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.2002.1177087
G. Virk
In the design and manufacture of robots there has been little sharing of technologies or components. Applications differ, but there is also a large degree of overlap and it is important that the robot designers acknowledge this and develop some infrastructure where experience gained in one area can be transferred to another. It is this interaction and cross-fertilisation that could open the way for the development of new and exciting types of robots. As part of this drive towards co-ordinating the future development of robotic systems and encouraging their widespread adoption an applied robotic thematic network for this area of technology was set up in 1998. The project comprised 22 partners covering most of Europe. The overall aim of the CLAWAR network was to provide a focal point for mobile robotics generally, with particular emphasis on legged and climbing machines. It brought together researchers and industrialists so that the status of applied robotic systems could be identified and the wider adoption of robotic systems encouraged.
{"title":"CLAWAR: modular robots for the future","authors":"G. Virk","doi":"10.1109/ROMOCO.2002.1177087","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177087","url":null,"abstract":"In the design and manufacture of robots there has been little sharing of technologies or components. Applications differ, but there is also a large degree of overlap and it is important that the robot designers acknowledge this and develop some infrastructure where experience gained in one area can be transferred to another. It is this interaction and cross-fertilisation that could open the way for the development of new and exciting types of robots. As part of this drive towards co-ordinating the future development of robotic systems and encouraging their widespread adoption an applied robotic thematic network for this area of technology was set up in 1998. The project comprised 22 partners covering most of Europe. The overall aim of the CLAWAR network was to provide a focal point for mobile robotics generally, with particular emphasis on legged and climbing machines. It brought together researchers and industrialists so that the status of applied robotic systems could be identified and the wider adoption of robotic systems encouraged.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"16 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":"131929634","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.2002.1177105
W. Kowalczyk
Presents a target assignment strategy for multiple robots that are scattered in the environment and they are expected to build an ordered formation. The described approach is general and can be used together with a variety of trajectory planning methods. The presented approach produces some constraints for trajectories generation, however, in most cases the constraints can be easily satisfied. Simulation results for Hilare-type holonomic robots are presented. The possibility of use for a group of nonholonomic mobile robots is also discussed.
{"title":"Target assignment strategy for scattered robots building formation","authors":"W. Kowalczyk","doi":"10.1109/ROMOCO.2002.1177105","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177105","url":null,"abstract":"Presents a target assignment strategy for multiple robots that are scattered in the environment and they are expected to build an ordered formation. The described approach is general and can be used together with a variety of trajectory planning methods. The presented approach produces some constraints for trajectories generation, however, in most cases the constraints can be easily satisfied. Simulation results for Hilare-type holonomic robots are presented. The possibility of use for a group of nonholonomic mobile robots is also discussed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"117 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":"132289730","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.2002.1177103
Vicente Parra‐Vega, A. Castillo-Tapia, L. García-Valdovinos
Tracking of robot manipulators has been addressed with the aid of model-based regressor, and several techniques have been proposed, wherein asymptotic, and even exponential stability properties are obtained depending on how much knowledge is assumed over the regressor and the physical parameters of the robot. Well-posed finite time convergence using time base generators has been obtained, in contrast to the ill-posed terminal attractors with fractional powers. When the regressor is completely unknown, soft computing techniques have been proposed to reconstruct it and carry out adaptive compensation, while another input stabilize the system. However, they usually lack of formal stability results for tracking and they are computationally expensive to implement. In this paper, a new and very simple, chattering-free, decentralized nonlinear PID controller that does not use the regressor (and does not attempt to reconstruct it) is proposed, which guarantees local tracking in arbitrary finite time for robot manipulators. Simulation results show the performance of our controller compared versus regressor-based controllers and linear PID control.
