Pub Date : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177101
E. Jarzębowska
The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.
{"title":"Model reference tracking control for constrained robotic systems","authors":"E. Jarzębowska","doi":"10.1109/ROMOCO.2002.1177101","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177101","url":null,"abstract":"The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"17 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":"115803389","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.2002.1177122
Bhargav I. Gajjar, Roger, Johnson
Wheeled robot movement over unstructured terrain is usually referred to as roving. A primary target for a roving mission is surface reconnaissance and survey for in-situ data collection. Planetary roving is a direct way of exploring Mars, and allows Earth based scientists to directly contact the rock and soils on the planet. This paper discusses the kinematics and mechanical design aspects of one such unique rover configuration for Mars exploration. Individual transformation matrices are developed concatenating the various joints, and a forward kinematics solution is used to develop wheel Jacobians, and a composite rover solution which is used to determine rover heading and position estimation. The current rover configuration is compared with contemporary rovers, where necessary.
{"title":"Kinematic modeling of terrain adapting wheeled mobile robot for Mars exploration","authors":"Bhargav I. Gajjar, Roger, Johnson","doi":"10.1109/ROMOCO.2002.1177122","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177122","url":null,"abstract":"Wheeled robot movement over unstructured terrain is usually referred to as roving. A primary target for a roving mission is surface reconnaissance and survey for in-situ data collection. Planetary roving is a direct way of exploring Mars, and allows Earth based scientists to directly contact the rock and soils on the planet. This paper discusses the kinematics and mechanical design aspects of one such unique rover configuration for Mars exploration. Individual transformation matrices are developed concatenating the various joints, and a forward kinematics solution is used to develop wheel Jacobians, and a composite rover solution which is used to determine rover heading and position estimation. The current rover configuration is compared with contemporary rovers, where necessary.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"19 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":"133965783","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.2002.1177096
A. Rybarczyk, Michd Szulc
The new digital architecture of specialized microcontroller with neural coprocessor for efficient real time control systems of robots is presented. The main idea of the paper is to present the on-chip integrated core of the popular microcontroller, program and data memories and the neural-matrix coprocessor. In order to explain the design, the main processor, neural coprocessor and accompanied networks are described. The reconfigurable FPGA matrix has been used as the prototyping platform. It made possible the fast prototyping process. The paper describes also the future work to implement the presented system as ASIC chip.
{"title":"The concept of a microcontroller with neural-matrix coprocessor for control systems that exploits reconfigurable FPGAs","authors":"A. Rybarczyk, Michd Szulc","doi":"10.1109/ROMOCO.2002.1177096","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177096","url":null,"abstract":"The new digital architecture of specialized microcontroller with neural coprocessor for efficient real time control systems of robots is presented. The main idea of the paper is to present the on-chip integrated core of the popular microcontroller, program and data memories and the neural-matrix coprocessor. In order to explain the design, the main processor, neural coprocessor and accompanied networks are described. The reconfigurable FPGA matrix has been used as the prototyping platform. It made possible the fast prototyping process. The paper describes also the future work to implement the presented system as ASIC chip.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"136 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":"131999194","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.2002.1177138
B. Iliev, I. Kalaykov
An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.
{"title":"Improved sliding mode robot control-a fuzzy approach","authors":"B. Iliev, I. Kalaykov","doi":"10.1109/ROMOCO.2002.1177138","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177138","url":null,"abstract":"An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"25 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114024597","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.2002.1177111
L. Beji, A. Abichou, Y. Bestaoui
A strategy to design a time-varying stabilizing controller of the position and the orientation of an underactuated autonomous airship is proposed. The dynamic modelling of the airship involves six equations with only three inputs. This airship cannot be stabilized to a point using continuous pure-state feedback law. However, the stabilization problem is solved with an explicit homogeneous time-varying control law, based on an averaging approach. We prove that the origin of the system is locally exponentially stable.
{"title":"Stabilization of a nonlinear underactuated autonomous airship-a combined averaging and backstepping approach","authors":"L. Beji, A. Abichou, Y. Bestaoui","doi":"10.1109/ROMOCO.2002.1177111","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177111","url":null,"abstract":"A strategy to design a time-varying stabilizing controller of the position and the orientation of an underactuated autonomous airship is proposed. The dynamic modelling of the airship involves six equations with only three inputs. This airship cannot be stabilized to a point using continuous pure-state feedback law. However, the stabilization problem is solved with an explicit homogeneous time-varying control law, based on an averaging approach. We prove that the origin of the system is locally exponentially stable.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"27 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":"123966140","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.2002.1177114
Z. Mrozek
The Unified Modelling Language (UML) is a language that helps to visualize, design and document models of large and complex systems. Terminology and notation of visual modelling can be used as common high level object oriented language for design of the mechatronic systems.
