共查询到20条相似文献,搜索用时 0 毫秒
1.
Image-based control for cable-based robots 总被引:1,自引:0,他引:1
Billel Bouchemal Abdelouahab Zaatri 《International Journal of Control, Automation and Systems》2014,12(1):118-125
Some human robot interactive applications involved in tele-robotics, remote supervisory and unmanned systems require specific capabilities. This demand has promoted various interactive modes and high-level control techniques such as tele-manipulation, speech, vision, gesture, etc. Among these interactive modes, the image based control which is often named point and click control has proven to be the most appropriate one that offers multiple advantages. This mode consists of only and simply pointing in an appearing object of an image received from a remote site, to convert this click into a robot command towards the corresponding location in the real world space. This mode is suitable for remote applications, frees the human operator from being involved into the loop enabling him/her to use commands in the sense of click and forget. This paper presents, firstly, the design and the realization of an experimental planar cable-based robot constituted of four cables. Secondly, it presents the design and the implementation of a high-level image-based control. Some typical experiments which have been performed prove the simplicity and the effectiveness of the image-based control. Moreover, it opens perspectives for new applications with cable-based robots, particularity for rehabilitation applications. 相似文献
2.
Real-time vergence control for binocular robots 总被引:1,自引:4,他引:1
In binocular systems,vergence is the process of adjusting the angle between the eyes (or cameras) so that both eyes are directed at the same world point. Its utility is most obvious for foveate systems such as the human visual system, but it is a useful strategy for nonfoveate binocular robots as well. Here, we discuss the vergence problem and outline a general approach to vergence control, consisting of a control loop driven by an algorithm that estimates the vergence error. As a case study, this approach is used to verge the eyes of the Rochester Robot in real time. Vergence error is estimated with the cepstral disparity filter. The cepstral filter is analyzed, and it is shown in this application to be equivalent to correlation with an adaptive prefilter; carrying this idea to its logical conclusion converts the cepstral filter into phase correlation. The demonstration system uses a PD controller in cascade with the error estimator. An efficient real-time implementation of the error estimator is discussed, and empirical measures of the performance of both the disparity estimator and the overall system are presented. 相似文献
3.
Lazzerini B. Lopriore L. 《IEEE transactions on pattern analysis and machine intelligence》1989,15(7):890-901
In the event-action model of interactions between the debugging system and the program being debugged, an event will occur on the evaluation of a conditional defined in terms of the program activity if the evaluation yields the value true, and an action is an operation performed by the debugging system on the occurrence of an event. This paper presents a set of mechanisms for expressing conditionals at different levels of abstraction. At the lowest level, the authors have the simple conditionals, which can be expressed in terms of the values of the program entities and of the execution of the program statements. Simple conditionals can be grouped to form higher-level compound conditionals, which can be expressed in terms of the state and flow histories. The paper shows that the proposed abstraction mechanisms are powerful tools for monitoring program activity. They adequately support different debugging techniques, and offer the user a considerable degree of control over the debugging experiment 相似文献
4.
The static properties of tensegrity structures have been widely appreciated in civil engineering as the basis of extremely lightweight yet strong mechanical structures. However, the dynamic properties and their potential utility in the design of robots have been relatively unexplored. This paper introduces robots based on tensegrity structures, which demonstrate that the dynamics of such structures can be utilized for locomotion. Two tensegrity robots are presented: TR3, based on a triangular tensegrity prism with three struts, and TR4, based on a quadrilateral tensegrity prism with four struts. For each of these robots, simulation models are designed, and automatic design of controllers for forward locomotion are performed in simulation using evolutionary algorithms. The evolved controllers are shown to be able to produce static and dynamic gaits in both robots. A real-world tensegrity robot is then developed based on one of the simulation models as a proof of concept. The results demonstrate that tensegrity structures can provide the basis for lightweight, strong, and fault-tolerant robots with a potential for a variety of locomotor gaits. 相似文献
5.
