Dissertations / Theses on the topic 'Robot control'
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Majors, Michael David. "Iterative robot control." Thesis, University of Cambridge, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.625008.
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Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.
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Celikkanat, Hande. "Control Of A Mobile Robot Swarm Via Informed Robots." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609966/index.pdf.
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In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction in some of the robots. These informed robots do not signal that they are informed (a.k.a. unacknowledged leadership) and instead guide the swarm by their tendency to move in the desired direction. Through experimental results with physical and simulated robots we show that the self-organized flocking of a robot swarm can be effectively guided by an informed minority of the flock. We evaluate the system using a number of quantitative metrics: First, we propose to use the mutual information metric from Information Theory as a dynamical measure of the information exchange. Then, we discuss the accuracy metric from directional statistics and size of the largest cluster as the measures of system performance. Using these metrics, we perform analyses from two points of views: In the transient analyses, we demonstrate the information exchange between the robots as the time advances, and the increase in the accuracy of the flock when the conditions are suitable for an adequate amount of information exchange. In the steady state analyses, we investigate the interdependent effects of the size of the flock in terms of the robots in it, the ratio of informed robots in the flock over the total flock size, the weight of the direction preference behavior, and the noise in the system.
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Dentler, Donald Richard II. "Design, Control, and Implementation of a Three Link Articulated Robot Arm." University of Akron / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=akron1217208877.
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Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.
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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.Committee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.
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Wang, Zongyao. "Distributed robot flocking control." Thesis, University of Essex, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.499765.
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Jou, Yung-Tsan. "Human-Robot Interactive Control." Ohio University / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1082060744.
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Macdonald, Edward A. "Multi-robot assignment and formation control." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41200.
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Our research focuses on one of the more fundamental issues in multi-agent, mobile
robotics: the formation control problem. The idea is to create controllers that cause
robots to move into a predefined formation shape. This is a well studied problem for
the scenario in which the robots know in advance to which point in the formation they
are assigned. In our case, we assume this information is not given in advance, but must
be determined dynamically. This thesis presents an algorithm that can be used by
a network of mobile robots to simultaneously determine efficient robot assignments
and formation pose for rotationally and translationally invariant formations. This
allows simultaneous role assignment and formation sysnthesis without the need for
additional control laws.
The thesis begins by introducing some general concepts regarding multi-agent
robotics. Next, previous work and background information specific to the formation
control and assignment problems are reviewed. Then the proposed assignment al-
gorithm for role assignment and formation control is introduced and its theoretical
properties are examined. This is followed by a discussion of simulation results. Lastly,
experimental results are presented based on the implementation of the assignment al-
gorithm on actual robots.
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Sequeira, Gerard. "Vision based leader-follower formation control for mobile robots." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Sequeira_09007dcc804429d4.pdf.
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Thesis (M.S.)--University of Missouri--Rolla, 2007.Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 13, 2008) Includes bibliographical references (p. 39-41).
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Gaskett, Chris, and cgaskett@it jcu edu au. "Q-Learning for Robot Control." The Australian National University. Research School of Information Sciences and Engineering, 2002. http://thesis.anu.edu.au./public/adt-ANU20041108.192425.
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Q-Learning is a method for solving reinforcement learning problems. Reinforcement learning problems require improvement of behaviour based on received rewards. Q-Learning has the potential to reduce robot programming effort and increase the range of robot abilities. However, most currentQ-learning systems are not suitable for robotics problems: they treat continuous variables, for example speeds or positions, as discretised values. Discretisation does not allow smooth control and does not fully exploit sensed information. A practical algorithm must also cope with real-time constraints, sensing and actuation delays, and incorrect sensor data.
This research describes an algorithm that deals with continuous state and action variables without discretising. The algorithm is evaluated with vision-based mobile robot and active head gaze control tasks. As well as learning the basic control tasks, the algorithm learns to compensate for delays in sensing and actuation by predicting the behaviour of its environment. Although the learned dynamic model is implicit in the controller, it is possible to extract some aspects of the model. The extracted models are compared to theoretically derived models of environment behaviour.
The difficulty of working with robots motivates development of methods that reduce experimentation time. This research exploits Q-learnings ability to learn by passively observing the robots actionsrather than necessarily controlling the robot. This is a valuable tool for shortening the duration of learning experiments.
