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Robot System (robot + system)
Selected AbstractsObservability of Depth Estimation for a Hand-Eye Robot SystemASIAN JOURNAL OF CONTROL, Issue 3 2002Chang-Jia Fang ABSTRACT This paper deals with the depth observability problem of a hand-eye robot system. In contrast to earlier works, this paper presents a complete study of this observability problem. The velocity of the active camera in the hand-eye robot system is considered as the input. The observability of depth estimation is then related to the velocity of the camera. A necessary and sufficient condition for the types of camera velocities necessary to ensure observability is found. This compensates for the results of earlier works, in which the velocity of camera was estimated. The theory is also verified by both simulations and experiments in this paper. Furthermore, a modified LQ visual servo control law is proposed to vary the weighting matrices so that depth estimation is improved while the level of control performance is still retained. [source] Experiments on stabilizing receding horizon control of a direct drive manipulatorELECTRONICS & COMMUNICATIONS IN JAPAN, Issue 5 2008Yasunori Kawai Abstract In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm. © 2008 Wiley Periodicals, Inc. Electron Comm Jpn, 91(5): 33,40, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10113 [source] The Malta cistern mapping project: Underwater robot mapping and localization within ancient tunnel systemsJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2010Cory White This paper documents the development of an underwater robot system enabled with several mapping and localization techniques applied to a particular archaeological expedition. The goal of the expedition was to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. Such cisterns often consisted of several connected chambers, still containing water. A sonar-equipped remotely operated vehicle (ROV) was deployed into these cisterns to obtain both video footage and sonar range measurements. Six different mapping and localization techniques were employed, including (1) sonar image mosaics using stationary sonar scans, (2) sonar image mosaics using stationary sonar scans with Smart Tether position data, (3) simultaneous localization and mapping (SLAM) while the vehicle was in motion, (4) SLAM using stationary sonar scans, (5) localization using previously created maps, and (6) SLAM while the vehicle was in motion with Smart Tether position data. Top-down-view maps of 22 different cisterns were successfully constructed. It is estimated that the cisterns were built as far back as 300 B.C., and few records of their size, shape, and connectivity existed before the expedition. © 2010 Wiley Periodicals, Inc. [source] Long-term study of a portable field robot in urban terrainJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 8-9 2007Carl Lundberg The armed forces have a considerable amount of experience in using robots for bomb removal and mine clearing. Emerging technology also enables the targeting of other applications. To evaluate if real deployment of new technology is justified, tactical advantages gained have to be compared to drawbacks imposed. Evaluation calls for realistic tests which in turn require methods dictating how to deploy the new features. The present study has had two objectives: first, to gain a comprehensive view of a potential user of man-portable robots; second, to embed a robot system with users for assessment of present technology in real deployment. In this project we investigated an army company specialized in urban operations performing their tasks with the support of the iRobot Packbot Scout. The robot was integrated and deployed as an ordinary piece of equipment which required modifying and retraining a number of standard behaviors. The reported results were acquired through a long-term test ranging over a period of six months. This paper focuses on the characteristics of the users and their current ways of operation; how the robot was implemented and deployed. Additionally, this paper describes benefits and drawbacks from the users' perspective. A number of limitations in current robot technology are also identified. The findings show that the military relies on precise and thoroughly trained actions that can be executed with a minimum of ambiguity. To make use of robots, new behavioral schemes, which call for tactical optimization over several years, are needed. The most common application during the trials was reconnaissance inside buildings with uncertain enemy presence when time was not critical. Deploying the robot took more time than completing the task by traditional means, but in return kept the soldiers out of harm's way and enabled them to decrease weapon deployment. The range of the radio link, limited video feedback, and the bulky operator control unit were the features constraining the system's overall performance the most. On the other hand, did properties of the system, such as ruggedness, size, weight, terrain ability, and endurance, prove to match the application. The users were of the opinion that robots such as the Packbot Scout would be a valuable standard feature in urban intervention. © 2007 Wiley Periodicals, Inc. [source] Grasping determination experiments within the UJI robotics telelabJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2005Raul Marín As a result