Pub Date : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787345
Andrzej Skrzypek, W. Panfil, M. Kosior, P. Przystałka
The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In the first part of the paper, the description of a mobile robot is given. Next, the main development process of the control system is described. It is shown that the proposed system is designed with the use of UML diagrams taking into account both software and hardware parts. In order to guarantee a partial autonomy of the robot, it is decided to apply a Bayesian-based behavioral controller. In such a way, the control system shell is obtained. In the implementation phase of the project voice recognition, Bayesian-based behavioral controller and command management functionalities were embedded into the robot as well as operator applications, allowing robot control with voice commands. Verification studies were carried out to show merits and limitations of the proposed solution.
{"title":"Control System Shell of Mobile Robot with Voice Recognition Module","authors":"Andrzej Skrzypek, W. Panfil, M. Kosior, P. Przystałka","doi":"10.1109/RoMoCo.2019.8787345","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787345","url":null,"abstract":"The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In the first part of the paper, the description of a mobile robot is given. Next, the main development process of the control system is described. It is shown that the proposed system is designed with the use of UML diagrams taking into account both software and hardware parts. In order to guarantee a partial autonomy of the robot, it is decided to apply a Bayesian-based behavioral controller. In such a way, the control system shell is obtained. In the implementation phase of the project voice recognition, Bayesian-based behavioral controller and command management functionalities were embedded into the robot as well as operator applications, allowing robot control with voice commands. Verification studies were carried out to show merits and limitations of the proposed solution.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116167454","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787342
W. Domski, A. Mazur
In this paper an input-output decoupling approach was presented for a space object - a free-floating 3D satellite with a 3 DoF manipulator arm. The input-output decoupling procedure allows to control manipulator's end-effector in task space instead in joint space. This, in turn, simplifies the task of trajectory planning which usually is treated as a separate subsystem. In this paper, instead of using analytical derivatives for desired trajectory a numerical equivalents were used. Proposed controller was tested against different granularity of numerical derivatives and proved that it can work with time series as desired trajectory instead of analytically given formulas.
{"title":"Tracking of numerically defined trajectory by free-floating 3D satellite","authors":"W. Domski, A. Mazur","doi":"10.1109/RoMoCo.2019.8787342","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787342","url":null,"abstract":"In this paper an input-output decoupling approach was presented for a space object - a free-floating 3D satellite with a 3 DoF manipulator arm. The input-output decoupling procedure allows to control manipulator's end-effector in task space instead in joint space. This, in turn, simplifies the task of trajectory planning which usually is treated as a separate subsystem. In this paper, instead of using analytical derivatives for desired trajectory a numerical equivalents were used. Proposed controller was tested against different granularity of numerical derivatives and proved that it can work with time series as desired trajectory instead of analytically given formulas.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121615177","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 : 2019-04-23DOI: 10.1109/RoMoCo.2019.8787353
A. Zuyev, V. Grushkovskaya
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie brackets of length up to 3. This class of systems includes, in particular, mathematical models of rotating rigid bodies. We propose an explicit control design scheme with time-varying trigonometric polynomials whose coefficients depend on the state of the system. The above coefficients are computed in terms of the inversion of the matrix appearing in the controllability condition. It is shown that the proposed controllers can be used to solve the stabilization problem by exploiting the Chen-Fliess expansion of solutions of the closed-loop system. We also present results of numerical simulations for controlled Euler's equations and a mathematical model of underwater vehicle to illustrate the efficiency of the obtained controllers.
{"title":"On stabilization of nonlinear systems with drift by time-varying feedback laws","authors":"A. Zuyev, V. Grushkovskaya","doi":"10.1109/RoMoCo.2019.8787353","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787353","url":null,"abstract":"This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie brackets of length up to 3. This class of systems includes, in particular, mathematical models of rotating rigid bodies. We propose an explicit control design scheme with time-varying trigonometric polynomials whose coefficients depend on the state of the system. The above coefficients are computed in terms of the inversion of the matrix appearing in the controllability condition. It is shown that the proposed controllers can be used to solve the stabilization problem by exploiting the Chen-Fliess expansion of solutions of the closed-loop system. We also present results of numerical simulations for controlled Euler's equations and a mathematical model of underwater vehicle to illustrate the efficiency of the obtained controllers.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130792581","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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