bluuebunny/crossref_metadata_2025_split huggingface dataset:
Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions
Authors: Arimoto Suguru 
Published: March 2009

SummaryPart II continues to develop a hyper-stability framework for presenting physical interpretations of dexterous motion controls, such as hybrid position/force, impedance, model-based adaptive, learning control and coordination. In all cases passivity induced by introduction of a quasi-natural potential plays a key role. In view of these considerations, the final section discusses the possibility of development of a nonlinear circuit theory based on feedback connections of hyper-stable blocks, which may give rise to a physical understanding of dexterous and skilled motions for nonlinear mechanical systems and, eventually lead to the design of intelligent functions implementable in robotic machines.
Vibratory assembly of prismatic parts using neural networkbased positioning error estimation
Authors: Kang E. S. , Cho H. S. 
Published: March 2009

SummaryDespite its known effectiveness, a typical vibratory assembly method tends to generate adverse impact forces between mating parts commensurate with the relatively large vibratory motion required for reliably compensating positioning errors of arbitrary magnitude. To this end, this paper presents a neural network-based vibratory assembly method with its emphasis on reducing the mating forces for chamferless prismatic parts. In this method, the interactive force is effectively suppressed by reducing the amplitude of vibratory motion, while the greater part of the relative positioning error is estimated and compensated by a neural network. The estimation performance of the neural network and the overall performance of the assembly method are evaluated experimentally. Experimental results show that the assembly is efficiently accomplished with small reaction forces, and the possible insertion error range is also expanded
Feasibility studies of kinematics problems in the case of a class of redundant manipulators
Authors: Sasaki Shinobu 
Published: March 2009

SummaryLately, there have been numerous applications of computer algebra to special functions used in the various field of science and engineering. In this paper, we consider an efficient algorithm which generates velocity Jacobians for any class of general serial link manipulators in a compact form throughout the effective use of frame transformations. Compared with conventional techniques, a marked improvement of that capability is found in computer algebra applications to one class of a seven-joint manipulator. Together with finding of explicit solutions for joint rates, closed form arm solutions for the desired position of the hand are presented by relating the rotational motion of the elbow to a geometry problem.
State Matrix Representation of Assembly and Robot Planning
Authors: Noorhosseini S. M. , Malowany A. S. 
Published: March 2009

SummaryA new approach to represent assembly called state matrix representation and an algorithm for automatic robot assembly planning based on this representation is proposed. The state matrix representation of assembly is configured by considering the inter-relationships of parts and objects involved in the initial and the goal structures. Thanks to this new representation, the planning lgorithm is straightforward and can be easily and efficiently implemented with simple matrix manipulation. Unlike other planning methods, the actions involved in the assembly process are not defined in advance but are generated at planning time. The syntax of actions are designed so that while directly reflecting the semantics of actions, they can be easily manipulated by the planner. Two examples of how to plan an assembly based on this representation are given in the paper.
Experimental and theoretical evaluation of the buoyancy and gravity driven underwater robots
Authors: Gumusel L. , Baz A. 
Published: March 2009

SummaryThe dynamic model of a new class of underwater robot is derived and the validity of the model is checked experimentally. Close agreements between theory and experiment are attained. The interaction between the buoyancy and gravity forces acting on the robot arm, present in the underwater environment, is used to generate torques necessary to move the arm. The mathematical model of a multi-arm robot is developed to define the interaction between the dynamics of the moving weight and the robot links under the action of the resisting water drag and other external forces. The Lagrangian method is used in the formulation of the arm dynamics. The developed dynamic equations serve as means for designing the control laws necessary for controlling the position of the different joints of the robots. The study indicates that the buoyancy and gravity-driven robot can position a payload accurately as well as at a fairly fast speed of response. It is indicated from the theoretical and experimental study that the arm motion is created by a small displacement of moving weight on the power screw. Therefore, power requirement of this type of robot is just as enough to overcome the friction between the power screw and the moving weight. This features emphasize the potential of the concept as a viable means for driving underwater robots
A numerical approach for time-optimal path-planning of kinematically redundant manipulators
Authors: Wu Chia-Ju 
Published: March 2009

SUMMARYIn this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.
A dexterous anthropomorphic hand for robotic and prosthetic applications
Authors: Mehdian M. , Rahnejat H. 
Published: March 2009

SUMMARYThis paper outlines the analysis methodology employed in the design of an anthropomorphic hand for the purposes of object handling by robotic manipulators, and for prosthetics. The final design is described and the safe handling of various objects using this anthropomorphic hand is discussed.
A mobile robot navigation method using a fuzzy logic approach
Authors: Beaufrere Bertrand , Zeghloul Saïd 
Published: March 2009