《Computers in Industry》1986,7(3):275-282
This paper deals with connexions among researches on biomechanics and the design and realization of mechanical hands for robots. High complexity of systems may be reached by use of computer aided design techniques and by the optimized determination of parameters of models, which biomechanics may present to robot scientists and designers. 相似文献
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This paper describes an advanced robot control system based on the three parallel processor boards. The controller has been designed as a general-purpose robot control system dedicated to controlling industrial robots with up to six degrees of freedom. The controller is based on a disk-oriented real-time operating system. The entire set of robot parameters can be monitored and changed by the user on-line. Source files, compilers, linkers and various utilities are provided as well.The main software layers include robot program interpreter, manipulator control facility, robot kinematics, dynamic feed-forward compensation, and digital servos. Basis, hand and joint coordinates are supported. Point-to-point and continuous path motions are provided. Digital and analog IO modules are included for synchronization with an environment. An acquisition system for monitoring and graphical presentation of robot coordinates, velocities and IO signals is provided. The paper ends with some experimental results for a six-degree of freedom robot. 相似文献
8.
L. Gerlich B. N. Parsons A. S. White S. Prior P. Warner 《Cognition, Technology & Work》2007,9(4):189-207
This paper describes the development of a control user interface for a wheelchair-mounted manipulator for use by severely
disabled persons. It explains the construction of the interface using tasks to define the user interface architecture. The
prototype robot used several gesture recognition systems to achieve a level of usability better than other robots used for
rehabilitation at the time. The use of neural networks and other procedures is evaluated. It outlines the experiments used
to evaluate the user responses and draws conclusions about the effectiveness of the whole system. It demonstrates the possibility
of control using a head mouse.
相似文献
A. S. WhiteEmail: |
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Yoshiyuki Sankai Kiyoshi Fujiwara Kenichi Watanabe Hisashi Moriyama 《Artificial Life and Robotics》1998,2(4):162-169
The purpose of this research was to propose and develop a control method in the robotic and biomedical fields which is configured
by a robotic/biological simulator, an analytical control frame which has phase sequences, sensory feedback, and an artificial
central pattern generator (CPG) which is constructed by a recurrent neural network (RNN) and a genetic algorithm (GA). We
call such a controller a “HOJO-brain”, which means a supplementary brain for motion control. We applied this method in the
robotic and biomedical fields. In the robotic field, the HOJO-brain was applied to a 5-DOF legged-locomotion robot and a 32-DOF
humanoid simulation model consisting of antagonistic muscles. In the biomedical field, it was applied to animals as the FES
(functional electrical stimulation) controller. This FES control system with a HOJO-brain has the potential to give more effective
and emergent motion control to severely physically handicapped people such as quadraplegics. With computer simulations and
simple experiments using animals, we abtained performance indices which confirmed the fine adaptability and emergence for
motion control.
This work was presented, in part, at the Second International Symposium on Artificial Life and Robotics, Oita, Japan, February
18–20, 1997 相似文献
11.
This article presents a novel observer-based control system to achieve reactive motion generation for dynamic biped walking. The proposed approach combines a feedback controller with an online generated feet pattern to assure a stable gait. Using the desired speed of the robot, a preview control system derives the dynamics of the robot’s body, and thereby the trajectory of its center of mass, to ensure a zero moment point (ZMP) movement, which results in a stable execution of the calculated step pattern. Extending the control system by an observer, based on this knowledge and the measured sensor values, compensates for errors in the model parameters and disturbances encountering while walking. 相似文献
12.
F. Díaz del Río G. Jimnez J. L. Sevillano S. Vicente A. Civit Balcells 《野外机器人技术杂志》2001,18(7):325-342
In this work we present a new path following control for unicycle robots that is applicable for almost all the possible desired paths and whose analysis is very straightforward. First we select the path following method that consists of two steps: choosing a “projection” that relates the actual posture to the desired path and imposing a “motion exigency” to ensure that the robot advances. A “projection” that considers all the error coordinates is selected and closed equations are obtained for it. The uniqueness projection is carefully analyzed and a necessary and sufficient condition is also presented. This condition shows that a slight bound on the curvature derivative of desired paths must be imposed to preserve uniqueness. It is remarkable that the selected path following is applicable for paths containing zero‐radius turns, a problem that has never been resolved as far as we know. In addition, an asymptotically stable control law is found using the closed form equation of the proposed path following and the second Lyapunov method. Finally, we show the behavior of the path following and the control law through several simulated and experimental results, using a computerized wheelchair built at our research facility. © 2001 John Wiley & Sons, Inc. 相似文献
13.