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Rahim, Nabil A. "Adaptive control of robot manipulators." Thesis, University of Leeds, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329126.
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Wahab, W. "Adaptive control of robot manipulator." Thesis, University of Manchester, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372317.
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Ho, Pi-Luen. "Parallel processing of robot control." Thesis, University of Reading, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.293162.
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Mustafa, F. "Robot manipulation and trajectory control." Thesis, University of Sussex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.375136.
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Li, Weiping. "Adaptive control of robot motion." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/14135.
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Uba, B. V. "Smart robot control information technology." Master's thesis, Sumy State University, 2021. https://essuir.sumdu.edu.ua/handle/123456789/86925.
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Тhe analysis of literature, methods and tools for development of a mapping system prototype using the Arduino board has been carried out. After getting acquainted with the existing solutions I developed a smart robot. The mapping system prototype use the Pygame for building an area map and the Telegram-bot for show the map.
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Paulsson, Johan. "Wireless Control of Industrial Robot." Thesis, Uppsala universitet, Solcellsteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-415059.
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The purpose of this project was to investigate if it is possible to have local wireless control of an industrial robot. This was achieved by first doing a diversity of research. Based on the research, the project was conceptualized and a real-life product was developed showcasing the functionality. The standard robot set up as of today consists of three main parts: A robot, a control unit and a handheld controller device, called Teach Pendant. All of these parts are connected with long aggravating cables. The cables cause inconvenience and can in some cases introduce unnecessary risks in the factory. Can this hardware be removed, and an overall more convenient use case be developed? The product was developed by programming an application on a Windows tablet. Further, a Bluetooth Low Energy server was created to handle the communication between the tablet and the robot control unit. The final product consisted of a tablet, a single-board computer, a robot and a control unit. The tablet is what replaces the Teach Pendant as a handheld device. The tablet is connected to the singleboard computer via Bluetooth. The single-board computer acts as a Bluetooth server and sends out advertisements for the tablet to detect. When the tablet detects a nearby robot it can then connect to it and send start and stop commands. The server then forwards it to the control unit which finally sends the data to the robot control unit to execute. The project shows that it is possible to develop wireless robot control. It showcases a potential solution on how one could set it up. However, the final product developed had a simple functionality compared to the wired Teach Pendant. To manage the same capacity as the wired Teach Pendent, further development is required.
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Warshaw, Gabriel D. (Gabriel David) Carleton University Dissertation Engineering Systems and Computer. "Sampled-data robot adaptive control." Ottawa, 1994.
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Gaskett, Chris. "Q-Learning for robot control." View thesis entry in Australian Digital Theses Program, 2002. http://eprints.jcu.edu.au/623/1/gaskettthesis.pdf.
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Q-Learning is a method for solving reinforcement learning problems. Reinforcement learning problems require improvement of behaviour based on received rewards. Q-Learning has the potential to reduce robot programming effort and increase the range of robot abilities. However, most currentQ-learning systems are not suitable for robotics problems: they treat continuous variables, for example speeds or positions, as discretised values. Discretisation does not allow smooth control and does not fully exploit sensed information. A practical algorithm must also cope with real-time constraints, sensing and actuation delays, and incorrect sensor data. This research describes an algorithm that deals with continuous state and action variables without discretising. The algorithm is evaluated with vision-based mobile robot and active head gaze control tasks. As well as learning the basic control tasks, the algorithm learns to compensate for delays in sensing and actuation by predicting the behaviour of its environment. Although the learned dynamic model is implicit in the controller, it is possible to extract some aspects of the model. The extracted models are compared to theoretically derived models of environment behaviour. The difficulty of working with robots motivates development of methods that reduce experimentation time. This research exploits Q-learning’s ability to learn by passively observing the robot’s actions—rather than necessarily controlling the robot. This is a valuable tool for shortening the duration of learning experiments.
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Steven, Andrew. "Hybrid force and position control in robotic surface processing." Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.