SummaryThis paper treats, in a general way, the problem of mobile robot navigation in a totally unknown environment. The different aspects of this problem are dealt with one by one. We begin by introducing a simple method for perceiving and analyzing the robot's local environment based on a limited amount of distance information. Using this analysis as our base, we present a navigation algorithm containing different action modules; some of these actions use Fuzzy Logic. The results presented whether experimental or simulation show that our method is well adapted to this type of problem.
On the sensitivity analysis of the computational kinematics of the robotic manipulators
Authors: Vahidi Siamak , Kazerounian Kazem 
Published: March 2009

SummaryIn the computational kinematics of robotic manipulators, accuracy and sensitivity of the results are highly dependent on the choice of the coordinate system, the metric system, and the appropriateness of performance evaluation measure. In this paper, these undesired sensitivities are examined and suitable performance criteria are developed to eliminate the coordinate system and metric system dependencies, and adverse numerical effects associated with them. Also a new formulation for the Jacobian matrix, joint velocities, and hand velocities, based on the Euler angles, is developed. This formulation, further improves numerical accuracy of the computations. Numerical experiments are included.
Application of the Taguchi method to the design of a robot sensor
Authors: Rowlands H. , Pham D. T. 
Published: March 2009

SummaryThis paper considers the use of the Taguchi method as a means to identify the optimum design of a robot sensor. The sensor is modelled by a complex set of equations which makes optimisation using traditional calculusbased methods difficult. The Taguchi method is employed as a systematic method to understand the performance of the sensor whilst using a limited number of model evaluations. The Taguchi method is based on the experimental design technique and the results of using a full factorial design, 1/2 and 1/4 fractional factorial designs are compared. The advantage of using the Taguchi method over traditional experimental techniques is also discussed.
A min-max problem of optimal actuator placement for lifting
Authors: Beiner L. 
Published: March 2009

SummaryThe paper addresses the following problem: for a three-bar lifting linkage, find the locations of the two ends of the actuated link so as to minimize the maximum value of the force seen by the actuator over a specified range of arm angular positions. A simple analytical solution to this min-max problem is given, showing that the optimal locations are with the actuated link perpendicular either to the fixed link or to the lifting arm, when the arm is in a horizontal position. The method can be used to optimize the actuation of robots, doors, platforms, landing gears, etc., and allows to account for actuator length constraints. It can be extended also to Stewart's platform-type spatial manipulators.
Complete 3D boundary representation from multiple range images: exploiting geometric constraints
Authors: Gupta Kamal , Xu Zukang 
Published: March 2009

SummaryWe describe an approach that generates a complete b-rep description of a polyhedral object from (geometric primitives derived from) dense range images taken from multiple view-points. Our approach, starting from basic face models of visible surfaces of objects in each local view, matches certain geometric features, extracts rigid-body transformations that relate the local views, and incrementally merges the face models (in local views) into a global 3-dimensional b-rep description of the object. A convenient and effective termination criterion is designed to monitor the merging process. The emphasis is on the use of geometric constraints in building a complete 3-dimensional model of the object.We have implemented this system in C, running on a SUN Sparcstation. The system, as presented, has been tested on face models derived from several synthetic and real range images and performs successfully with realistic noise levels.
Chattering-free sliding modes in robotic manipulators control
Authors: Šabanović Asif , Jezernik Karel , Wada Kenzo 
Published: March 2009

SummaryIn this paper sliding mode motion design is considered for nonlinear plants which are linear with respect to control input. The dynamics of the robotic manipulators is treated with and without those of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is performed. If actuators' dynamics is negelected the control is assumed to be continuous quantity. By combining the variable structure systems and Lyapunov designs a new algorithm is developed which has all the good properties of the sliding mode systems while avoiding unnecessary discontinuity of the control thus eliminating chattering. Neither the explicit calculation of the equivalent control, nor high gain inside the boundary layer are used. The parameters of the control depend on the plant's gain matrix, and the gradients of the sliding mode manifold. This control method is then applied to develop a unified control strategy for the motion control systems including the path tracking control, the impedance control and the force control of a robotic manipulator. It is shown that all these tasks can be formulated in the same mathematical form in which selected so-called sliding mode functions must track their references. In this way the systems state is forced to remain on the selected manifold in the state space after reaching it. The solution is interpreted in both the Joint space and the Work space for n -degrees of freedom robotic manipulators.
New approach to control of robotic manipulators interacting with dynamic environment
Authors: Vukobratović Miomir K. , Ekalo Yuri 
Published: March 2009