{"title":"Design of the mechatronic system with help of UML diagrams","authors":"Z. Mrozek","doi":"10.1109/ROMOCO.2002.1177114","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177114","url":null,"abstract":"The Unified Modelling Language (UML) is a language that helps to visualize, design and document models of large and complex systems. Terminology and notation of visual modelling can be used as common high level object oriented language for design of the mechatronic systems.","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":"123615474","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.2002.1177127
M. Lisoň
The elements of the spatio-temporal knowledge representation for dynamic environments are presented. An event is a finite set of objects that move in a given time along specified routes. The pattern is a set of "similar" events. Similarity based on the mathematical notion of similitude is proposed.
{"title":"Deformation parameters in dynamic event recognition","authors":"M. Lisoň","doi":"10.1109/ROMOCO.2002.1177127","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177127","url":null,"abstract":"The elements of the spatio-temporal knowledge representation for dynamic environments are presented. An event is a finite set of objects that move in a given time along specified routes. The pattern is a set of \"similar\" events. Similarity based on the mathematical notion of similitude is proposed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"21 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":"122843308","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.2002.1177145
C. Wildner, J. Kurek
The paper presents neural nets for the calculation of parameters of the robot model in a form of Lagrange-Euler equations. Then, a comparison of the neural models based on the numerical examples calculated for a SCARA robot is presented.
{"title":"Calculation of SCARA robot model using neural nets","authors":"C. Wildner, J. Kurek","doi":"10.1109/ROMOCO.2002.1177145","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177145","url":null,"abstract":"The paper presents neural nets for the calculation of parameters of the robot model in a form of Lagrange-Euler equations. Then, a comparison of the neural models based on the numerical examples calculated for a SCARA robot is presented.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"13 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":"125800749","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.2002.1177088
T. Figurina
We continue to investigate the possibility of slow (quasi-static) locomotion of multi-link systems along a horizontal plane owing to changing configurations. We have shown previously that the quasi-static motion of a two-link system, occurring when the angle between its links varies, is uncontrollable and that the trajectories of the system's vertices are uniquely defined by the initial position of the system. We consider here a symmetrical three-link system such that all its links have a common point. The control torques act between the links of the system. We show that there exist enough possibilities for quasi-static motion of the system. One can arrange the motion with the central vertex of the system moving along a prescribed line on the plane. As an example, we consider here two gaits of the three-link system allowing it to move along a straight line and to rotate on a spot.
{"title":"Slow locomotion of a three-link system along a horizontal plane","authors":"T. Figurina","doi":"10.1109/ROMOCO.2002.1177088","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177088","url":null,"abstract":"We continue to investigate the possibility of slow (quasi-static) locomotion of multi-link systems along a horizontal plane owing to changing configurations. We have shown previously that the quasi-static motion of a two-link system, occurring when the angle between its links varies, is uncontrollable and that the trajectories of the system's vertices are uniquely defined by the initial position of the system. We consider here a symmetrical three-link system such that all its links have a common point. The control torques act between the links of the system. We show that there exist enough possibilities for quasi-static motion of the system. One can arrange the motion with the central vertex of the system moving along a prescribed line on the plane. As an example, we consider here two gaits of the three-link system allowing it to move along a straight line and to rotate on a spot.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"209 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":"124700329","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.2002.1177134
Włodzimierz Kasprzak, W. Szynkiewicz
A method for discrete self-localization of an autonomous mobile system was proposed. One of its many possible implementations was designed, that uses a camera subsystem, which delivers sensor information about the environment reduced to an n-elementary measurement vector. Three different algorithms of image analysis were proposed and implemented. The self-localization approach with three different image sub-systems was tested by computer simulations on different natural and synthetic scenes.
{"title":"A method for discrete self-localization using image analysis","authors":"Włodzimierz Kasprzak, W. Szynkiewicz","doi":"10.1109/ROMOCO.2002.1177134","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177134","url":null,"abstract":"A method for discrete self-localization of an autonomous mobile system was proposed. One of its many possible implementations was designed, that uses a camera subsystem, which delivers sensor information about the environment reduced to an n-elementary measurement vector. Three different algorithms of image analysis were proposed and implemented. The self-localization approach with three different image sub-systems was tested by computer simulations on different natural and synthetic scenes.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"56 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":"126468551","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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