面向敏捷制造的机器人控制器体系结构的研究

通过分析敏捷制造对制造单元的要求 ,提出了研究机器人控制器体系结构的出发点 ,并在此基础上建立了面向敏捷制造的机器人控制体系结构 ,描述了构造该结构的关键技术 .最后建立了相应的实验平台 ,并进行了相关实验来验证建立于这种体系结构基础上的机器人控制器的力控性能和轨迹跟踪性能     

一种机器人嵌入式网络化控制系统体系结构的研究

针对机器人控制系统,探讨了基于串行总线的网络化控制系统的优缺点,提出了一种新的以ARM和FPGA为核心的机器人分布式多CAN总线控制系统体系结构．该体系结构有效地降低了网络化控制系统中对总线带宽的需求,可以实现对控制信息的分级处理和实时的伺服控制．还设计了基于FPGA的多CAN总线控制器,介绍了基于Linux的机器人控制软件体系结构的实现方法．最后,在模块化机器人中的应用表明该网络化控制系统体系结构是可行的．     

具有环境自适应能力的多机器人编队系统研究

对多机器人的体系结构进行了研究.采用时空表和时间控制器相结合的方法，解决多机器人间的协调协作问题.针对编队问题的具体特性，提出了基于环境的记忆学习方法，使多机器人编队系统具有较强的环境自适应能力.最后,通过仿真实验实现了整个多机器人系统,进一步验证了各个算法的可行性和有效性.􀁱     

基于Transputer的第二代机器人控制器

本文在综述国内外用于机器人控制的计算机系统的设计原则和结构方案的基础上，提出了一种新型机器人控制器的体系结构以及基于transputer并行途径的实现，它体现了分层递阶的控制思想，能提供比以往控制器更高的计算能力，可扩展性和灵活性并能满足今后智能机器人的信息处理要求。     

机器人技术的发展趋势

目前,机器人技术出现如下三个重大变化:开放型体系结构的PC控制器;与先进的CAD/CAM相结合;仿真.     

嵌入式移动机器人目标搜集运动控制研究

本文基于移动机器人平台设计实现了核心嵌入式控制系统,采用上位机-下位机两级体系结构,开发了环境信息采集上位机软件及机器人运动控制下位机软件;通过激光测距仪实时测量与数据处理,实现机器人对环境目标的探测与感知,设计了电机控制器用于实现机器人运动控制;最后,针对目标搜集使命案例,验证了移动机器人对环境目标的自主探测与搜集的作业能力,实验结果表明：所设计的嵌入式控制系统及其运动控制器满足使命任务要求。     

移动机器人条件反射能力的实现

Brooks的包容体系结构中,移动机器人控制器各个行为之间的关系是固定不变 的,可以看作实现了机器人的非条件反射能力,因此控制系统没有适应性．本文提出了条件 反射能力的实现方法,该方法能够和包容体系结构紧密结合,增强移动机器人的适应能力． 实验证明该方法是可行的．     

基于CAN总线的壁面移动机器人分布式控制系统软件设计研究

首先提出了壁面移动机器人的控制体系结构，建立了基于CAN总线的分布式机器人控制系统硬件平台，确定了各控制节点间的通讯协议，并根据所提出的分布控制器结构设计了控制软件。     

第二代机器人控制器体系结构

本文讨论了第二代机器人控制器的设计及基于Transputer并行途径的实现.机器人新的应用要求和电子技术的进展推动机器人计算机体系结构向专用化亦即VLSI化方向发展.本文提出的机器人控制系统的设计体现了分层递阶结构的控制思想,并且选用了Inmos公司的TRANSPUTER作为研制该系统的主要元件.因此,该系统能够提供比已有结构更高的计算能力、可扩展性和灵活性.     

