Pub Date : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177123
A. Mazur
In the paper a new solution to the trajectory tracking problem of a nonholonomic mobile manipulator with a (2, 0) class mobile platform has been presented. A new control algorithm for the mobile manipulator is introduced and proved.
{"title":"New approach to the control problem of mobile manipulators","authors":"A. Mazur","doi":"10.1109/ROMOCO.2002.1177123","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177123","url":null,"abstract":"In the paper a new solution to the trajectory tracking problem of a nonholonomic mobile manipulator with a (2, 0) class mobile platform has been presented. A new control algorithm for the mobile manipulator is introduced and proved.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124983943","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177102
Vicente Parra‐Vega, A. Castillo-Tapia, M.A. Arteaga-Prez
Constrained motion has been the subject of intensive study in the robotics community in the last decade, because it is a fundamental problem for a variety of robotic tasks, such as walking, dynamic simulation, hand manipulation, to mention a few. In the paper, a locally stable control for simultaneous exponential convergence of force and position trajectories is proposed. Within the framework of our second order sliding mode technique proposed for free motion robots, compensation for constrained robot dynamics arises by a careful exploitation of its properties, under a convenient choice of the error coordinate system. The new model-free continuous second order sliding mode feedback loop induces locally very fast exponential tracking for any initial conditions. Simulations data on the full model of a six degrees of freedom industrial robot CRS A-465 are presented and discussed.
约束运动在过去十年中一直是机器人社区深入研究的主题，因为它是各种机器人任务的基本问题，例如步行，动态仿真，手部操作等等。本文提出了力轨迹和位置轨迹同时指数收敛的局部稳定控制方法。在我们提出的自由运动机器人二阶滑模技术框架内，在方便选择误差坐标系的情况下，通过仔细利用其特性来实现约束机器人动力学的补偿。新的无模型连续二阶滑模反馈环在任何初始条件下都能实现快速的局部指数跟踪。给出并讨论了六自由度工业机器人CRS a -465全模型的仿真数据。
{"title":"Regressor-free second order sliding mode control for exponential tracking of constrained robot manipulators","authors":"Vicente Parra‐Vega, A. Castillo-Tapia, M.A. Arteaga-Prez","doi":"10.1109/ROMOCO.2002.1177102","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177102","url":null,"abstract":"Constrained motion has been the subject of intensive study in the robotics community in the last decade, because it is a fundamental problem for a variety of robotic tasks, such as walking, dynamic simulation, hand manipulation, to mention a few. In the paper, a locally stable control for simultaneous exponential convergence of force and position trajectories is proposed. Within the framework of our second order sliding mode technique proposed for free motion robots, compensation for constrained robot dynamics arises by a careful exploitation of its properties, under a convenient choice of the error coordinate system. The new model-free continuous second order sliding mode feedback loop induces locally very fast exponential tracking for any initial conditions. Simulations data on the full model of a six degrees of freedom industrial robot CRS A-465 are presented and discussed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127535909","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177092
M. Rachkov
The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robot control algorithms and design parameters allows adapting to unevenness of motion surface. Control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results are presented.
{"title":"Control of climbing robot for rough surfaces","authors":"M. Rachkov","doi":"10.1109/ROMOCO.2002.1177092","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177092","url":null,"abstract":"The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robot control algorithms and design parameters allows adapting to unevenness of motion surface. Control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results are presented.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116781746","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177120
L. Doitsidis, K. Valavanis, N. Tsourveloudis
A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented. Inputs are the collision possibilities in front, back, left and right directions of movement and the heading angle error. Outputs are the rotational and translational velocities.
提出了一种基于传感器的软件控制体系结构，用于实现Real World Interface(目前为iRobot) ATRV-mini防滑转向车辆的自主导航。该架构叠加在现有的导航机器人的ATRV-mini移动软件上。实现了一种双层模糊逻辑控制器。输入是前、后、左、右运动方向的碰撞可能性和航向角度误差。输出是旋转和平移速度。
{"title":"Fuzzy logic based software control architecture for a skid steering vehicle","authors":"L. Doitsidis, K. Valavanis, N. Tsourveloudis","doi":"10.1109/ROMOCO.2002.1177120","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177120","url":null,"abstract":"A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented. Inputs are the collision possibilities in front, back, left and right directions of movement and the heading angle error. Outputs are the rotational and translational velocities.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131847781","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177126
P. Kostelnik, M. Samulka, M. Janosik
In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the group of robots to organize into a formation without the need of predetermined positions in the formation. We apply a set of social roles that represent the occupation positions in the formations and are dynamically assigned to robots aggregating into the formation using the communication process. The overall algorithm, general strategy, local sensing and communication features are described. A three-layered behavior-based control architecture including social, logical and reactive layers was used. Examples of local formation emergence, dynamic social role assignment, and stability in case of occurrence of obstacles are presented.