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This programme of research was supported by NEI Parsons Ltd. who sought a robotic means of polishing mechanical components. A study of the problems associated with robot controlled surface processing is presented. From this evolved an approach consistent with the formalisation of the demands of workpiece manipulation which included the adoption of the Hybrid robot control scheme capable of simultaneous force and position control. A unique 3 axis planar experimental manipulator was designed which utilized combined parallel and serial drives. A force sensing wrist was used to measure contact force. A variant of the Hybrid control 'scheme was successfully implemented on a twin computer control system. A number of manipulator control programs are presented. The force control aspect is shown both experimentally and analytically to present control problems and the research has concentrated on this aspect. A general analysis of the dynamics of force control is given which shows force response to be dependent on a number' of important parameters including force sensor, environment and manipulator dynamics. The need for a robust or adaptable force controller is discussed. A series of force controlled manipulator experiments is described and the results discussed in the context of general analyses and specific single degree of freedom simulations. Improvements to manipulator force control are suggested and some were implemented. These are discussed together with their immediate application to the improvement of robot controlled surface processing. This work also lays important foundations for long term related research. In particular the new techniques for actively controlled assembly and force control under 'fast' operation.
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Igelmo, Victor. "Using a general robot programming system to control an industrial robot." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.
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Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operating System (ROS), Yet Another Robot Language (YARP), etc. These systems require more time to fully set up, but once they are set up supposedly they can be used for a lot of different applications and can be used on several industrial robots from different manufacturers. Currently, University of Skövde have robots from Universal Robots (UR) with several peripheral equipment which has limited control because the built-in language does not support it. Therefore, they need help with both investigating which robot system could be used and implementing that robot system. This thesis will prove the suitability of using ROS to control aforesaid hardware, fulfilling all the requirements. It will be also demonstrated the feasibility of ROS in the long-term, according to the future plans for this equipment in University of Skövde.
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Damweber, Michael Frank. "Model independent offset tracking with virtual feature points." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17651.
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Garratt, Matthew A. "Biologically inspired vision and control for an autonomous flying vehicle /." View thesis entry in Australian Digital Theses Program, 2007. http://thesis.anu.edu.au/public/adt-ANU20090116.154822/index.html.
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Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.
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The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition
methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks.
Most of the algorithms require force/torque sensory information that is supplied by a JR³ wrist force sensor. The force control algorithms use that data and system compliance in order to produce new position instructions that are transferred to the controller of the arm. The logic of the control law and system behaviour when contacting the environment, were checked, using the dynamics and compliance of a simplified structure of a robotic arm and its wrist sensor.
A demonstration of the pump assembly task, using the arm, force sensor, controller and the derived library algorithms is an integral part of the thesis.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Tarbouriech, Sonny. "Dual-Arm control strategy in industrial environments." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS111.
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Le besoin grandissant de flexibilité en milieu industriel conduit à reconsidérer la manière dont les robots sont utilisés dans de tels environnements. Il s'ensuit que la relation entre l'homme et les machines doit évoluer au profit d'une plus grande proximité, en leur permettant de partager un espace de travail commun et d'interagir physiquement.Dans cette optique, cette thèse a pour objectif de contribuer au contrôle de robots bi-bras à des fins collaboratives dans un contexte industriel. Pour ce faire, nous proposons une approche de contrôle cinématique réactif basée sur une loi de contrôle en admittance. Celle-ci permet une manipulation d'objets sécuritaire en collaboration physique avec des opérateurs humains. Le contrôleur résout un problème d’optimisation quadratique (QP) afin de trouver le déplacement articulaire permettant de satisfaire la commande spécifiée dans l'espace de la tâche, ceci tout en respectant un ensemble de contraintes (e.g. limites articulaires, évitement de collision).La résolution cinématique peut être adaptée afin de générer des solutions parcimonieuses au niveau des vitesses articulaires, ce qui signifie qu'un nombre minimal d'actionneurs est activé pour assurer la réalisation de la tâche. Cela induit un comportement potentiellement plus sûr dans un environnement évolutif partagé avec des individus.Les plateformes bi-bras comprennent parfois des extensions (par exemple, une base mobile, un torse articulé, etc.). Dans cette thèse, nous présentons une méthode hiérarchique originale pour le contrôle de systèmes multi-robots.Une implémentation open source du travail, acrfull {rkcl}, a été développée. Cette librairie rassemble tous les composants décrits dans cette thèse et peut être facilement configuré pour inclure de nouveaux robots. Tout au long des développements, des validations expérimentales ont été effectuées sur le cobot mobile à deux bras BAZARThe growing need for flexibility in industrial settings leads to reconsidering the way robotic systems are exploited in such environments. It follows that the relationship between humans and machines has to evolve in favor of more proximity, by letting them share the same workspace and physically interact together.With this in mind, this thesis aims at contributing beyond the state of art in the control of dual-arm robots for collaborative purposes in an industrial context. We propose a generic online kinematic control approach based on an admittance control law which enables safe manipulation of objects in physical collaboration with humans. The controller solves a acrfull{qp} optimization problem to find the joint space motion that satisfies the task space command while respecting a set of constraints (e.g. joint limits, collision avoidance).The kinematic solver can be tuned to generate parsimonious solutions at the joint velocity level, meaning that as few actuators as possible are activated to achieve the tasks. This induces potentially safer behavior in an unstructured environment shared with humans.Dual-arm platforms are sometimes extended to include additional robots (e.g., mobile base, articulated torso, ...). In this thesis, we also present an original hierarchical method for the control of multi-robot systems.An open-source implementation of the work, acrfull{rkcl}, is available. It implements all the components described in this thesis and can be easily configured to work with new robots. Throughout the developments, experimental validations have been performed on the dual-arm mobile cobot BAZAR
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Racioppo, Peter Charles. "Design and Control of a Cable-Driven Articulated Modular Snake Robot." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/91983.
