Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046846
H. Aschemann, A. Wache, Ole Kraegenbring
In this contribution, a norm-optimal iterative learning control (NOILC) for the two main axes of a bridge crane is presented. For each axis, the NOILC operates in parallel to a linear-quadratic (LQ) state feedback of the tracking error. Regarding the tracking of repetitive trajectories, the ILC part contributes to a significant reduction of the tracking error from iteration to iteration, up to an accuracy that is determined by the quality of the measurement signals. In this paper, the ILC law is based on the minimization of a cost functional and involves both feedforward and feedback control actions. The control structure has been implemented at a bridge crane test rig with three axes, where the lateral rope deflections are determined by means of a CMOS camera. Experimental results show that a fast error convergence and a small remaining tracking error can be achieved with the proposed control structure.
{"title":"A discrete-time norm-optimal approach to iterative learning control of a bridge crane","authors":"H. Aschemann, A. Wache, Ole Kraegenbring","doi":"10.1109/MMAR.2017.8046846","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046846","url":null,"abstract":"In this contribution, a norm-optimal iterative learning control (NOILC) for the two main axes of a bridge crane is presented. For each axis, the NOILC operates in parallel to a linear-quadratic (LQ) state feedback of the tracking error. Regarding the tracking of repetitive trajectories, the ILC part contributes to a significant reduction of the tracking error from iteration to iteration, up to an accuracy that is determined by the quality of the measurement signals. In this paper, the ILC law is based on the minimization of a cost functional and involves both feedforward and feedback control actions. The control structure has been implemented at a bridge crane test rig with three axes, where the lateral rope deflections are determined by means of a CMOS camera. Experimental results show that a fast error convergence and a small remaining tracking error can be achieved with the proposed control structure.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122048096","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046812
W. Kowalczyk, M. Przybyla, K. Kozlowski
This paper presents an extension of navigation function used to control an omnidirectional robot. Navigation function is used to control position coordinates while the orientation variable is controlled with simple proportional controller. The extension relies on a specific normalization of navigation function gradient. Presented method results in much more rapid convergence in comparison to classic approach based on negative gradient of the navigation function. The most noticeable result of the extension is observed for high values of κ parameter, which must be increased if the distances between obstacles are small. Experimental results are given to illustrate effectiveness of the proposed algorithm.
{"title":"Rapid navigation function control for omnidirectional mobile platform","authors":"W. Kowalczyk, M. Przybyla, K. Kozlowski","doi":"10.1109/MMAR.2017.8046812","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046812","url":null,"abstract":"This paper presents an extension of navigation function used to control an omnidirectional robot. Navigation function is used to control position coordinates while the orientation variable is controlled with simple proportional controller. The extension relies on a specific normalization of navigation function gradient. Presented method results in much more rapid convergence in comparison to classic approach based on negative gradient of the navigation function. The most noticeable result of the extension is observed for high values of κ parameter, which must be increased if the distances between obstacles are small. Experimental results are given to illustrate effectiveness of the proposed algorithm.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122124864","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046879
E. Kozłowski
The problem of determining the optimal stopping areas for a discrete time linear stochastic controlled system is investigated in this paper. Sometimes we have no information how long the system will be controlled. In this case we have a complex problem: the system should be controlled and stopped at the appropriate moment. Thus at each moment we make a decision about continuation of control and when the decision is positive, we need to determine the optimal control for stochastic system. To solve this problem the dynamic programming and the optimal stopping rules for stochastic processes were employed. The paper presents the method of determining the optimal stopping areas — sets of states where the system should be stopped. A numerical example is included and illustrates the behavior of these sets.
