Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201427
H. T. Sahin, E. Zergeroglu
This paper considers the problem of position control of robot manipulators via visual servoing in the presence of uncertainty associated with the robot dynamics and the vision system. Specifically, an adaptive controller is designed to compensate for the uncertainties associated with the mechanical parameters of the robot manipulator and the intrinsic parameters of the cameras. The 3D visual inclination is obtained from the composite inputs of two separate cameras placed in the robot work space. Despite the uncertainties associated with the camera system and robot dynamics the proposed adaptive controller achieves asymptotic end effector position tracking. A Lyapunov based approach is presented to prove the stability and boundedness of the closed loop system.
{"title":"Adaptive visual servo control of robot manipulators via composite camera inputs","authors":"H. T. Sahin, E. Zergeroglu","doi":"10.1109/ROMOCO.2005.201427","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201427","url":null,"abstract":"This paper considers the problem of position control of robot manipulators via visual servoing in the presence of uncertainty associated with the robot dynamics and the vision system. Specifically, an adaptive controller is designed to compensate for the uncertainties associated with the mechanical parameters of the robot manipulator and the intrinsic parameters of the cameras. The 3D visual inclination is obtained from the composite inputs of two separate cameras placed in the robot work space. Despite the uncertainties associated with the camera system and robot dynamics the proposed adaptive controller achieves asymptotic end effector position tracking. A Lyapunov based approach is presented to prove the stability and boundedness of the closed loop system.","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":"129766553","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.2005.201404
F. Chikhi, A. E. Hadri, J. Cadiou
The optimal control for anti-lock system proposed in this paper consists to search the wheel slip corresponding to the maximum of the tyre-road characteristic curve. This allows maximising the braking tyre forces. In this strategy of control the wheel slip is not imposed but used an algorithm to generated desired optimal wheel sleep. This algorithm is based on a nominal Pacejka tyre model which uses two parameters to give an updated of the tyre model with respect to the real tyre force characteristic. The proposed control method is verified through one-wheel simulation model with a "magic formula" tyre model. Simulations results show the effectiveness of this controller scheme.
{"title":"ABS control design based on wheel-slip peak localization","authors":"F. Chikhi, A. E. Hadri, J. Cadiou","doi":"10.1109/ROMOCO.2005.201404","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201404","url":null,"abstract":"The optimal control for anti-lock system proposed in this paper consists to search the wheel slip corresponding to the maximum of the tyre-road characteristic curve. This allows maximising the braking tyre forces. In this strategy of control the wheel slip is not imposed but used an algorithm to generated desired optimal wheel sleep. This algorithm is based on a nominal Pacejka tyre model which uses two parameters to give an updated of the tyre model with respect to the real tyre force characteristic. The proposed control method is verified through one-wheel simulation model with a \"magic formula\" tyre model. Simulations results show the effectiveness of this controller scheme.","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":"125608999","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.2005.201419
J. Koch, Carsten Hillenbrand, K. Berns
The implementation of an inertial measurement system used within the behavior-based control of an autonomous outdoor vehicle is presented in this paper. Autonomous dead-reckoning navigation can be substantially improved by an inertial sensor system. The determined orientation information is also mandatory for higher level behavior-based control to allow path-finding adaptive to the environment.
{"title":"Inertial navigation for wheeled robots in outdoor terrain","authors":"J. Koch, Carsten Hillenbrand, K. Berns","doi":"10.1109/ROMOCO.2005.201419","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201419","url":null,"abstract":"The implementation of an inertial measurement system used within the behavior-based control of an autonomous outdoor vehicle is presented in this paper. Autonomous dead-reckoning navigation can be substantially improved by an inertial sensor system. The determined orientation information is also mandatory for higher level behavior-based control to allow path-finding adaptive to the environment.","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":"129285470","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.2005.201447
K. Rudzinska, H. Kormanski, M. Carlini, R. I. Abenavoli
In this paper we discuss an approach, based on virtual reality application, to interactive prototyping and real-time controlling a mobile robot. It consists in construction of two robots: real one moving in actual world and virtual one existing in three dimensional reconstruction of the same environment. A teleoperation system, based on virtual images generated by 3D computer graphics, allows to compensate for delayed or incomplete data set from real world. The system hardware and multilayer software architecture is discussed. The performance of the developed system has been examined through experiments with a mobile platform. A method, based on Dijkstra's algorithm, for the shortest-route and collision-free navigation was also elaborated and described in the paper.