{"title":"Scalable multi-robot formations using local sensing and communication","authors":"P. Kostelnik, M. Samulka, M. Janosik","doi":"10.1109/ROMOCO.2002.1177126","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177126","url":null,"abstract":"In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the group of robots to organize into a formation without the need of predetermined positions in the formation. We apply a set of social roles that represent the occupation positions in the formations and are dynamically assigned to robots aggregating into the formation using the communication process. The overall algorithm, general strategy, local sensing and communication features are described. A three-layered behavior-based control architecture including social, logical and reactive layers was used. Examples of local formation emergence, dynamic social role assignment, and stability in case of occurrence of obstacles are presented.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126001793","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177133
K. Jankowska, T. Krzyżyński, J. Santos-Victor
Building 3D models of the scene is a key task in computer vision, new and very dynamic developing discipline of computer science. Spatial models of real objects and indoors can be a target itself (for example for the purpose of multimedia applications), or just an intermediate stage (for instance in navigation or control processes). In this work the contribution of omnidirectional images to 3D modeling is shown.
{"title":"Fusion of 3D models constructed on the basis of omnidirectional images","authors":"K. Jankowska, T. Krzyżyński, J. Santos-Victor","doi":"10.1109/ROMOCO.2002.1177133","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177133","url":null,"abstract":"Building 3D models of the scene is a key task in computer vision, new and very dynamic developing discipline of computer science. Spatial models of real objects and indoors can be a target itself (for example for the purpose of multimedia applications), or just an intermediate stage (for instance in navigation or control processes). In this work the contribution of omnidirectional images to 3D modeling is shown.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126413366","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177082
J. Możaryn, J. Kurek
This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.
{"title":"Design of decoupled sliding mode control for the PUMA 560 robot manipulator","authors":"J. Możaryn, J. Kurek","doi":"10.1109/ROMOCO.2002.1177082","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177082","url":null,"abstract":"This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"341 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124309968","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177098
O. Khatib
Robots are moving towards applications beyond the structured environment of a manufacturing plant, making their way into the everyday world that people inhabit. The discussion focuses on the models, strategies, and algorithms associated with the basic capabilities needed for robots to work, interact, and cooperate with humans. In addition to the new capabilities they bring to the physical robot, these models and algorithms and more generally the overall body of developments in robotics is making a significant impact on the virtual world. Tactile or haptic interaction with an accurate dynamic simulation provides unique insights into the real-world behaviors of physical systems. The potential applications of this emerging technology include virtual prototyping, animation, surgery, teleoperation, cooperative work, and education among many others.
{"title":"Human-centered robotics and haptic interaction: from assistance to surgery, the emerging applications","authors":"O. Khatib","doi":"10.1109/ROMOCO.2002.1177098","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177098","url":null,"abstract":"Robots are moving towards applications beyond the structured environment of a manufacturing plant, making their way into the everyday world that people inhabit. The discussion focuses on the models, strategies, and algorithms associated with the basic capabilities needed for robots to work, interact, and cooperate with humans. In addition to the new capabilities they bring to the physical robot, these models and algorithms and more generally the overall body of developments in robotics is making a significant impact on the virtual world. Tactile or haptic interaction with an accurate dynamic simulation provides unique insights into the real-world behaviors of physical systems. The potential applications of this emerging technology include virtual prototyping, animation, surgery, teleoperation, cooperative work, and education among many others.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131950551","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177143
V. Hatzikos, D. Owens
In this paper genetic algorithms are proposed as a method to implement optimality based iterative learning control algorithms. The strength of the proposed method is that it can cope with nonlinearities and hard constraints in the problem definition whereas most of the existing algorithms would fail. Simulation examples show that this approach results in fast convergence for linear plants.
{"title":"A genetic algorithm based optimisation method for iterative learning control systems","authors":"V. Hatzikos, D. Owens","doi":"10.1109/ROMOCO.2002.1177143","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177143","url":null,"abstract":"In this paper genetic algorithms are proposed as a method to implement optimality based iterative learning control algorithms. The strength of the proposed method is that it can cope with nonlinearities and hard constraints in the problem definition whereas most of the existing algorithms would fail. Simulation examples show that this approach results in fast convergence for linear plants.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123351110","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177141
O. Sawodny, S. Lambeck, A. Hildebrandt
In cooperation with IVECO Magirus for the new generation of fire turntable ladders, a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality an automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference functions for the underlying trajectory tracking control after a teach-in run of the ladder. The algorithm has to shorten the traveling time by considering variable kinematic constraints and a given corridor for the resulting play back trajectory.
{"title":"Trajectory generation for the trajectory tracking control of a fire rescue turntable ladder","authors":"O. Sawodny, S. Lambeck, A. Hildebrandt","doi":"10.1109/ROMOCO.2002.1177141","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177141","url":null,"abstract":"In cooperation with IVECO Magirus for the new generation of fire turntable ladders, a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality an automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference functions for the underlying trajectory tracking control after a teach-in run of the ladder. The algorithm has to shorten the traveling time by considering variable kinematic constraints and a given corridor for the resulting play back trajectory.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115061886","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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