applications and some technological problems concerned with its design is presented in the paper. The design of mechanical part of the robot has been worked out in UNIGRAPHICS system while engineering simulations was made in ADAMStrade environment. Preliminary results of the design and initial investigations concerned with measuring applications, and conclusions are presented. Main advantages of this solution are simplicity, compactness and lightness of the construction. The POLMAN design provides a systematic approach to the development of modular parallel robotic systems which can be configured into a wide variety of different forms for different applications. Because of special construction of kinematic pairs, manipulator can assure very small mechanical hysteresis. Manipulator is applied to robotized measuring of two cooperated robots in the laboratory stand","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"2007 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":"129591262","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.2005.201410
Andrzej Kasiriski, J. Wencel
The aim of this work is to solve the problem of generating signals (joint torques) forcing the anthropomorphic 3 dof manipulator to follow a path, specified in its workspace in such a way that two contradictory conditions are satisfied. Namely, the robot drives constraints are accounted for (bounded maximal torques and rotation speed limits in joint-gears) and the velocity along the path is constant. However the goal of robot control is to minimise the trajectory cycle-time. Solution to the problem results in a two-stage path design procedure. The trajectory generation algorithm is based on the known manipulator models (kinematical and dynamical). The modelling errors while trajectory tracking are controlled with the decoupled linear PD controllers of the robot-axes. The overall system including the path and trajectory planner has been simulated in order to study the role of particular constraints and to evaluate the performance of the system.
{"title":"Constraints satisfying trajectory tracking algorithm for the 3 dof manipulator","authors":"Andrzej Kasiriski, J. Wencel","doi":"10.1109/ROMOCO.2005.201410","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201410","url":null,"abstract":"The aim of this work is to solve the problem of generating signals (joint torques) forcing the anthropomorphic 3 dof manipulator to follow a path, specified in its workspace in such a way that two contradictory conditions are satisfied. Namely, the robot drives constraints are accounted for (bounded maximal torques and rotation speed limits in joint-gears) and the velocity along the path is constant. However the goal of robot control is to minimise the trajectory cycle-time. Solution to the problem results in a two-stage path design procedure. The trajectory generation algorithm is based on the known manipulator models (kinematical and dynamical). The modelling errors while trajectory tracking are controlled with the decoupled linear PD controllers of the robot-axes. The overall system including the path and trajectory planner has been simulated in order to study the role of particular constraints and to evaluate the performance of the system.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"8 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":"125588731","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.2005.201443
M. Klak, A. Rybarczyk
More and more production processes require prognostics of fault frequencies, automated products verifications or real time validation. This article shows a hardware conception of distracted reprogrammable real time operating cluster counting module, that verifies and validates products or production processes.
{"title":"Concept of industrial cluster counting module","authors":"M. Klak, A. Rybarczyk","doi":"10.1109/ROMOCO.2005.201443","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201443","url":null,"abstract":"More and more production processes require prognostics of fault frequencies, automated products verifications or real time validation. This article shows a hardware conception of distracted reprogrammable real time operating cluster counting module, that verifies and validates products or production processes.","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":"129937700","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.2005.201426
H. Yabuno
A motion control technique for a two-link underactuated manipulator without state feedback control of the unactuated link is proposed; the manipulator can be moved in the vertical plane and the first and second links are actuated and unactuated, respectively. The usual control methods of the underactuated manipulators are based on the feedback of states of not only active link but also unactuated link. On the other hand, the proposed method does not require the information with respect to the motion of the unactuated link and not utilize the state feedback control of the unactuated link. The various bifurcation phenomena are emerged in the unactuated link by high-frequency excitation of the actuated first link. By using the nonlinear characteristics it is carried out to swing up to the upright position which is statically unstable and to stabilize the position. Experimental results indicate the validity of the proposed method for the underactuated manipulator.
{"title":"Motion control of a two-link underactuated manipulator without state feedback of unactuated link (utilization of bifurcations under high-frequency excitation)","authors":"H. Yabuno","doi":"10.1109/ROMOCO.2005.201426","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201426","url":null,"abstract":"A motion control technique for a two-link underactuated manipulator without state feedback control of the unactuated link is proposed; the manipulator can be moved in the vertical plane and the first and second links are actuated and unactuated, respectively. The usual control methods of the underactuated manipulators are based on the feedback of states of not only active link but also unactuated link. On the other hand, the proposed method does not require the information with respect to the motion of the unactuated link and not utilize the state feedback control of the unactuated link. The various bifurcation phenomena are emerged in the unactuated link by high-frequency excitation of the actuated first link. By using the nonlinear characteristics it is carried out to swing up to the upright position which is statically unstable and to stabilize the position. Experimental results indicate the validity of the proposed method for the underactuated manipulator.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"18 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":"125233152","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.2005.201422
A. Mazur, L. Nocek
In this paper a solution to the trajectory tracking problem for nonholonomic 3-pendulum has been presented. The proposed control algorithm takes into considerations the kinematics as well as the dynamics of the nonholonomic system. Kinematic controller is the Jiang & Nijmeijer controller for chained systems and dynamic controller is a version of the Oya et al. control algorithm. Theoretical considerations have been illustrated with simulations.