SummaryThe fundamentals of an approach to solving the control task of robots interaction with a dynamic environment based on the stability of a closed-loop control system are given in this paper. The task is set and solved in its general form. The traditional control concept of compliant robot motion—the hybrid position/force control is discussed. In the paper the proposed control laws ensure simultaneous stabilization of both the desired robot motion and the desired interaction force, as well as their required quality of transient responses. In order to emphasize the fundamental point of this approach in controlling the contact tasks in robotics, the authors have assumed ideal parameters of interacting dynamic systems. The proposed control procedure is demonstrated by one simple example.
Workspaces of a walking machine and their graphical representation. Part I: kinematic workspaces
Authors: Zhang S. J. , Sanger D. J. , Howard D. 
Published: March 2009

SummaryThis paper addresses the kinematic workspaces of a walking machine and their graphical representation. The workspaces for walking machines are denned and the methods for investigating various workspaces are presented; the kinematic workspace constraints are established; the displacement is analysed; an algorithm for investigation of kinematic workspaces is presented; and the position and orientation kinematic workspaces are analysed and graphically represented for an example walking machine design.
Man-adaptive control of teleoperators
Authors: Slutski Leonid , Coiffett Philippe 
Published: March 2009

SummaryTo solve manipulation problems when fast transportation operations are combined with high precision positioning operations, an approach to telerobotic system organization with manipulator variable parameters is presented. It is proposed that the human operator should personally adjust the robot parameters in compliance with the situation requirements. Therefore, an additional channel of parameter control was introduced into the
system. The approach results in the organizing of highly effective on-line systems with sufficiently simple control algorithms.
Sensory integrated fabric ply separation
Authors: Monkman G. J. 
Published: March 2009

SummaryA knowledge of the fabric material and its properties, mechanisms of prehension and an understanding of sensor and manipulator integration are essential for even the most basic of robotic textile handling tasks. This paper considers individually, and as a combination, the aspects of mechanical and electrical hardware, software and logistics necessary in making automated fabric ply separation and positioning possible.
Parallel computation of configuration space
Authors: González J. Solano , Jonest D.I. 
Published: March 2009

SUMMARYMany motion planning methods use Configuration Space to represent a robot manipulator's range of motion and the obstacles which exist in its environment. The Cartesian to Configuration Space mapping is computationally intensive and this paper describes how the execution time can be decreased by using parallel processing. The natural tree structure of the algorithm is exploited to partition the computation into parallel tasks. An implementation programmed in the occam2 parallel computer language running on a network of INMOS transputers is described. The benefits of dynamically scheduling the tasks onto the processors are explained and verified by means of measured execution times on various processor network topologies. It is concluded that excellent speed-up and efficiency can be achieved provided that proper account is taken of the variable task lengths in the computation.
Local torque minimization for redundant manipulators: a correct formulation
Authors: Ma Shugen , Nenchev Dragomir N. 
Published: March 2009

SUMMARYLocal torque minimization for redundant manipulators has been considered by using a redundancy resolution approach. Since its initial formulation, however, proposed solutions have been plagued by performance instabilities. Till now, the reason was not clear. In this paper it is shown that the instability problem occurred because of incorrect formulation. A correct formulation is proposed, which is used to analyze the reason for instability. Special attention is paid to joint acceleration terms at the selfmotion manifold. This helps explaining the recent formulation of a stable scheme based on local joint velocity minimization in terms of torque. The results obtained. are related to dynamic redundancy resolution in general.
Task dependent synthesis of some geometrical parameters of a robot mechanism
Authors: Oblak Maks , Gotlih Karl 
Published: March 2009

SUMMARYThis paper deals with the synthesis of a robot mechanism, which has an open kinematic chain structure. The aim of the synthesis is to find optimal mechanism link lengths and the elevation of the robot mechanism base, with respect to the arbitrary chosen task which is described in a task space.A mathematical model, which describes the problem and enables one to use a nonlinear optimization algorithm, was developed. The usefulness of the approach is demonstrated by the example of the Manutec r3 mechanism with a prescribed task for the robot's end-effector.
Health-care robotics goes commercial: the ‘HelpMate’ experience
Authors: Engelberger Joseph F. 
Published: March 2009