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This thesis presents the design and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of the snake is a four-link, single degree of freedom module that bends using an antagonistic cable-routing scheme. Elastic elements in series with the cables and the coupled nature of the mechanism allow each module to detect and automatically respond to obstacles. The mechanical and electrical designs of the bending module are presented, with emphasis on the cable-routing scheme, key optimizations, and the use of series elastic actuation. An approximate expression for the propulsive force generated by a snake as a function of its articulation (i.e. the number of links it contains divided by its body length) is derived and a closed-form approximation for the optimal phase offset between joints to maximize the speed of a snake is obtained by simplifying a previous result. A simplified model of serpentine locomotion that considers the forces acting on a single link as it traverses a sinusoid is presented and compared to a detailed multibody dynamic model. Control strategies for snake robots with coupled joints are developed, along with a feedback linearization of the joint dynamics. Experimental studies of force control, locomotion, and adaptation to obstacles using a fully integrated prototype are presented and compared with simulated results.MS
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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.
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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielleSteerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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Giftsun, Nirmal. "Handling uncertainty and variability in robot control." Thesis, Toulouse, INSA, 2017. http://www.theses.fr/2017ISAT0028/document.
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Parmi les nombreuses recherches en matière de planification et de contrôle des mouvements pour des applications robotiques, l'humanité n'a jamais atteint un point où les robots seraient parfaitement fonctionnels et autonomes dans des environnements dynamiques. Bien qu'il soit controversé de discuter de la nécessité de ces robots, il est très important d'aborder les problèmes qui nous empêchent de réaliser un tel niveau d'autonomie. Ce travail de recherche tente de résoudre ces problèmes qui séparent ces deux modes de fonctionnement avec un accent particulier sur les incertitudes. Les impossibilités pratiques de capacités de détection précises entraînent une variété d'incertitudes dans les scénarios où le robot est mobile ou l'environnement est dynamique. Ce travail se concentre sur le développement de stratégies intelligentes pour améliorer la capacité de gérer les incertitudes de manière robuste dans les robots humanoïdes et industriels. Premièrement, nous nous concentrerons sur un cadre dynamique d'évitement d'obstacles proposé pour les robots industriels équipés de capteurs de peau pour la réactivité. La planification des chemins et le contrôle des mouvements sont généralement formalisés en tant que problèmes distincts de la robotique, bien qu'ils traitent fondamentalement du même problème. Les espaces de configuration à grande dimension, l'environnement changeant et les incertitudes ne permettent pas la planification en temps réel de mouvement exécutable. L'incapacité fondamentale d'unifier ces deux problèmes nous a amené à gérer la trajectoire planifiée en présence de perturbations et d'obstacles imprévus à l'aide de différents mécanismes d'exécution et de déformation de trajectoire. Le cadre proposé utilise «Stack of Tasks», un contrôleur hiérarchique utilisant des informations de proximité, grâce à un planificateur de chemin réactif utilisant un nuage de points pour éviter les obstacles. Les expériences sont effectuées avec les robots PR2 et UR5 pour vérifier la validité du procédé à la fois en simulation et in-situ. Deuxièmement, nous nous concentrons sur une stratégie pour modéliser les incertitudes des paramètres inertiels d'un robot humanoïde dans des scénarios de tâches d'équilibre. Le contrôle basé modèles est devenu de plus en plus populaire dans la communauté des robots à jambes au cours des dix dernières années. L'idée clé est