{"title":"Trajectory tracking for rigid 3-pendulum with nonholonomic gears","authors":"A. Mazur, L. Nocek","doi":"10.1109/ROMOCO.2005.201422","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201422","url":null,"abstract":"In this paper a solution to the trajectory tracking problem for nonholonomic 3-pendulum has been presented. The proposed control algorithm takes into considerations the kinematics as well as the dynamics of the nonholonomic system. Kinematic controller is the Jiang & Nijmeijer controller for chained systems and dynamic controller is a version of the Oya et al. control algorithm. Theoretical considerations have been illustrated with simulations.","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":"131395344","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.2005.201434
Grzegorz Wieczerzak, K. Kozlowski
There is still a lack of methods to build multi-robot systems that might be easily modified or expanded on new functional blocks. Moreover, one of the most popular paradigms in robotics, the behavior-based control, despite of its ability to provide architectural transparency and intuitive means of describing the behaviors of robots, does not allow us to predict final quality and performance of the system. To increase safety of robots and the sustainment of their operations, for example, we can consider all the potential of sensors. In this paper we present current state of our multi-agent architecture, exhibiting their reactive properties. We present a simple trap recovery behavior, which can be executed by robots in a case of abnormal situations, e.g. hardware malfunction. On the other hand, we specify a multi-robot construction domain, which will serve as a scalable testbed for our control strategy.
{"title":"Don't let player get stuck!: Increasing the autonomy of agents","authors":"Grzegorz Wieczerzak, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201434","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201434","url":null,"abstract":"There is still a lack of methods to build multi-robot systems that might be easily modified or expanded on new functional blocks. Moreover, one of the most popular paradigms in robotics, the behavior-based control, despite of its ability to provide architectural transparency and intuitive means of describing the behaviors of robots, does not allow us to predict final quality and performance of the system. To increase safety of robots and the sustainment of their operations, for example, we can consider all the potential of sensors. In this paper we present current state of our multi-agent architecture, exhibiting their reactive properties. We present a simple trap recovery behavior, which can be executed by robots in a case of abnormal situations, e.g. hardware malfunction. On the other hand, we specify a multi-robot construction domain, which will serve as a scalable testbed for our control strategy.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"134 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":"123493980","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.2005.201444
Y. Morita, M. Kimata, H. Ukai, H. Kando, F. Matsuno
This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.
{"title":"Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations","authors":"Y. Morita, M. Kimata, H. Ukai, H. Kando, F. Matsuno","doi":"10.1109/ROMOCO.2005.201444","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201444","url":null,"abstract":"This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"7 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":"123818672","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.2005.201407
T. Urakubo
This paper deals with the problem of controlling a class of nonholonomic systems, first order systems. The first order systems are systems where the input vector fields and the first level of Lie brackets between them span the tangent space of the state space. We derive a discontinuous state feedback law for the systems by extending Lyapunov control. The input vector is constructed by multiplying the gradient vector of a Lyapunov function by a matrix which is composed of a negative definite symmetric one and a skew-symmetric one. The designed controller makes the desired point the only stable equilibrium point, and the controlled system converges to the desired point from almost all initial points. The proposed controller is applied to two examples of first order systems, a two wheeled vehicle and a spacecraft composed of two rigid bodies.
{"title":"Discontinuous feedback stabilization of a class of nonholonomic systems based on Lyapunov control","authors":"T. Urakubo","doi":"10.1109/ROMOCO.2005.201407","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201407","url":null,"abstract":"This paper deals with the problem of controlling a class of nonholonomic systems, first order systems. The first order systems are systems where the input vector fields and the first level of Lie brackets between them span the tangent space of the state space. We derive a discontinuous state feedback law for the systems by extending Lyapunov control. The input vector is constructed by multiplying the gradient vector of a Lyapunov function by a matrix which is composed of a negative definite symmetric one and a skew-symmetric one. The designed controller makes the desired point the only stable equilibrium point, and the controlled system converges to the desired point from almost all initial points. The proposed controller is applied to two examples of first order systems, a two wheeled vehicle and a spacecraft composed of two rigid bodies.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"27 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":"114793185","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：