{"title":"An interactive system for mobile robot navigation","authors":"K. Rudzinska, H. Kormanski, M. Carlini, R. I. Abenavoli","doi":"10.1109/ROMOCO.2005.201447","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201447","url":null,"abstract":"In this paper we discuss an approach, based on virtual reality application, to interactive prototyping and real-time controlling a mobile robot. It consists in construction of two robots: real one moving in actual world and virtual one existing in three dimensional reconstruction of the same environment. A teleoperation system, based on virtual images generated by 3D computer graphics, allows to compensate for delayed or incomplete data set from real world. The system hardware and multilayer software architecture is discussed. The performance of the developed system has been examined through experiments with a mobile platform. A method, based on Dijkstra's algorithm, for the shortest-route and collision-free navigation was also elaborated and described in the paper.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"49 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":"123747010","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.2005.201394
Benjamín Tovar, A. Yershova, J. O’Kane, S. LaValle
Planning with sensing uncertainty is central to robotics. Sensor limitations often prevent accurate state estimation of the robot. Two general approaches can be taken for solving robotics tasks given sensing uncertainty. The first approach is to estimate the state and to solve the given task using the estimate as the real state. However, estimation of the state may sometimes be harder than solving the original task. The other approach is to avoid estimation of the state, which can be achieved by defining the information space, the space of all histories of actions and sensing observations of a robot system. Considering information spaces brings better understanding of problems involving uncertainty, and also allows finding better solutions to such problems. In this paper we give a brief description of the information space framework, followed by its use in some robotic tasks.
{"title":"Information spaces for mobile robots","authors":"Benjamín Tovar, A. Yershova, J. O’Kane, S. LaValle","doi":"10.1109/ROMOCO.2005.201394","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201394","url":null,"abstract":"Planning with sensing uncertainty is central to robotics. Sensor limitations often prevent accurate state estimation of the robot. Two general approaches can be taken for solving robotics tasks given sensing uncertainty. The first approach is to estimate the state and to solve the given task using the estimate as the real state. However, estimation of the state may sometimes be harder than solving the original task. The other approach is to avoid estimation of the state, which can be achieved by defining the information space, the space of all histories of actions and sensing observations of a robot system. Considering information spaces brings better understanding of problems involving uncertainty, and also allows finding better solutions to such problems. In this paper we give a brief description of the information space framework, followed by its use in some robotic tasks.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"5 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":"116447650","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.2005.201442
Joanna Kalkowska, S. Trzcielinski, Hanna Wlodarkiewicz-Klimek
Automated and robotic technologies when implemented to production lines and manufacturing cells not only enable flexibility of the manufacturing systems but make reasonable production in small batches and shorten the production cycle as well. However to compete successfully on the cycle of launching the product into the market also the cycle of a new product development must be shorten. That is possible by implementing concurrent engineering procedures. Concurrent engineering is now widely implement in many world industries. Companies have to enhance their strategy to respond to customers requirements and the market needs more efficiently and quickly. Some of them have already started to implement techniques and tools that would enable them achieve competitive advantage by delivering high quality product with reasonable costs and in a short time, which is possible to realize with applying concurrent engineering CE method.
{"title":"Identification of concurrent engineering in Polish manufacturing companies some results of pilot research","authors":"Joanna Kalkowska, S. Trzcielinski, Hanna Wlodarkiewicz-Klimek","doi":"10.1109/ROMOCO.2005.201442","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201442","url":null,"abstract":"Automated and robotic technologies when implemented to production lines and manufacturing cells not only enable flexibility of the manufacturing systems but make reasonable production in small batches and shorten the production cycle as well. However to compete successfully on the cycle of launching the product into the market also the cycle of a new product development must be shorten. That is possible by implementing concurrent engineering procedures. Concurrent engineering is now widely implement in many world industries. Companies have to enhance their strategy to respond to customers requirements and the market needs more efficiently and quickly. Some of them have already started to implement techniques and tools that would enable them achieve competitive advantage by delivering high quality product with reasonable costs and in a short time, which is possible to realize with applying concurrent engineering CE method.","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":"130011477","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.2005.201405
I. Dulęba, Wissem Khefifi
In this paper a Lie algebraic method is proposed to steer driftless nonholonomic systems. It uses the special instance of the generalized Campbell-Baker-Hausdorff-Dynkin formula for driftless nonholonomic systems to establish a mapping between controls and a resulting direction of motion. Then, locally, a motion planning task is to find the inverse of this mapping. Usually, it can be supported by analytic computations.