d'exploiter un modèle du système pour calculer les commandes précises du moteur qui entraînent le mouvement désiré. Cela permet d'améliorer la qualité du suivi du mouvement, tout en utilisant des gains de rétroaction plus faibles, ce qui conduit à une conformité plus élevée. Cependant, le principal défaut de cette approche est généralement le manque de robustesse aux erreurs de modélisation. Dans ce manuscrit, nous nous concentrons sur la robustesse du contrôle de la dynamique inverse à des paramètres inertiels erronés. Nous supposons que ces paramètres sont connus, mais seulement avec une certaine précision. Nous proposons ensuite un contrôleur basé optimisation, rapide d'exécution, qui assure l'équilibre du robot malgré ces incertitudes. Nous avons utilisé ce contrôleur en simulation pour effectuer différentes tâches d'atteinte avec le robot humanoïde HRP-2, en présence de diverses erreurs de modélisation. Les comparaisons avec un contrôleur de dynamique inverse classique à travers des centaines de simulations montrent la supériorité du contrôleur proposé pour assurer l'équilibre du robotAmidst a lot of research in motion planning and control in concern with robotic applications, the mankind has never reached a point yet, where the robots are perfectly functional and autonomous in dynamic settings. Though it is controversial to discuss about the necessity of such robots, it is very important to address the issues that stop us from achieving such a level of autonomy. Industrial robots have evolved to be very reliable and highly productive with more than 1.5 million operational robots in a variety of industries. These robots work in static settings and they literally do what they are programmed for specific usecases, though the robots are flexible enough to be programmed for a variety of tasks. This research work makes an attempt to address these issues that separate both these settings in a profound way with special focus on uncertainties. Practical impossibilities of precise sensing abilities lead to a variety of uncertainties in scenarios where the robot is mobile or the environment is dynamic. This work focuses on developing smart strategies to improve the ability to handle uncertainties robustly in humanoid and industrial robots. First, we focus on a dynamical obstacle avoidance framework proposed for industrial robots equipped with skin sensors for reactivity. Path planning and motion control are usually formalized as separate problems in robotics. High dimensional configuration spaces, changing environment and uncertainties do not allow to plan real-time motion ahead of time requiring a controller to execute the planned trajectory. The fundamental inability to unify both these problems has led to handle the planned trajectory amidst perturbations and unforeseen obstacles using various trajectory execution and deformation mechanisms. The proposed framework uses ’Stack of Tasks’, a hierarchical controller using proximity information to avoid obstacles. Experiments are performed on a UR5 robot to check the validity of the framework and its potential use for collaborative robot applications. Second, we focus on a strategy to model inertial parameters uncertainties in a balance controller for legged robots. Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improve the quality of the motion tracking, while using lower feedback gains, leading so to higher compliance. However, the main flaw of this approach is typically its lack of robustness to modeling errors. In this paper we focus on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot. We assume these parameters to be known, but only with a certain accuracy. We then propose a computationally-efficient optimization-based controller that ensures the balance of the robot despite these uncertainties. We used the proposed controller in simulation to perform different reaching tasks with the HRP-2 humanoid robot, in the presence of various modeling errors. Comparisons against a standard inverse-dynamics controller through hundreds of simulations show the superiority of the proposed controller in ensuring the robot balance
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Zhu, Minglei. "Control-based design of Robots." Thesis, Ecole centrale de Nantes, 2020. http://www.theses.fr/2020ECDN0043.
