Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251441
Adrien Pajon, Giovanni De Magistris, S. Miossec, K. Kaneko, A. Kheddar
We devised a new walking pattern generator based on a minimization of the energy consumption that offers the necessary parameters to be used in flexible sole design problems. This pattern generator is implemented in two sets of experiments implying the HRP-2 humanoid robot: walking with different weighting between (i) the center of mass forces, and (ii) torques applied at the ankle joint. We also considered two types of feet: the HRP-2 built-in flexible ankle, and our proposed solution that keeps the ankle-to-foot without flexibility and add instead a flexible sole. The latter shows several benefits that are discussed.
{"title":"A humanoid walking pattern generator for sole design optimization","authors":"Adrien Pajon, Giovanni De Magistris, S. Miossec, K. Kaneko, A. Kheddar","doi":"10.1109/ICAR.2015.7251441","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251441","url":null,"abstract":"We devised a new walking pattern generator based on a minimization of the energy consumption that offers the necessary parameters to be used in flexible sole design problems. This pattern generator is implemented in two sets of experiments implying the HRP-2 humanoid robot: walking with different weighting between (i) the center of mass forces, and (ii) torques applied at the ankle joint. We also considered two types of feet: the HRP-2 built-in flexible ankle, and our proposed solution that keeps the ankle-to-foot without flexibility and add instead a flexible sole. The latter shows several benefits that are discussed.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121841698","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251448
S. Dilibal, E. Engeberg
Shape memory alloy (SMA) actuators generally have a fast response time when heated. However, the return stroke during cooling can be slow and has been a hindrance to the application of SMA actuators in different areas such as robotic hands. Thus, a novel finger-like antagonistic SMA actuator design is presented in this paper. By using different thermal shape setting processes, one SMA actuator was designed to take a curved shape when heated. This actuator was antagonistically coupled to a different actuator that took a straight shape when heated. Thus, alternately heating each actuator caused the finger-like manipulator to flex and extend rapidly. A comparison study was performed between the novel antagonistic design and a single actuator which showed that the both designs applied approximately the same force with the same velocity when flexing. However, the antagonistic design was able to extend, or open, more rapidly with statistical significance. This was demonstrated for 1.5mm, 1.9mm, and 3.0mm SMA actuator diameters.
{"title":"Finger-like manipulator driven by antagonistic nickel-titanium shape memory alloy actuators","authors":"S. Dilibal, E. Engeberg","doi":"10.1109/ICAR.2015.7251448","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251448","url":null,"abstract":"Shape memory alloy (SMA) actuators generally have a fast response time when heated. However, the return stroke during cooling can be slow and has been a hindrance to the application of SMA actuators in different areas such as robotic hands. Thus, a novel finger-like antagonistic SMA actuator design is presented in this paper. By using different thermal shape setting processes, one SMA actuator was designed to take a curved shape when heated. This actuator was antagonistically coupled to a different actuator that took a straight shape when heated. Thus, alternately heating each actuator caused the finger-like manipulator to flex and extend rapidly. A comparison study was performed between the novel antagonistic design and a single actuator which showed that the both designs applied approximately the same force with the same velocity when flexing. However, the antagonistic design was able to extend, or open, more rapidly with statistical significance. This was demonstrated for 1.5mm, 1.9mm, and 3.0mm SMA actuator diameters.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127927517","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251486
M. G. Morais, Felipe Meneguzzi, Rafael Heitor Bordini, Alexandre M. Amory
Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.
{"title":"Distributed fault diagnosis for multiple mobile robots using an agent programming language","authors":"M. G. Morais, Felipe Meneguzzi, Rafael Heitor Bordini, Alexandre M. Amory","doi":"10.1109/ICAR.2015.7251486","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251486","url":null,"abstract":"Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126866476","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251430
L. Peternel, B. Ugurlu, J. Babič, J. Morimoto
In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification data. We used the measurement data acquired from the proposed approaches to identify different mathematical models of pneumatic muscles. These models specified the necessary muscle control pressure for the desired muscle force at a given muscle length value. We compared the performance between the different types of models identified by either of the calibration method. The identified model with the lowest validation error was implemented in pneumatic muscle control for an elbow exoskeleton system. As a result, the system exhibited satisfactory torque and position control tasks, adequately validating the proposed approach.