{"title":"Decentralized model-free continuous control for robot manipulators: tracking in finite time","authors":"Vicente Parra‐Vega, A. Castillo-Tapia, L. García-Valdovinos","doi":"10.1109/ROMOCO.2002.1177103","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177103","url":null,"abstract":"Tracking of robot manipulators has been addressed with the aid of model-based regressor, and several techniques have been proposed, wherein asymptotic, and even exponential stability properties are obtained depending on how much knowledge is assumed over the regressor and the physical parameters of the robot. Well-posed finite time convergence using time base generators has been obtained, in contrast to the ill-posed terminal attractors with fractional powers. When the regressor is completely unknown, soft computing techniques have been proposed to reconstruct it and carry out adaptive compensation, while another input stabilize the system. However, they usually lack of formal stability results for tracking and they are computationally expensive to implement. In this paper, a new and very simple, chattering-free, decentralized nonlinear PID controller that does not use the regressor (and does not attempt to reconstruct it) is proposed, which guarantees local tracking in arbitrary finite time for robot manipulators. Simulation results show the performance of our controller compared versus regressor-based controllers and linear PID control.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"107 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":"131847929","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.2002.1177078
J. Hoogen, R. Riener, G. Schmidt
A novel 6 DOF robotic haptic device for orthopedic training is presented for display of the motion dynamics of a virtual human knee joint. For achieving the high impedances required by this application an industrial robot has been selected as an actuator and extended with a PC-based high performance controller hardware and redundant safety features. Two possible control architectures - a force-command and motion-command control - are presented and both implemented in a 1 DOF application. Based on a new method for evaluation and comparison of controller performance in terms of impedance error the experimental results reveal that motion-command control provides better accuracy for display of the high impedances specific to the human knee application.
{"title":"Control concepts for an industrial robot used as kinesthetic knee joint simulator","authors":"J. Hoogen, R. Riener, G. Schmidt","doi":"10.1109/ROMOCO.2002.1177078","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177078","url":null,"abstract":"A novel 6 DOF robotic haptic device for orthopedic training is presented for display of the motion dynamics of a virtual human knee joint. For achieving the high impedances required by this application an industrial robot has been selected as an actuator and extended with a PC-based high performance controller hardware and redundant safety features. Two possible control architectures - a force-command and motion-command control - are presented and both implemented in a 1 DOF application. Based on a new method for evaluation and comparison of controller performance in terms of impedance error the experimental results reveal that motion-command control provides better accuracy for display of the high impedances specific to the human knee application.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"41 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":"130881143","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.2002.1177083
J. Tar, K. Kozeowski, B. Pátkai, D. Tikk
A new branch of computational cybernetics seems to emerge on the principles akin to that of the traditional soft computing (SC). In the present paper the essential differences between the conventional and the novel approach are summarized. At the cost of the use of a simple dynamic model, a priori known, uniform, lucid, structure of reduced size, machine learning by a simple and short explicit algebraic procedure especially fit to real time applications considerable computational advantages can be achieved. The key element of the approach is the modified renormalization transformation supported by the application of a simple linear transformation, and the use of a simple prediction technique. It analyzes how the satisfactory conditions of the "complete stability" can be guaranteed, and the convergence properties can be improved by the ancillary methods. Simulation examples are presented for the control of a 3 DOF SCARA arm by the use of partially stretched orthogonal transformations.
{"title":"Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods","authors":"J. Tar, K. Kozeowski, B. Pátkai, D. Tikk","doi":"10.1109/ROMOCO.2002.1177083","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177083","url":null,"abstract":"A new branch of computational cybernetics seems to emerge on the principles akin to that of the traditional soft computing (SC). In the present paper the essential differences between the conventional and the novel approach are summarized. At the cost of the use of a simple dynamic model, a priori known, uniform, lucid, structure of reduced size, machine learning by a simple and short explicit algebraic procedure especially fit to real time applications considerable computational advantages can be achieved. The key element of the approach is the modified renormalization transformation supported by the application of a simple linear transformation, and the use of a simple prediction technique. It analyzes how the satisfactory conditions of the \"complete stability\" can be guaranteed, and the convergence properties can be improved by the ancillary methods. Simulation examples are presented for the control of a 3 DOF SCARA arm by the use of partially stretched orthogonal transformations.","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":"131076920","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.2002.1177093
T. Masood, A.M. Zafar, M. Masud
The paper discusses the aspects taken into consideration for a generic manufacturing system problem and the analysis techniques used. MATLAB is used to finally simulate the system and find the results after comparisons and reports generated. The simulation revealed the savings in the form of manufacturing times, man hours, & investment in comparison with the conventional manufacturing environment. It also provides a platform for modeling and analysis of the system for any changes in production schedules and any future expansions.