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Il est bien connu que les robots parallèles ont de nombreuses applications dans l ’industrie. Cependant, en raison de leur structure complexe, leur contrôle peut être difficile. Lorsqu'une précision élevée est nécessaire , un modèle complet du robot détaillé est nécessaire . Les approches de contrôle référencées capteurs se sont avérées plus efficaces , en termes de précision que les contrôleurs basés modèles puisqu'elles s’affranchissent des modèles de robots complexes et des erreurs de modélisation associées. Néanmoins, lors de l'application de d’un asservissement visuel , il y a toujours des problèmes dans le processus de contrôle , tels que les singularités du contrôleur . Cette thèse propose une méthodologie de conception orientée commande qui prend en compte les performances de précision du contrôleur dans le processus de conception du robot pour obtenir les paramètres géométriques optimaux de ce dernier Trois contrôleurs ont été sélectionnés dans le processus de conception du robot : les commandes basées sur l’observation des directions des jambes, les commandes basées sur l’observation des lignes et les commandes basées sur des moments dans l'image .Pour vérifier les performances en terme de précision des robots optimisés, nous avons effectué des co-simulations des robots optimisés avec les contrôleurs correspondants . En terme d’expérimentation, deux prototypes de robots DELTA ont été conçus et expérimentés afin de valider la précision du contrôleurIt is well -known that parallel robots have a lot of applications in industry for their high stiffness , high payload , can reach higher acceleration and speed . However , because of their complex structure , their control may be troublesome. When high accuracy is needed, the detailed robot model is necessary . However , even detailed models still suffer from the problem of inaccuracy in reality because of robot assembly and manufacturing errors . Sensor - based control approaches have been proven to be more efficient than model-based controllers in terms of accuracy since they overcome the complex robot models and inconsistency errors. Nevertheless, when applying the visual servoing, there are always some problems in the control process , such as the controller singularities . Thus , this thesis proposes proposes a control based design metodology which takes into account the accuracy performance of the controller in the design process to get the geometric parameters of the robot. This thesis applied the control-based design methodology to the optimal design of three types of parallel robots: Five-bar mechanisms , DELTA robots , Gough -Stewart platforms . Three types of controllers are selected in the design process : leg -direction -based visual servoing, line-baesd visual servoing and image moment visual servoing . Design optimization problems are formulated to find the geometric parameters of the robot . Co-simulations are performed to check the accuracy performance of the robots obtained from the optimization. Experiments are performed with two DELTA robot prototypes in order to validate the controller accuracy
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Ahmed, Muhammad Rehan. "Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction." Doctoral thesis, Örebro universitet, Akademin för naturvetenskap och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-13986.
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Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition. Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, this property can be achieved by using active, passive and semi active compliant actuation devices. Traditional methods of active and passive compliance lead to complex control systems and complex mechanical design. In this thesis we present compliant robot manipulator system with semi active compliant device having magneto rheological fluid based actuation mechanism. Human like adaptable compliance is achieved by controlling the properties of the magneto rheological fluid inside joint actuator. This method offers high operational accuracy, intrinsic safety and high absorption to impacts. Safety is assured by mechanism design rather than by conventional approach based on advance control. Control schemes for implementing adaptable compliance are implemented in parallel with the robot motion control that brings much simple interaction control strategy compared to other methods. Here we address two main issues: human robot collision safety and robot motion performance.We present existing human robot collision safety standards and evaluate the proposed actuation mechanism on the basis of static and dynamic collision tests. Static collision safety analysis is based on Yamada’s safety criterion and the adaptable compliance control scheme keeps the robot in the safe region of operation. For the dynamic collision safety analysis, Yamada’s impact force criterion and head injury criterion are employed. Experimental results validate the effectiveness of our solution. In addition, the results with head injury criterion showed the need to investigate human bio-mechanics in more details in order to acquire adequate knowledge for estimating the injury severity index for robots interacting with humans. We analyzed the robot motion performance in several physical human robot interaction tasks. Three interaction scenarios are studied to simulate human robot physical contact in direct and inadvertent contact situations. Respective control disciplines for the joint actuators are designed and implemented with much simplified adaptable compliance control scheme. The series of experimental tests in direct and inadvertent contact situations validate our solution of implementing human like adaptable compliance during robot motion and prove the safe interaction with humans in anthropic domains.
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KARLSSON, AKMAL, and TARA MOHAMMED-AMIN. "Holonomic Spherical Mobile Robot : Omnidirectional spherical body robot using wireless control." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279805.