Even as the first industrial robot started earning its keep, researchers were dreaming of using robots in servicejobs, intimately serving human mentors as Isaac Asimovwould have had it. But that was not to be. Initially therewas a paucity of appropriate technology. Then the barriers became economic and institutional.These barriers will be discussed to set the scene. The discussion then will focus on a spectrum of technologythat has been channelled into a cost-effective commercialproduct. HelpMate utilises an array of sensors andsensor fusion to succeed as a courier in multi-storeyedcluttered hospitals. Our advice for all researchers whowould have robots serve in health care is: “Get out intothe real world as soon as you can”.
Adaptive Learning Control for Cooperation of Two Robots Manipulating a Rigid Object with Model Uncertainties
Authors: Sun Dong , Xiaolun Shi Yunhui Liu F 
Published: March 2009

SUMMARYIn this paper, an adaptive learning (A-L) control scheme is proposed for cooperation of two manipulators handling a rigid object with model uncertainties. For robots performing repetitive cooperating tasks, their operations are decomposed into two modes: the single operational mode and the repetitive operational mode on which the A-L controller is based. In the single operational mode, the controller is a learning based adaptive controller in which the robotic parameters are updated by using the information of the previous operation. In the repetitive operational mode, the controller is a model-based iterative learning controller. The advantages of the A-L controller lie in the fact that it can improve the transient performance as robots repeat operations at a high speed of the learning convergence. Simulation results ascertain that the A-L algorithm is effective in controlling two cooperated robots with model uncertainties.
Swing-up control of inverted pendulum systems
Authors: Bradshaw Alan , Shao Jindi 
Published: March 2009

SUMMARYIn Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust.In Part II the technique is extended to the case of the swing-up control of double inverted pendulum systems. Use is made of a novel selective partial-state feedback control law. The nonlinear, open-loop unstable, nonminimum-phase. and interactive MIMO pendulum system is actively linearised and decoupled about a neutrally stable equilibrium by the partial-state feedback control. This technique for swing-up control is not at all sensitive to uncertainties such as modelling error and sensor noise, and is both reliable and robust.
The anatomy of a humanoid robot
Authors: Seward D. W. , Bradshaw A. , Margrave F. 
Published: March 2009

SUMMARYThis paper investigates the feasibility of constructing a humanoid robot using existing technology. Firstly, the adoption of the humanoid form is justified. The structure, strength and power capabilities of a human are analysed in engineering terms, and taken to represent the requirements specification for a humanoid robot. Technological alternatives to the biological components are reviewed and compared to this specification. The feasibility of matching human performance is considered, and it is concluded that the necessary power and energy requirements can be fitted within the mass and volume of the human body.
Technical Note: Advanced teleoperation testbed—A system you can see through
Authors: Hopper David , Boddy Cliff , Reilly Dennis 
Published: March 2009

SUMMARYTo remove humans from hazardous environments “good” teleoperated robotic systems are needed. “Good” is defined here to mean a system which is task centred and which is transparent to the user-in other words, a system you can see through. A teleoperated robotic system which strives towards this goal is described by way of illustration. The fundamentals that have helped to achieve this are: design and build from a task centred viewpoint, careful design of the Human Computer Interface(HCI) and special consideration for the systems integration task.
A bending and expanding motion actuator
Authors: Tominaga Takayuki , Senda Kouji , Ohya Nobuyuki , Idogaki Takaharu , Hattori Tadashi 
Published: March 2009

SUMMARYA bending and expanding motion actuator which iscomposed of multi-layered PZT unimorph cells has beendeveloped. These cells are piled one against another.Each cell's electrode is divided into three sectors and thefacing sectors are connected to one another. Multidirectionalbending is realized by controlling the drivingvoltage of each sector. The actuator is 12 mm indiameter, 20 mm in length and 6.4 g in weight with 40cells. The bending angle was 2.2 degrees, and the expansion displacement was 700 μm with 150 V. The resonant frequency was 95 Hz at 25 V.
Group work of distributed microactuators
Authors: Fujita Hiroyuki , Ataka Manabu , Konishi Satoshi 
Published: March 2009

SUMMARYThis paper proposes and demonstrates a method toobtain macroscopic work out of distributed microactuatorsfabricated by IC-compatible micromachiningprocesses. We have coordinated the simple and smallmotion of microactuators in order to perform a task. Theconcept and a control scheme are discussed first. In orderto show the feasibility, the fabrication and operation ofarrayed microactuators for conveyors are described. One uses thermally driven cantilevers and the other uses controlled air flow from micronozzles to carry flat objects.