An in-depth evaluation of the usability and situation awareness performance of different displays and destination controls of robots are presented. In two experiments we evaluate the way information is presented to the operator and assess different means for controlling the robot. Our study compares three types of displays: a “blocks” display, a HUD (head-up display), and a radar display, and two types of controls: touch screen and hand gestures. The HUD demonstrated better performance when compared to the blocks display and was perceived to have greater usability compared to the radar display. The HUD was also found to be more useful when the operation of the robot was more difficult, i.e., when using the hand-gesture method. The experiments also pointed to the importance of using a wide viewing angle to minimize distortion and for easier coping with the difficulties of locating objects in the field of view margins. The touch screen was found to be superior in terms of both objective performance and its perceived usability. No differences were found between the displays and the controllers in terms of situation awareness. This research sheds light on the preferred display type and controlling method for operating robots from a distance, making it easier to cope with the challenges of operating such systems. 相似文献
14.
《Advanced Robotics》2013,27(1):83-99
Reinforcement learning can be an adaptive and flexible control method for autonomous system. It does not need a priori knowledge; behaviors to accomplish given tasks are obtained automatically by repeating trial and error. However, with increasing complexity of the system, the learning costs are increased exponentially. Thus, application to complex systems, like a many redundant d.o.f. robot and multi-agent system, is very difficult. In the previous works in this field, applications were restricted to simple robots and small multi-agent systems, and because of restricted functions of the simple systems that have less redundancy, effectiveness of reinforcement learning is restricted. In our previous works, we had taken these problems into consideration and had proposed new reinforcement learning algorithm, 'Q-learning with dynamic structuring of exploration space based on GA (QDSEGA)'. Effectiveness of QDSEGA for redundant robots has been demonstrated using a 12-legged robot and a 50-link manipulator. However, previous works on QDSEGA were restricted to redundant robots and it was impossible to apply it to multi mobile robots. In this paper, we extend our previous work on QDSEGA by combining a rule-based distributed control and propose a hybrid autonomous control method for multi mobile robots. To demonstrate the effectiveness of the proposed method, simulations of a transportation task by 10 mobile robots are carried out. As a result, effective behaviors have been obtained. 相似文献
15.
L.M. Sweet 《Robotics and Computer》1985,2(2):125-133
Arc welding is one of the most important areas of application for industrial robots. In most manufacturing situations, uncertainties in dimensions of the part, geometry of the joint, and the welding process itself make the use of sensors essential to maintaining weld quality. In this paper three types of control systems for arc welding robots are described: (1) tracking systems for centering the weld puddle over the joint, (2) weld process controls for maintaining proper seam width and penetration, and (3) supervisory controls for sequencing welding operations. These control functions have been implemented successfully in production using a computer vision sensor integrated into the welding torch. Experimental results are presented demonstrating the capabilities of the system. 相似文献
16.
The paper deals with feedback control of wheeled mobile robots. The proposed controller is based on a tracking scheme where the real robot tracks a fictitious reference one with equivalent kinematical properties. A solution to the parking problem is derived from the basic tracking scheme by considering a reference vehicle which converges to the desired configuration. The goal achievement is analysed by the stability of the zero equilibrium point of the tracking state error. Simulation as well as experimental results illustrate these controllers' designs. Robustness with respect to errors in the state estimation is investigated. It is defined by the existence of a compact attractive domain around the zero error. A practical computation of such a domain is a result of this paper. 相似文献
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Jone Hann Jean Li-Chen Fu 《Automatic Control, IEEE Transactions on》1993,38(4):598-603
The problem of adaptive hybrid controller design for constrained roots with the consideration of computational efficiency is addressed. Two efficient control schemes based, respectively, on Lagrange and Newton-Euler dynamics formulation are presented. Detailed analyses on tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a tight connection between them is found, indicating a possible bridge between general adaptive approaches based, respectively, on the two dynamics formulations 相似文献
19.
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and continuous transition between priorities. This, as long as the selected criterion is met, allows arbitrary joint movement of a robot without any regard of the consequential movement of the ZMP. On the other hand, it constrains the movement when the criterion approaches a critical condition. The critical condition thus triggers a reflexive, subconscious behavior, which has a higher priority than the desired, conscious movement. The transition between the two is smooth and reversible. Furthermore, the switching is encapsulated in a single modified prioritized task control equation. We demonstrate the properties of the algorithm on two human-inspired robots developed in our laboratory; a human-inspired leg-robot used for imitating human movement and a skiing robot. 相似文献