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.2002.1177089
T. Zielińska
The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.
{"title":"Prototypes of walking machines: motion synthesis","authors":"T. Zielińska","doi":"10.1109/ROMOCO.2002.1177089","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177089","url":null,"abstract":"The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 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":"131345670","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.2002.1177110
J. Balicki
Path planning for an underwater vehicle can be formulated as a multi-criterion optimization problem that can be solved by genetic programming. Two underwater vehicles are compared. For assessment of an underwater vehicle trajectory, three crucial criteria are used, a total length of a path, a smoothness of a trajectory, and a measure of safety. Some rules of genetic programming are described.
{"title":"Genetic programming for finding trajectories of underwater vehicle","authors":"J. Balicki","doi":"10.1109/ROMOCO.2002.1177110","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177110","url":null,"abstract":"Path planning for an underwater vehicle can be formulated as a multi-criterion optimization problem that can be solved by genetic programming. Two underwater vehicles are compared. For assessment of an underwater vehicle trajectory, three crucial criteria are used, a total length of a path, a smoothness of a trajectory, and a measure of safety. Some rules of genetic programming are described.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"55 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":"115019909","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.2002.1177094
Y. Martynenko, H. P. Siregar
The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of overturned mathematical pendulum, analytical solution of optimization problem on the fixed interval of time is constructed. Power consumptions under the walking control of multi-linked walking robot are analyzed.
{"title":"Optimization of power consumption of anthropomorphic robots driven by electromotor","authors":"Y. Martynenko, H. P. Siregar","doi":"10.1109/ROMOCO.2002.1177094","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177094","url":null,"abstract":"The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of overturned mathematical pendulum, analytical solution of optimization problem on the fixed interval of time is constructed. Power consumptions under the walking control of multi-linked walking robot are analyzed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"44 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":"127477692","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.2002.1177109
N. Azouz, Y. Bestaoui, O. Lemaître
The theory of modelling and control of airships was mostly imported from the fields of science and engineering of underwater vehicles. However the main hypothesis of rigidity of the structure may be improved to take into account the flexibility of the hull of an airship. We present an approach for analysing dynamic elastic deformable airships in an ideal fluid. Our model uses the updated Lagrangian method in combination with a large displacement and small deformation (Green) strain tensor formulation. Analogy is made with classical structural dynamics. The description of the behaviour of the airship consists of a continuous differential equation that is solved using a Rayleigh-Ritz technique combined with the finite element method. The method proposes also to take into account the coupling between the rigid body motion and the deformation as well as the interaction and coupling with the fluid surrounding.
{"title":"Dynamic analysis of airships with small deformations","authors":"N. Azouz, Y. Bestaoui, O. Lemaître","doi":"10.1109/ROMOCO.2002.1177109","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177109","url":null,"abstract":"The theory of modelling and control of airships was mostly imported from the fields of science and engineering of underwater vehicles. However the main hypothesis of rigidity of the structure may be improved to take into account the flexibility of the hull of an airship. We present an approach for analysing dynamic elastic deformable airships in an ideal fluid. Our model uses the updated Lagrangian method in combination with a large displacement and small deformation (Green) strain tensor formulation. Analogy is made with classical structural dynamics. The description of the behaviour of the airship consists of a continuous differential equation that is solved using a Rayleigh-Ritz technique combined with the finite element method. The method proposes also to take into account the coupling between the rigid body motion and the deformation as well as the interaction and coupling with the fluid surrounding.","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":"123947394","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.2002.1177100
M. Hamerlain, S. Laghrouche, R. Benlamine
This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.
{"title":"Discrete sliding mode control with uncertain modelling applied to robot manipulator","authors":"M. Hamerlain, S. Laghrouche, R. Benlamine","doi":"10.1109/ROMOCO.2002.1177100","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177100","url":null,"abstract":"This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"111 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":"131715396","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.2002.1177139
I. Hassanzadeh, S. Khanmohammadi, J. Jiang, G. Alizadeh
In this paper, a new hybrid network; FLN-ANFIS (functional link net-adaptive neuro fuzzy system), is proposed and used as a controller for robot path tracking purposes. The advantages of the ANFIS controller along with fast learning rate of FLN are combined to propose a new methodology for controlling robot arm movement. Furthermore, a classic PID controller as well as the intelligent controller such as NN, fuzzy and ANFIS are developed and their performances are compared both by simulation and implementation. A 5-bar linked robot is chosen as a test system for implementation. Simulation and implementation of different controllers under various conditions are carried out on this robot. Results show that the designed FLN-ANFIS network for robot control can provide very good performances through a wide range of operations by improving dynamic operations of the system.