{"title":"Assessments on the improved modelling for pneumatic artificial muscle actuators","authors":"L. Peternel, B. Ugurlu, J. Babič, J. Morimoto","doi":"10.1109/ICAR.2015.7251430","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251430","url":null,"abstract":"In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification data. We used the measurement data acquired from the proposed approaches to identify different mathematical models of pneumatic muscles. These models specified the necessary muscle control pressure for the desired muscle force at a given muscle length value. We compared the performance between the different types of models identified by either of the calibration method. The identified model with the lowest validation error was implemented in pneumatic muscle control for an elbow exoskeleton system. As a result, the system exhibited satisfactory torque and position control tasks, adequately validating the proposed approach.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124862186","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251444
C. Semini, Jake Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell
Agile and versatile legged robots are expected to become useful machines for applications in unstructured environments where traditional vehicles with wheels and tracks cannot go. Hydraulic actuation has proven to be a suitable actuation technology due to its high power density, robustness against impacts and high stiffness for high bandwidth control. In this paper we demonstrate how additive manufacturing (AM) can produce highly integrated hydraulic components with reduced weight and higher complexity when compared to traditionally manufactured manifolds. To the best knowledge of the authors, this is the first time a successful implementation of direct metal laser sintering (DMLS) of hydraulic manifolds made in aluminium alloy AlSiMg is presented. AlSiMg has several advantages for the construction of hydraulic components when compared to the commonly used Titanium alloys (e.g. Ti64): lower cost, higher thermal conductivity, lower density and easier to post-process. This paper first explains the build process with DMLS of AlSiMg and a pre-study of a pressure-tested hydraulic tube that demonstrated the suitability of AlSiMg for AM hydraulic components. Then, we discuss part orientation and support material during the build process of a highly-integrated hydraulic manifold for the legs of IIT's new hydraulic quadruped robot HyQ2Max. A comparison of this manifold with a traditionally manufactured alternative concludes the paper.
{"title":"Additive manufacturing for agile legged robots with hydraulic actuation","authors":"C. Semini, Jake Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell","doi":"10.1109/ICAR.2015.7251444","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251444","url":null,"abstract":"Agile and versatile legged robots are expected to become useful machines for applications in unstructured environments where traditional vehicles with wheels and tracks cannot go. Hydraulic actuation has proven to be a suitable actuation technology due to its high power density, robustness against impacts and high stiffness for high bandwidth control. In this paper we demonstrate how additive manufacturing (AM) can produce highly integrated hydraulic components with reduced weight and higher complexity when compared to traditionally manufactured manifolds. To the best knowledge of the authors, this is the first time a successful implementation of direct metal laser sintering (DMLS) of hydraulic manifolds made in aluminium alloy AlSiMg is presented. AlSiMg has several advantages for the construction of hydraulic components when compared to the commonly used Titanium alloys (e.g. Ti64): lower cost, higher thermal conductivity, lower density and easier to post-process. This paper first explains the build process with DMLS of AlSiMg and a pre-study of a pressure-tested hydraulic tube that demonstrated the suitability of AlSiMg for AM hydraulic components. Then, we discuss part orientation and support material during the build process of a highly-integrated hydraulic manifold for the legs of IIT's new hydraulic quadruped robot HyQ2Max. A comparison of this manifold with a traditionally manufactured alternative concludes the paper.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125633916","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251454
E. Falotico, Lorenzo Vannucci, Nicola Di Lecce, P. Dario, C. Laschi
Humans are able to track a moving visual target by generating voluntary smooth pursuit eye movements. The purpose of smooth pursuit eye movements is to minimize the target velocity projected onto the retina (retinal slip). This is not achievable by a control based on a negative feedback due to the delays in the visual information processing. In this paper we propose a model, suitable for a robotic implementation, able to integrate the main characteristics of visual feedback and predictive control of the smooth pursuit. The model is composed of an inverse dynamics controller for the feedback control, a neural predictor for the anticipation of the target motion and an Weighted Sum module that is able to combine the previous systems in a proper way. Our results, tested on a simulated eye model of our humanoid robot, show that this model can use prediction for a zero-lag visual tracking, use a feedback based control for “unpredictable” target pursuit and combine these two approaches properly switching from one to the other, depending on the target dynamics, in order to guarantee a stable visual pursuit.