{"title":"Optimal stopping areas for discrete time linear quadratic control problem","authors":"E. Kozłowski","doi":"10.1109/MMAR.2017.8046879","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046879","url":null,"abstract":"The problem of determining the optimal stopping areas for a discrete time linear stochastic controlled system is investigated in this paper. Sometimes we have no information how long the system will be controlled. In this case we have a complex problem: the system should be controlled and stopped at the appropriate moment. Thus at each moment we make a decision about continuation of control and when the decision is positive, we need to determine the optimal control for stochastic system. To solve this problem the dynamic programming and the optimal stopping rules for stochastic processes were employed. The paper presents the method of determining the optimal stopping areas — sets of states where the system should be stopped. A numerical example is included and illustrates the behavior of these sets.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122148535","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046803
M. Ciȩżkowski
The primary goal of each of the navigation systems is to determine the object's position in a given reference frame. It can be achieved in many ways such as GPS, celestial navigation, inertial navigation etc. In local positioning systems a very important role is played by triangulation methods. This paper presents a new beacon-based triangulation system, in which both the transmitter and receiver do not contain any mechanical moving parts. Lack of mechanical moving parts makes the system less complex and more robust. The work contains a description of all the necessary steps to determine the object's position in a given reference frame.
{"title":"Triangulation positioning system based on a static IR beacon-receiver system","authors":"M. Ciȩżkowski","doi":"10.1109/MMAR.2017.8046803","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046803","url":null,"abstract":"The primary goal of each of the navigation systems is to determine the object's position in a given reference frame. It can be achieved in many ways such as GPS, celestial navigation, inertial navigation etc. In local positioning systems a very important role is played by triangulation methods. This paper presents a new beacon-based triangulation system, in which both the transmitter and receiver do not contain any mechanical moving parts. Lack of mechanical moving parts makes the system less complex and more robust. The work contains a description of all the necessary steps to determine the object's position in a given reference frame.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122384098","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046915
Katarzyna Koter, L. Fracczak, Wojtczak Anna, Bryl-Nagorska Barbara, M. Adrian, Sawicki Adam
Pneumatic Artificial Muscles are under investigation for many years. Most of them are units of large dimensions, impossible to use in medical robotics. However, low emittance of heat of working medium is one of the most important advantages of this drive and crucial in medical robotics. Problem of combination of advantages of this drive and preferable for medical use size found solution at Lodz University of Technology, where transversal pneumatic muscles were developed. Thanks to the innovative structure, designed muscles characterize much smaller dimensions and high strength relative to the total volume change. Therefore, they may be successfully used in drive of the robot which is moving inside the human body. The article presents the results of static and dynamic tests of Transversal Pneumatic Muscles.
{"title":"Static and dynamic properties investigation of new generation of transversal artificial muscle","authors":"Katarzyna Koter, L. Fracczak, Wojtczak Anna, Bryl-Nagorska Barbara, M. Adrian, Sawicki Adam","doi":"10.1109/MMAR.2017.8046915","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046915","url":null,"abstract":"Pneumatic Artificial Muscles are under investigation for many years. Most of them are units of large dimensions, impossible to use in medical robotics. However, low emittance of heat of working medium is one of the most important advantages of this drive and crucial in medical robotics. Problem of combination of advantages of this drive and preferable for medical use size found solution at Lodz University of Technology, where transversal pneumatic muscles were developed. Thanks to the innovative structure, designed muscles characterize much smaller dimensions and high strength relative to the total volume change. Therefore, they may be successfully used in drive of the robot which is moving inside the human body. The article presents the results of static and dynamic tests of Transversal Pneumatic Muscles.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125124748","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046908
Christian Thormann, A. Winkler
The paper investigates applications of RFID technique (radio-frequency identification) in combination with industrial robots. For this purpose an Industry 4.0 scenario is developed which makes workpieces intelligent by supplying the objects with RFID transponders. The RFID tags are able to store information decentral which can be later used to optimize the task of the robot. In our example first the workpiece width is identified by the robot gripper and saved in the object. Afterwards this value can be read out and used for further fast and sensitive catching of the object. In this context it is investigated how parameters like grasping force and velocity of the fingers influence the force overshoot during catching an object. In the paper further proposals are given concerning to the kind of information which can be useful stored within the workpieces handle by robots. Furthermore, a simple approach is presented for localization of workpieces in the robot workspace by the robot which is equipped with a RFID antenna. All algorithms proposed in this paper are verified by practical experiments successfully.