{"title":"A Lie algebraic method of motion planning for driftless nonholonomic systems","authors":"I. Dulęba, Wissem Khefifi","doi":"10.1109/ROMOCO.2005.201405","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201405","url":null,"abstract":"In this paper a Lie algebraic method is proposed to steer driftless nonholonomic systems. It uses the special instance of the generalized Campbell-Baker-Hausdorff-Dynkin formula for driftless nonholonomic systems to establish a mapping between controls and a resulting direction of motion. Then, locally, a motion planning task is to find the inverse of this mapping. Usually, it can be supported by analytic computations.","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":"125094943","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.2005.201429
M. Zoppi, R. Molfino
The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.
{"title":"Forward kinematics equations of a 3-dof hybrid PM for underwater camera active support","authors":"M. Zoppi, R. Molfino","doi":"10.1109/ROMOCO.2005.201429","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201429","url":null,"abstract":"The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"47 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":"116891331","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.2005.201402
W. Kowalczyk, Marek Lawniczak
This paper presents study on opportunity to use industrial robot in surgical laparoscopic application. Described investigation was focused on searching the area in the manipulator task space where the volume of the manipulability ellipsoid in big enough to assure comfortable manipulation with laparoscope in the whole operation area. Deep study was necessary because laparoscope is a very special end-effector. It is very long and thus small changes of the orientation of tool-tip inside patient's body may require considerable position changes of the end of the manipulator. This is because that location of the operation area in the robot's task space must be chosen carefully to guarantee ability to change the orientation of the laparoscope in the whole desired range. This paper describes software tool that was created to make this choice easier.
{"title":"Study on opportunity to use industrial manipulator in surgical-laparoscopic application","authors":"W. Kowalczyk, Marek Lawniczak","doi":"10.1109/ROMOCO.2005.201402","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201402","url":null,"abstract":"This paper presents study on opportunity to use industrial robot in surgical laparoscopic application. Described investigation was focused on searching the area in the manipulator task space where the volume of the manipulability ellipsoid in big enough to assure comfortable manipulation with laparoscope in the whole operation area. Deep study was necessary because laparoscope is a very special end-effector. It is very long and thus small changes of the orientation of tool-tip inside patient's body may require considerable position changes of the end of the manipulator. This is because that location of the operation area in the robot's task space must be chosen carefully to guarantee ability to change the orientation of the laparoscope in the whole desired range. This paper describes software tool that was created to make this choice easier.","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":"127412028","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.2005.201438
G. Adam
The development of sophisticated real-time control systems requires effective hardware and software systems and design tools. This paper presents the computer-aided design of a microprocessor-based controller for a lime slurry delivery machine. One of the novelties is the originality of control implemented for such types of lime machines. The basic aim in this approach was to ensure high performance, as provided by a special-purpose design, with minimum electronic hardware cost. VHDL models simulations were executed to verify the controller's design. Validation of the designed system was accomplished through real-time implementation tests. The developed system is aimed to provide direct control of electrical motor and hydraulic pumps that drive the operation of this specific machine. Performance evaluation was carried out in the real machine implementation.
{"title":"Application-specific architecture for real-time control of a lime machine","authors":"G. Adam","doi":"10.1109/ROMOCO.2005.201438","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201438","url":null,"abstract":"The development of sophisticated real-time control systems requires effective hardware and software systems and design tools. This paper presents the computer-aided design of a microprocessor-based controller for a lime slurry delivery machine. One of the novelties is the originality of control implemented for such types of lime machines. The basic aim in this approach was to ensure high performance, as provided by a special-purpose design, with minimum electronic hardware cost. VHDL models simulations were executed to verify the controller's design. Validation of the designed system was accomplished through real-time implementation tests. The developed system is aimed to provide direct control of electrical motor and hydraulic pumps that drive the operation of this specific machine. Performance evaluation was carried out in the real machine implementation.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"46 5 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":"125710273","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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