{"title":"A bio-inspired model of visual pursuit combining feedback and predictive control for a humanoid robot","authors":"E. Falotico, Lorenzo Vannucci, Nicola Di Lecce, P. Dario, C. Laschi","doi":"10.1109/ICAR.2015.7251454","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251454","url":null,"abstract":"Humans are able to track a moving visual target by generating voluntary smooth pursuit eye movements. The purpose of smooth pursuit eye movements is to minimize the target velocity projected onto the retina (retinal slip). This is not achievable by a control based on a negative feedback due to the delays in the visual information processing. In this paper we propose a model, suitable for a robotic implementation, able to integrate the main characteristics of visual feedback and predictive control of the smooth pursuit. The model is composed of an inverse dynamics controller for the feedback control, a neural predictor for the anticipation of the target motion and an Weighted Sum module that is able to combine the previous systems in a proper way. Our results, tested on a simulated eye model of our humanoid robot, show that this model can use prediction for a zero-lag visual tracking, use a feedback based control for “unpredictable” target pursuit and combine these two approaches properly switching from one to the other, depending on the target dynamics, in order to guarantee a stable visual pursuit.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130742880","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251429
J. Rebelo, A. Schiele
Recently developed impedance-controlled robots are better suited than conventional industrial robots for executing human-like contact tasks. However, performance of a system when using such device as a slave in time-delay bilateral teleoperation is still unknown. It is the goal of this paper to analyse the performance of a 4-channel time-delay bilateral teleoperation system with an impedance-type master device commanding an impedance-controlled slave. Using the newly introduced reflected damping in free-air criterion, it is shown that the damping felt by the human operator interacting with the system while the slave is in free-air is dependent on the local controller parameters and increases linearly with the time-delay with a factor dependent on the master and slave proportional controller gains. The transparency analysis of the system shows that, independently of the time-delay or controller parameters, a stiffness equal to that of the environment is transmitted to the operator. The experimental validation, using a 1-dof master-slave teleoperation system, shows that the proposed criterion can approximate the identified damping with an accuracy of 5% for time-delay values up to 30 ms. It is also highlighted by the experimental results that, in the transition between free-air and rigid contact, the impedance rendered to the operator is lower than that of the actual environment.
{"title":"Performance analysis of time-delay bilateral teleoperation using impedance-controlled slaves","authors":"J. Rebelo, A. Schiele","doi":"10.1109/ICAR.2015.7251429","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251429","url":null,"abstract":"Recently developed impedance-controlled robots are better suited than conventional industrial robots for executing human-like contact tasks. However, performance of a system when using such device as a slave in time-delay bilateral teleoperation is still unknown. It is the goal of this paper to analyse the performance of a 4-channel time-delay bilateral teleoperation system with an impedance-type master device commanding an impedance-controlled slave. Using the newly introduced reflected damping in free-air criterion, it is shown that the damping felt by the human operator interacting with the system while the slave is in free-air is dependent on the local controller parameters and increases linearly with the time-delay with a factor dependent on the master and slave proportional controller gains. The transparency analysis of the system shows that, independently of the time-delay or controller parameters, a stiffness equal to that of the environment is transmitted to the operator. The experimental validation, using a 1-dof master-slave teleoperation system, shows that the proposed criterion can approximate the identified damping with an accuracy of 5% for time-delay values up to 30 ms. It is also highlighted by the experimental results that, in the transition between free-air and rigid contact, the impedance rendered to the operator is lower than that of the actual environment.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133479318","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251442
Chun-Kai Huang, Pei-Chun Lin
We report on the stability analysis of the Rolling SLIP (R-SLIP) model, a sagittal-plane and point-mass model with a compliant leg and rolling ground contact. Owing to its asymmetric morphology, it has four different operation modes according to the range of the initial mass speed and leg configuration. Using the return map analysis, the asymmetric stability property of the R-SLIP model was investigated and compared with that of the SLIP model. The analysis results reveal that the R-SLIP model has better but more complicated stability characteristics than the SLIP model. The analysis results also suggest that the R-SLIP model operates better when it has a soft to hard stiffness change. In addition, the effect of the torsion spring position was also investigated.