{"title":"Localization and efficient grasping of objects by a manipulator using RFID technique","authors":"Christian Thormann, A. Winkler","doi":"10.1109/MMAR.2017.8046908","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046908","url":null,"abstract":"The paper investigates applications of RFID technique (radio-frequency identification) in combination with industrial robots. For this purpose an Industry 4.0 scenario is developed which makes workpieces intelligent by supplying the objects with RFID transponders. The RFID tags are able to store information decentral which can be later used to optimize the task of the robot. In our example first the workpiece width is identified by the robot gripper and saved in the object. Afterwards this value can be read out and used for further fast and sensitive catching of the object. In this context it is investigated how parameters like grasping force and velocity of the fingers influence the force overshoot during catching an object. In the paper further proposals are given concerning to the kind of information which can be useful stored within the workpieces handle by robots. Furthermore, a simple approach is presented for localization of workpieces in the robot workspace by the robot which is equipped with a RFID antenna. All algorithms proposed in this paper are verified by practical experiments successfully.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125482460","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046824
R. Beniak, T. Pyka
In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.
{"title":"Mobile robot with non-slip castor wheel","authors":"R. Beniak, T. Pyka","doi":"10.1109/MMAR.2017.8046824","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046824","url":null,"abstract":"In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125579345","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046911
K. Belda, V. Zada
This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.
{"title":"Predictive control for offset-free motion of industrial articulated robots","authors":"K. Belda, V. Zada","doi":"10.1109/MMAR.2017.8046911","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046911","url":null,"abstract":"This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125661523","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046842
Pradosh Ranjan Sahoo, Sandip Ghosh, P. Dworak
Decentralized Fixed Mode (DFM) radius is a robustness measure of decentralized control system reflecting how far a system is from having DFM. In this paper, real DFM radius is defined for decentralized control systems with input and output delays, and a computing formula is derived for the same using restricted real perturbation measures. Results of this paper for computing DFM radius of time-delay system are studied with the help of numerical examples.
{"title":"Decentralized fixed mode radius of LTI system with multiple input and output delays","authors":"Pradosh Ranjan Sahoo, Sandip Ghosh, P. Dworak","doi":"10.1109/MMAR.2017.8046842","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046842","url":null,"abstract":"Decentralized Fixed Mode (DFM) radius is a robustness measure of decentralized control system reflecting how far a system is from having DFM. In this paper, real DFM radius is defined for decentralized control systems with input and output delays, and a computing formula is derived for the same using restricted real perturbation measures. Results of this paper for computing DFM radius of time-delay system are studied with the help of numerical examples.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127325458","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046971
P. Ignaciuk
In the paper, the dynamics of goods distribution systems managed according to the continuous-review base-stock inventory policy are investigated. As opposed to the previous studies, which limit the scope to the fundamental serial and treelike settings, a multi-echelon mesh topology of interconnected actors (suppliers, distribution center, retailers) is considered. The exogenous, uncertain demand may be imposed on any node in the controlled system, not just conveniently selected end points. The stock replenishment orders are realized with nonnegligible delay. A state-space model to study the properties of base-stock policy is proposed. The choice of control system parameters for obtaining a high service level with reduced holding costs is discussed. The analytical findings are supported by numerical tests.
{"title":"Base-stock distributed inventory management in continuous-review logistic systems — Control system perspective","authors":"P. Ignaciuk","doi":"10.1109/MMAR.2017.8046971","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046971","url":null,"abstract":"In the paper, the dynamics of goods distribution systems managed according to the continuous-review base-stock inventory policy are investigated. As opposed to the previous studies, which limit the scope to the fundamental serial and treelike settings, a multi-echelon mesh topology of interconnected actors (suppliers, distribution center, retailers) is considered. The exogenous, uncertain demand may be imposed on any node in the controlled system, not just conveniently selected end points. The stock replenishment orders are realized with nonnegligible delay. A state-space model to study the properties of base-stock policy is proposed. The choice of control system parameters for obtaining a high service level with reduced holding costs is discussed. The analytical findings are supported by numerical tests.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129471096","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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