of new technology becoming available it is increasingly possible to develop more natural human-robot interfaces. In particular, interaction channels based on both voice and synthesis recognition, and combined with other sensors, mainly computer vision, are now implemented in current robots. These capabilities enable a more natural face-to-face dialogue in the human-robot interaction. Currently, they are demonstrating their potential in many service robot applications, such as museums, hospitals, and so on. One area where these new forms of interaction have been extensively tested recently is within the educational robotics context. This article addresses a novel user-interface implemented in such a system developed in our lab, namely "The UJI Robotics Telelab", where the word UJI is the acronym for the name of our University. In order to develop this kind of complex system, several years of intensive research have been necessary in both multimedia tutoring systems and robotics. The principal motive for the project was the experimentation and validation of a complete telelaboratory, including an Internet-based robot system, with off-line and on-line control possibilities, and other different facilities (e.g., multimedia tutorial, chat channel, etc.) aimed at teaching undergraduate students in the robotics subject in our university campus. Finally, taking into account experience gained from using this system for regular undergraduate courses in robotics, new facilities have been implemented, and results showing the user performance, usability, and reliability of this novel contribution are discussed, including its advantages and limitations. © 2005 Wiley Periodicals, Inc. [source] Achieving a cooperative behavior in a dual-arm robot system via a modular control structureJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 12 2001Fabrizio Caccavale In this paper the problem of achieving a cooperative behavior in a dual-arm robot system is addressed. A control strategy is conceived in which one robot is position controlled and devoted to task execution, whereas a suitable compliance is conferred to the end effector of the other robot to cope with unavoidable misalignment between the two arms and task planning inaccuracies. A modular control structure is adopted that allows the selection of the proper operating mode for each robot, depending on the task requirements. The proposed approach is experimentally tested in two different tasks involving the two robots in the laboratory setup. First, a parts-mating task of peg-in-hole type is executed; the robot carrying the peg is position controlled, whereas the robot holding the hollow part is controlled to behave as a mechanical impedance. Then, a pressure-forming task is executed, in which a disk-shaped tool is required to align with a flat surface while exerting a desired pressure; in this case, the robot carrying the disk is position controlled, whereas the robot holding the surface is force controlled. © 2001 John Wiley & Sons, Inc. [source] A robot-assisted study of intrinsic muscle regulation on proximal interphalangeal joint stiffness by varying metacarpophalangeal joint positionJOURNAL OF ORTHOPAEDIC RESEARCH, Issue 3 2006Zong-Ming Li Abstract The tightness of intrinsic hand muscles is a common cause of finger joint stiffness. The purposes of this study were to develop a robot-assisted methodology to obtain torque,angle data of a finger joint, and to investigate the regulation of the intrinsic muscles on finger joint stiffness. Our robot system features the integration of a low payload robot arm, a controller, and a force/torque transducer. The system provided highly reproducible torque,angle curves. Torque,angle data of the proximal interphalangeal joint with the metacarpophalangeal joint at 0 and 60 degrees were obtained from eight asymptomatic hands. The torque,angle curve shifted with the position of the metacarpophalangeal joint. As the metacarpophalangeal joint flexion angle changed from 60 to 0 degrees, the equilibrium of the proximal interphalangeal joint increased more than 20 degrees, and joint stiffness increased more than 50%. The dependence of the stiffness of the proximal interphalangeal joint on metacarpophalangeal joint position supports the regulatory role of the intrinsic muscles on finger joint mechanics. This regulatory mechanics is likely amplified in hands with intrinsic muscle tightness, justifying the commonly used Bunnell Intrinsic Tightness Test. © 2005 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 24:407,415, 2006 [source] Joint control for flexible-joint robot with input-estimation approach and LQG methodOPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 2 2008Chien-Yu Ji Abstract In this work, the input-estimation (IE) algorithm and the linear quadratic Gaussian (LQG) controller are adopted to design a control system. The combined method can maintain higher control performance even when the system variation is unknown and under the influence of disturbance input. The IE algorithm is an on-line inverse estimation method involving the Kalman filter (KF) and the least-square method, which can estimate the system input without additional torque sensor, while the LQG control theory has the characteristic of low sensitivity of disturbance. The design and analysis processes of the controller will also be discussed in this paper. The joint control of the flexible-joint robot system is utilized