{"title":"Asymmetric stability property of a sagittal-plane model with a compliant leg and Rolling contact","authors":"Chun-Kai Huang, Pei-Chun Lin","doi":"10.1109/ICAR.2015.7251442","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251442","url":null,"abstract":"We report on the stability analysis of the Rolling SLIP (R-SLIP) model, a sagittal-plane and point-mass model with a compliant leg and rolling ground contact. Owing to its asymmetric morphology, it has four different operation modes according to the range of the initial mass speed and leg configuration. Using the return map analysis, the asymmetric stability property of the R-SLIP model was investigated and compared with that of the SLIP model. The analysis results reveal that the R-SLIP model has better but more complicated stability characteristics than the SLIP model. The analysis results also suggest that the R-SLIP model operates better when it has a soft to hard stiffness change. In addition, the effect of the torsion spring position was also investigated.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129687799","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251489
José Gilmar Nunes de Carvalho Filho, J. Farines, J. Cury
In the last two decades, several methods to exploration with Multi-Robot Systems (MRS) have been proposed, most of them based in the detection and allocation of frontiers. However, communication issues and robots' map Synchronization problem usually are neglected by the authors. In this paper, a distributed scheme that can handle some important communication issues is proposed to synchronize the maps of the robots and other relevant information in a network. We also propose a scheme to represent the information robots have about the application that allows them share information with each other avoiding the exchanging of unnecessary information. Some experiments were also performed to verify the efficacy and efficiency the method and also to compare it with the method proposed by Sheng.
{"title":"Building maps with Multi-Robot Systems under limited communication","authors":"José Gilmar Nunes de Carvalho Filho, J. Farines, J. Cury","doi":"10.1109/ICAR.2015.7251489","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251489","url":null,"abstract":"In the last two decades, several methods to exploration with Multi-Robot Systems (MRS) have been proposed, most of them based in the detection and allocation of frontiers. However, communication issues and robots' map Synchronization problem usually are neglected by the authors. In this paper, a distributed scheme that can handle some important communication issues is proposed to synchronize the maps of the robots and other relevant information in a network. We also propose a scheme to represent the information robots have about the application that allows them share information with each other avoiding the exchanging of unnecessary information. Some experiments were also performed to verify the efficacy and efficiency the method and also to compare it with the method proposed by Sheng.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114424520","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251495
A. Buschhaus, Andreas Blank, J. Franke
Improving the absolute accuracy of industrial robots is addressed by multiple activities of research institutes and robot manufacturers. Challenging in this context is an accuracy improvement of the robot during the movement. This is due to the necessity of providing time efficient and accurate target and actual state determination modules, an adequate data synchronization and a proper correction value calculation. This information can then be used to establish an online closed-loop control of the robot. One difficulty in such a system is to guarantee a smooth and steady movement despite the continuous inaccuracy compensation. To overcome this problem, recent research activities address a vector based control method. Thereby, the path planning is transferred to an external control unit, which performs all calculation steps. Based on this calculation, movement vectors synchronized with the interpolation cycle time of the robot are computed, continuously sent to the robot controller and brought to execution. These vectors include components, which describe the deviation between actual and target state and hence allow a compensation of the inaccuracies. Thereby, the robot is “pushed” along its optimal trajectory by small increments. Experiments already show good results, allowing a reactive control together with a smooth movement execution.
{"title":"Vector based closed-loop control methodology for industrial robots","authors":"A. Buschhaus, Andreas Blank, J. Franke","doi":"10.1109/ICAR.2015.7251495","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251495","url":null,"abstract":"Improving the absolute accuracy of industrial robots is addressed by multiple activities of research institutes and robot manufacturers. Challenging in this context is an accuracy improvement of the robot during the movement. This is due to the necessity of providing time efficient and accurate target and actual state determination modules, an adequate data synchronization and a proper correction value calculation. This information can then be used to establish an online closed-loop control of the robot. One difficulty in such a system is to guarantee a smooth and steady movement despite the continuous inaccuracy compensation. To overcome this problem, recent research activities address a vector based control method. Thereby, the path planning is transferred to an external control unit, which performs all calculation steps. Based on this calculation, movement vectors synchronized with the interpolation cycle time of the robot are computed, continuously sent to the robot controller and brought to execution. These vectors include components, which describe the deviation between actual and target state and hence allow a compensation of the inaccuracies. Thereby, the robot is “pushed” along its optimal trajectory by small increments. Experiments already show good results, allowing a reactive control together with a smooth movement execution.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124777363","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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