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The purpose of this project was to construct a holonomic mobile robot driven with omni wheels. That would enable movement in all degrees of freedom. The finished product was a robot platform within a spherical shell body controlled by input commands defining speed and direction from a wireless communication medium. The platform was iteratively designed and constructed with parts made out of laser cut acrylic plastic. By using omni wheels powered by Direct Current (DC) motors, which will be described further, the holonomic drive could be realized as the wheel hubs were placed on the platform with calculated angles.Syftet med detta projekt var att konstruera en holonomisk robot, vilket kan uppfyllas med hjälp av omnihjul som kan drivas i samtliga riktningar i planet. Den färdiga produkten blev en robot som placerats i en sfärisk kropp som tar in hastighet- och riktningssignaler från en trådlös kommunikationsmodul. Plattformen, som iterativt designades, laserskärdes ur akrylplast. På den placerades omni-hjul drivna av DC-motorer, vilka möjliggjorde den holonomiska rörelsen
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Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.
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Winter, Pieter Arnoldus. "Position control of a mobile robot /." Link to the online version, 2005. http://hdl.handle.net/10019/1317.
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Duchstein, Patrik. "Bluetooth Khepera robot control and communication." Thesis, University of Skövde, School of Humanities and Informatics, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-900.
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This thesis aims to provide a solution for wireless control of, and communication with and among Khepera robots, making use of the Bluetooth wireless technology, to allow wireless control of multiple robots in real time. It is based on the foregoing work of other students who constructed a module for wireless control of Khepera robots over Bluetooth, but they were not able to control more than one physical robot at a time. Khepera robots, as well as many wireless solutions to control those, are closely investigated, and an introduction to Bluetooth is given. An implementation of a Bluetooth protocol stack, which was carried out in the context of this dissertation, and constitutes one of the main parts of this project, is described in detail. The performance of the work discussed throughout this dissertation is evaluated w.r.t. transmission times of data over the wireless link, and afterwards compared to other solutions for real-time control of Khepera robots, e.g. a solution to control a Khepera robot over a wireless radio link. Furthermore, previously simulated experiments with autonomous agents are carried out on physical robots, to test the quality of the wireless solution. It is shown that the solution presented here operates much more efficient than any other existing solution, thus provides a very useful aid for the research community that is experimenting with physical robots in general, and real Khepera robots in particular, in order to simplify research, and allows for a broader spectrum of experiments.
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Mosesson, Maria, and Pär Aronssson. "Robot-Assisterad Gradningscell med Force Control." Thesis, KTH, Tillämpad maskinteknik (KTH Södertälje), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-93962.
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Hernández, González Francisco. "Planar Robot Arm Modelling and Control." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14883.
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The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface. Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera. Afterwards the control is generalized for sloping grounds. This chapter will seek situations closer to reality, the purpose is to design something with practical interests, like model a Segway.
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Kappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.
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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans les humains, elle décroit énormément pour les robots: ils sont limités à des environnements statiques, mais le monde réel est très changeant. Dans cette thèse, nous proposons une approche différente qui considère le contrôle du contact pendant les interaction physiques entre un robot et l'environnement.Néanmoins, les approches actuelles pour l'interaction physique sont pauvres par rapport au numéro de tâches qu'elles peuvent exécuter. Pour permettre aux robots d'exécuter plus de tâches, nous dérivons des caractéristiques tactiles représentant les déformations de la surface molle d'un capteur tactile et nous incorporons ces caractéristiques dans le contrôleur d'un robot à travers des matrices de mapping tactile basées sur les informations tactiles et sur les tâches à développer.Dans notre première contribution, nous montrons comment les algorithmes de traitement d'images peuvent être utilisés pour découvrir la structure tridimensionnelle subjacente du repère de contact entre un objet et une matrice de capteurs de pression avec une surface molle attachée à l’effecteur d'un bras robotique qui interagit avec cet objet. Ces algorithmes obtiennent comme sorties les soi-disant caractéristiques tactiles. Dans notre deuxième contribution, nous avons conçu un contrôleur qui combine ces caractéristiques tactiles avec un contrôleur position-couple du bras robotique.Il permet à l'effecteur du bras déplacer le repère du contact d'une manière désirée à travers la régulation d'une erreur dans ces caractéristiques. Finalement, dans notre dernière contribution,avec l'addition d'une couche de description des tâches, nous avons étendu ce contrôleur pour adresser quatre problèmes communs dans la robotique: exploration, manipulation, reconnaissance et co-manipulation d'objets.Tout au long de cette thèse, nous avons mis l'accent sur le développement d'algorithmes qui marchent pas simplement avec des robots simulés mais aussi avec de robots réels. De cette manière, toutes ces contributions ont été évaluées avec des expériences faites avec au moins un robot réel. En général, ce travail a comme objectif de fournir à la communauté robotique un cadre unifié qui permet aux bras robotique d'être plus dextres et autonomes. Des travaux préliminaires ont été proposés pour étendre ce cadre au développement de tâches qui impliquent un contrôle multi-contact avec des mains robotiques multi-doigtsRobots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm’s end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands
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Kabganian, Mansour. "Switching adaptive control of robot manipulators." Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/10557.