to test and verify the effectiveness of the control performance. According to the simulation results, the IE algorithm is an effective observer for estimating the disturbance torque input, and the LQG controller can effectively cope with the situation that the disturbance exists. Finally, higher control performance of the combined method for joint control of the robotic system can be further verified. Copyright © 2007 John Wiley & Sons, Ltd. [source] Observability of Depth Estimation for a Hand-Eye Robot SystemASIAN JOURNAL OF CONTROL, Issue 3 2002Chang-Jia Fang ABSTRACT This paper deals with the depth observability problem of a hand-eye robot system. In contrast to earlier works, this paper presents a complete study of this observability problem. The velocity of the active camera in the hand-eye robot system is considered as the input. The observability of depth estimation is then related to the velocity of the camera. A necessary and sufficient condition for the types of camera velocities necessary to ensure observability is found. This compensates for the results of earlier works, in which the velocity of camera was estimated. The theory is also verified by both simulations and experiments in this paper. Furthermore, a modified LQ visual servo control law is proposed to vary the weighting matrices so that depth estimation is improved while the level of control performance is still retained. [source] Adaptive tracking control for electrically-driven robots without overparametrizationINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 2 2002Yeong-Chan Chang Abstract This paper addresses the motion tracking control of robot systems actuated by brushed direct current motors in the presence of parametric uncertainties and external disturbances. By using the integrator backstepping technique, two kinds of adaptive control schemes are developed: one requires the measurements of link position, link velocity and armature current for feedback and the other requires only the measurements of link position and armature current for feedback. The developed adaptive controllers guarantee that the resulting closed-loop system is locally stable, all the states and signals are bounded, and the tracking error can be made as small as possible. The attraction region can be not only arbitrarily preassigned but also explicitly constructed. The main novelty of the developed adaptive control laws is that the number of parameter estimates is exactly equal to the number of unknown parameters throughout the entire electromechanical system. Consequently, the phenomenon of overparametrization, a significant drawback of employing the integrator backstepping technique to treat the control of electrically driven robots in the previous literature, is eliminated in this study. Finally, simulation examples are given to illustrate the tracking performance of electrically driven robot manipulators with the developed adaptive control schemes. Copyright © 2002 John Wiley & Sons, Ltd. [source] An affordable modular mobile robotic platform with fuzzy logic control and evolutionary artificial neural networksJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 8 2004Maurice Tedder Autonomous robotics projects encompass the rich nature of integrated systems that includes mechanical, electrical, and computational software components. The availability of smaller and cheaper hardware components has helped make possible a new dimension in operational autonomy. This paper describes a mobile robotic platform consisting of several integrated modules including a laptop computer that serves as the main control module, microcontroller-based motion control module, a vision processing module, a sensor interface module, and a navigation module. The laptop computer module contains the main software development environment with a user interface to access and control all other modules. Programming language independence is achieved by using standard input/output computer interfaces including RS-232 serial port, USB, networking, audio input and output, and parallel port devices. However, with the same hardware technology available to all, the distinguishing factor in most cases for intelligent systems becomes the software design. The software for autonomous robots must intelligently control the hardware so that it functions in unstructured, dynamic, and uncertain environments while maintaining an autonomous adaptability. This paper describes how we introduced fuzzy logic control to one robot platform in order to solve the 2003 Intelligent Ground Vehicle Competition (IGVC) Autonomous Challenge problem. This paper also describes the introduction of hybrid software design that utilizes Fuzzy Evolutionary Artificial Neural Network techniques. In this design, rather than using a control program that is directly coded, the robot's artificial neural net is first trained with a training data set using evolutionary optimization techniques to adjust weight values between neurons. The trained neural network with a weight average defuzzification method was able to make correct decisions to unseen vision patterns for the IGVC Autonomous Challenge. A comparison of the Lawrence Technological University robot designs and the design of the other competing schools shows that our platforms were the most affordable robot systems to use as tools for computer science and engineering education. © 2004 Wiley Periodicals, Inc. [source] | ||||||||||