{"title":"Analysis and simulation of an electronic assembly line of SMT boards using MATLAB","authors":"T. Masood, A.M. Zafar, M. Masud","doi":"10.1109/ROMOCO.2002.1177093","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177093","url":null,"abstract":"The paper discusses the aspects taken into consideration for a generic manufacturing system problem and the analysis techniques used. MATLAB is used to finally simulate the system and find the results after comparisons and reports generated. The simulation revealed the savings in the form of manufacturing times, man hours, & investment in comparison with the conventional manufacturing environment. It also provides a platform for modeling and analysis of the system for any changes in production schedules and any future expansions.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"67 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":"134512524","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.2002.1177124
M. Burzyński, W. Kosinski
A discrete automaton model is introduced with fuzzy rules to simulate one-way traffic flow. Results of simulations are consistent with the so-called fundamental diagram (flow versus density), as is observed in real free-way traffic. The fuzzy controller approach makes it possible to efficiently control mobile robots to avoid collisions. The 1D automaton can be easily extended to a two dimensional environment.
{"title":"From traffic flow simulations to collision avoidance module for mobile robot - cellular automata with fuzzy rules approach","authors":"M. Burzyński, W. Kosinski","doi":"10.1109/ROMOCO.2002.1177124","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177124","url":null,"abstract":"A discrete automaton model is introduced with fuzzy rules to simulate one-way traffic flow. Results of simulations are consistent with the so-called fundamental diagram (flow versus density), as is observed in real free-way traffic. The fuzzy controller approach makes it possible to efficiently control mobile robots to avoid collisions. The 1D automaton can be easily extended to a two dimensional environment.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"45 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":"124819639","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.2002.1177116
T. Shibata, Y. Ohkami
This paper presents a summary of the designed brachiating control system for a reconfigurable brachiating space robot (RBR). RBR that has been studied at NASDA, Tokyo Institute Of Technology, KEIO University for the next generation space robot, following the robot arm on Engineering Test Satellite VII (ETS-VII) and the JEM remote manipulator system (JEMRMS) in Japan. RBR has distributed controllers and the capability of being attached to or detached from the hub port as well as another arm and/or a pivot placed on any point over the space systems, and thereby it becomes possible for RBR to have a variety of configurations. Thus, we used an autonomous distributed control method in order to designing a motion control system for brachiating on handrails on the International Space Station. As a result of using the control system, RBR acquired the capability of motion control utilizing the hardware to adapt for changing configurations according to the task requirement. The design of the brachiating control system and its effectiveness analysis by computer simulations are described.
{"title":"Development of brachiating control system for reconfigurable brachiating space robot","authors":"T. Shibata, Y. Ohkami","doi":"10.1109/ROMOCO.2002.1177116","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177116","url":null,"abstract":"This paper presents a summary of the designed brachiating control system for a reconfigurable brachiating space robot (RBR). RBR that has been studied at NASDA, Tokyo Institute Of Technology, KEIO University for the next generation space robot, following the robot arm on Engineering Test Satellite VII (ETS-VII) and the JEM remote manipulator system (JEMRMS) in Japan. RBR has distributed controllers and the capability of being attached to or detached from the hub port as well as another arm and/or a pivot placed on any point over the space systems, and thereby it becomes possible for RBR to have a variety of configurations. Thus, we used an autonomous distributed control method in order to designing a motion control system for brachiating on handrails on the International Space Station. As a result of using the control system, RBR acquired the capability of motion control utilizing the hardware to adapt for changing configurations according to the task requirement. The design of the brachiating control system and its effectiveness analysis by computer simulations are described.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"32 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":"130410831","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.2002.1177108
C. Zieliński
The paper analyzes the problem of error (failure) detection and handling in robot programming. First an overview of the subject is provided and later error detection and handling in MRROC++ are described. To facilitate system reaction to the detected failures, the errors are classified and certain suggestions are made as to how to handle those classes of errors.
{"title":"Reaction to errors in robot systems","authors":"C. Zieliński","doi":"10.1109/ROMOCO.2002.1177108","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177108","url":null,"abstract":"The paper analyzes the problem of error (failure) detection and handling in robot programming. First an overview of the subject is provided and later error detection and handling in MRROC++ are described. To facilitate system reaction to the detected failures, the errors are classified and certain suggestions are made as to how to handle those classes of errors.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"6 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":"128535240","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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