基于CAN的工业机器人内部通信总线设计

介绍了一种基于CAN总线的分布式工业机器人控制器的研究开发情况,实现了总线与各模块的接口设计,并制定出相应的机器人控制器内部通信协议。这种机器人控制器布线简单,系统可灵活扩展,有效提高了工业机器人的性能。     

<Emphasis Type="Italic">HumanPT</Emphasis>: An Open-source,HumanPT Architecture-based,Robotic Application for Low Cost Robotic Tasks

In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot  robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server–client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one, to ensure – in case that the robotic system provide such a facility – control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided. HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.     

Projection operator-based robust adaptive control of an aerial robot with a manipulator

This paper describes a quadcopter manipulator system, an aerial robot with an extended workspace, its controller design, and experimental validation. The aerial robot is based on a quadcopter with a three degree of freedom robotic arm connected to the base of the vehicle. The work aims to create a stable airborne robot with a robotic arm that can work above and below the airframe, regardless of where the arm is attached. Integrating a robotic arm into an underactuated, unstable system like a quadcopter can enhance the vehicle's functionality while increasing instability. To execute a mission with accuracy and reliability during a real-time task, the system must overcome the inter-coupling effects and external disturbances. This work presents a novel design for a robust adaptive feedback linearization controller with a model reference adaptive controller and hardware implementation of the quadcopter manipulator system with plant uncertainties. The closed-loop stability of the aerial robot and the tracking error convergence with the robust controller is analyzed using Lyapunov stability analysis. The quadcopter manipulator system is custom developed in the lab with an off-the-shelf quadcopter and a 3D-printed robotic arm. The robotic system architecture is implemented using a Jetson Nano companion computer for autonomous onboard flight. Experiments were conducted on quadcopter manipulator system to evaluate the autonomous aerial robot's stability and trajectory tracking with the proposed controller.     

Intelligent Control for Robotic Rehabilitation after Stroke

The paper presents a new control approach to robot-assisted rehabilitation for stroke patients. The control architecture is represented in terms of a hybrid system model combining a high-level and a low-level assistive controller. The high-level controller is designed to monitor the progress and safety of the rehabilitation task. The high-level controller also makes decisions on the modification of the task that might be needed for the therapy. A design of a low-level assistive controller that provides robotic assistance for an upper arm rehabilitation task and works in coordination with the proposed high-level controller is discussed. Experimental results on unimpaired participants are presented to demonstrate the efficacy of both the high-level and low-level assistive controllers.     

A Constraint-Based Robotic Soccer Team

It is a challenging task for a team of multiple fast-moving robots to cooperate with each other and to compete with another team in a dynamic, real-time environment. For a robot team to play soccer successfully, various technologies have to be incorporated including robotic architecture, multi-agent collaboration and real-time reasoning. A robot is an integrated system, with a controller embedded in its plant. A robotic system is the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. Constraint Nets (CN) provide a semantic model for modeling hybrid dynamic systems. Controllers are embedded constraint solvers that solve constraints in real-time. A controller for our robot soccer team, UBC Dynamo98, has been modeled in CN, and implemented in Java, using the Java Beans architecture. A coach program using an evolutionary algorithm has also been designed and implemented to adjust the weights of the constraints and other parameters in the controller. The results demonstrate that the formal CN approach is a practical tool for designing and implementing controllers for robots in multi-agent real-time environments. They also demonstrate the effectiveness of applying the evolutionary algorithm to the CN-modeled controllers.     

Robotic architecture as unknown discrete-time system based on variable-frequency drive and adaptive controller

The new architecture for outdated robotic arm (ABB: IRB-1400) is developed by the direct variable-frequency drive (VFD) and considered as a class of unknown nonlinear discrete-time systems. The identification model is established by Multi-input fuzzy rules emulated network (MiFREN) with the online learning algorithm and the database of IF-THEN rules. The controller is designed by using the identification model and feedback signals from the multiplexer when kinematic and dynamic models of the robotic system are neglected. The convergence of tracking errors and internal signals is guaranteed by both theoretical and practical aspects. The performance validation of the proposed robotic system is accomplished by the experimental setup with comparative results.     