{"title":"Implementation of a functional link net-ANFIS controller for a robot manipulator","authors":"I. Hassanzadeh, S. Khanmohammadi, J. Jiang, G. Alizadeh","doi":"10.1109/ROMOCO.2002.1177139","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177139","url":null,"abstract":"In this paper, a new hybrid network; FLN-ANFIS (functional link net-adaptive neuro fuzzy system), is proposed and used as a controller for robot path tracking purposes. The advantages of the ANFIS controller along with fast learning rate of FLN are combined to propose a new methodology for controlling robot arm movement. Furthermore, a classic PID controller as well as the intelligent controller such as NN, fuzzy and ANFIS are developed and their performances are compared both by simulation and implementation. A 5-bar linked robot is chosen as a test system for implementation. Simulation and implementation of different controllers under various conditions are carried out on this robot. Results show that the designed FLN-ANFIS network for robot control can provide very good performances through a wide range of operations by improving dynamic operations of the system.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"95 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":"130537978","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.2002.1177080
Z. Nawrat, L. Podsędkowski, K. Mianowski, P. Wróblewski, P. Kostka, M. Baczynski, Z. Małota, G. Granosik, E. Jezierski, A. Wróblewska, Z. Religa
Presented in this article is the project of manipulator, named RobIn Heart, which is run by Foundation of Cardiac Surgery Development in Zabrze, Poland, in cooperation with specialists from the Technical University of Lodz and Warsaw University of Technology which assumes the realisation of original prototype of a robot for usage in cardiac surgery and development of surgery operation planning system. The brief history of robotic surgery and fundamental advantages of employing robots in this field follow the assumptions of Polish Cardio-Robot project. The detailed mechanical analysis and original construction of the main parts of robot are presented in further sections. We continue with control software description and close the paper with conclusions and future plans.
{"title":"RobIn Heart in 2002 - actual state of Polish Cardio-Robot","authors":"Z. Nawrat, L. Podsędkowski, K. Mianowski, P. Wróblewski, P. Kostka, M. Baczynski, Z. Małota, G. Granosik, E. Jezierski, A. Wróblewska, Z. Religa","doi":"10.1109/ROMOCO.2002.1177080","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177080","url":null,"abstract":"Presented in this article is the project of manipulator, named RobIn Heart, which is run by Foundation of Cardiac Surgery Development in Zabrze, Poland, in cooperation with specialists from the Technical University of Lodz and Warsaw University of Technology which assumes the realisation of original prototype of a robot for usage in cardiac surgery and development of surgery operation planning system. The brief history of robotic surgery and fundamental advantages of employing robots in this field follow the assumptions of Polish Cardio-Robot project. The detailed mechanical analysis and original construction of the main parts of robot are presented in further sections. We continue with control software description and close the paper with conclusions and future plans.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 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":"129868687","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.2002.1177128
I. Dulęba, J. Sasiadek
This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.
{"title":"Redundant manipulators motion through singularities based on modified Jacobian method","authors":"I. Dulęba, J. Sasiadek","doi":"10.1109/ROMOCO.2002.1177128","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177128","url":null,"abstract":"This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"54 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":"114331227","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.2002.1177095
D. Pazderski, P. Dutkiewicz
In the paper, the satellite navigation system using low-cost GPS receivers is presented. The aim of the presented research was to verify usefulness of such receivers in navigation systems of mobile robots. Results of positioning errors using single receivers and simple DGPS system are shown.
{"title":"Low-cost GPS receivers in navigation of mobile robots","authors":"D. Pazderski, P. Dutkiewicz","doi":"10.1109/ROMOCO.2002.1177095","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177095","url":null,"abstract":"In the paper, the satellite navigation system using low-cost GPS receivers is presented. The aim of the presented research was to verify usefulness of such receivers in navigation systems of mobile robots. Results of positioning errors using single receivers and simple DGPS system are shown.","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":"126946775","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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