机器人控制器核心设备的实时性研究

机器人控制器核心系统的实时性提高与改进是一个关键问题,结合机器人控制器的特点对操作系统平台的实时性进行分析,着重比较了Linux操作系统和改进的RTLinux实时操作系统在实时性上的区别,对机器人控制器任务采用多线程机制进行实时域和非实时域的重新划分,并提出一套实时性改造方案,完成机器人控制器的任务,最后给出了一个在RTLinux操作系统下实现硬件设备实时驱动程序的一个例子。     

A minimally invasive surgery robotic assistant for HALS–SILS techniques

This paper is focused in the design and implementation of a robotic surgical motion controller. The proposed control scheme addresses the issues related to the application of a robot assistant in novel surgical scenario, which combines hand assisted laparoscopic surgery (HALS) with the single incision laparoscopic surgery (SILS) techniques. It is designed for collaborating with the surgeon in a natural way, by performing autonomous movements, in order to assist the surgeon during a surgical maneuver. In this way, it is implemented a hierarchical architecture which includes an upper auto-guide velocity planner connected to a low-level force feedback controller. The first one, based on a behavior approach, computes a collision free trajectory of the surgical instrument tip, held by the robot, for reaching a goal location inside of the abdominal cavity. On the other hand, the force feedback controller uses this trajectory for performing the instrument displacement by taking into account the holonomic movement constraints introduced by the fulcrum point. The aim of this controller is positioning the surgical instrument by minimizing the forces exerted over the abdominal wall due to the fulcrum location uncertainty. The overall system has been integrated in the control architecture of the surgical assistant CISOBOT, designed and developed at the University of Malaga. The whole architecture performance has been tested by means of in vitro trials.     

机器人离散滑模变结构—PI控制器

本文采用离散滑模变结构控制方法，针对机器人提出了一种滑模变结构——ＰＩ控制方案，给出了该控制方案滑模存在条件及控制器设计方案。该控制器将离散滑模变结构控制和ＰＩ控制两者的优点有机地结合起来，理论分析和仿真结果表明该控制器能使机器人在各种复杂非线性动力学情况下具有良好的性能指标。这种控制器输出切换小，可以投入应用。     

Controlling gaze with an embodied interactive control architecture

Human-Robot Interaction (HRI) is a growing field of research that targets the development of robots which are easy to operate, more engaging and more entertaining. Natural human-like behavior is considered by many researchers as an important target of HRI. Research in Human-Human communications revealed that gaze control is one of the major interactive behaviors used by humans in close encounters. Human-like gaze control is then one of the important behaviors that a robot should have in order to provide natural interactions with human partners. To develop human-like natural gaze control that can integrate easily with other behaviors of the robot, a flexible robotic architecture is needed. Most robotic architectures available were developed with autonomous robots in mind. Although robots developed for HRI are usually autonomous, their autonomy is combined with interactivity, which adds more challenges on the design of the robotic architectures supporting them. This paper reports the development and evaluation of two gaze controllers using a new cross-platform robotic architecture for HRI applications called EICA (The Embodied Interactive Control Architecture), that was designed to meet those challenges emphasizing how low level attention focusing and action integration are implemented. Evaluation of the gaze controllers revealed human-like behavior in terms of mutual attention, gaze toward partner, and mutual gaze. The paper also reports a novel Floating Point Genetic Algorithm (FPGA) for learning the parameters of various processes of the gaze controller.     

A multidisciplinary approach for Model Predictive Control Education: A Lego Mindstorms NXT-based framework

This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used MatLab/Simulink environment. A two-wheeled inverted pendulum is considered as hands-on experimental scenario. For such a system, starting from its mathematical modeling, an established design methodology is presented aiming to outline step-by-step the predictive controller implementation on a low power architecture. This methodology stress the design of a non-linear MPC controller on a low power embedded system, pruning the designer to deal with hard real time constraints without impacting the overall design requirements. The effectiveness of this multidisciplinary approach is shown through this presentation and demonstrated with experimental results.