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A switching adaptive-PD controller for the trajectory tracking problem of robotic manipulators subjected to large and abrupt changes of the system parameters is developed. The manipulator arm and the payload are considered, in the most general form, to have a highly nonlinear dynamical model with unknown or partially known parameters. A switching controller is proposed to give the system the ability to deal with abrupt and large changes of parameters. The proposed control system is comprised of two different schemes called, in this thesis, the low-level and the high-level controllers. The high-level controller is an adaptive version of the computed torque control scheme and the low-level controller is a simple PD regulator with an on-line parameter estimator. The system switches from the adaptive to the PD controller for a limited period when abrupt and large changes in parameters are observed. An on-line parameter estimator identifies the new parameters of the manipulator during the course of low-level regulation. This identification eases smooth switching from PD to adaptive control in the next stage of the process. A least-squares parameter estimator modified by a type of moving window, also known as exponential bounded gain forgetting, is used for this purpose. The robot dynamic response is filtered to make the estimator independent of joint acceleration measurements For designing the adaptive part of the system, the Lyapunov stability criterion is utilized. Typically, the choice of the Lyapunov function to be used in the stable design of highly nonlinear systems is not easy and requires insight into the problem. A new methodology based on the direct exploitation of the generalized Krasovskii theorem is presented. This straightforward utilization of the theorem provides an easy means for the choice of the Lyapunov function for robot manipulators. A parameter-adaptive controller with a new adaptation law is developed based on a new Lyapunov function. The derived adaptive scheme is adopted for a computed torque control system. The boundedness of the vectors of the system states and parameter errors are proven. This guarantees the global stability of the high-level controller and the convergence of its tracking error. A priori knowledge of the system is used to avoid estimating all the parameters and to accelerate the performance of the control system. The stability and robustness of the switching mechanism are studied by using the Lyapunov method. In the case of the switch from adaptive to PD mode, the robustness is justified intuitively and theoretically. The more critical part of the switching mechanism is that of switching from PD mode to adaptive mode. This is due to the robustness limitations of the high level controller. The Lyapunov study of the switching mechanism resulted in a criterion for finding the states under which the upper bound of the parameter mismatch and the disturbance torque vector does not cause instability. The results of this criterion leads the monitoring function to the choice of the suitable states for switching back to the adaptive controller. Numerical simulations, using the proposed control scheme for a 3DOF articulated robot manipulator, are presented for testing the performance of the control system. The software and codes were developed using C-language and Matlab. In a typical test for the PD mode, the identification of a 100% change in parameters took 2.67 seconds. The results are reliable for the switching back action. In the adaptive mode, a complete identification with no a priori knowledge took 6.5 seconds. This may seem slow in some applications. The identification scheme with a priori knowledge takes 1.3 seconds. In the cases with the priority for tracking rather than identification, the tracking mode is more appropriate. A combination of the identification mode followed by the tracking mode is recommended for switching from the PD to the adaptive controller.
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Clark, Christopher M. "Neural netowrk algorithms for robot control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0007/MQ40965.pdf.
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Nath, Nitendra. "Nonlinear control techniques for robot manipulators." Connect to this title online, 2006. http://etd.lib.clemson.edu/documents/1173994815/.
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Kalaycioglu, Banu. "Control of coordinated multiple robot manipulators." Thesis, McGill University, 1991. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61095.
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This thesis investigates the issues of dynamical modelling, control and load distribution for coordinated multiple robot manipulators. An analysis of the load distribution problem for k coordinating robots handling a single payload is carried out and an optimal load sharing algorithm is developed. The algorithm calculates the minimum norms of the joint torques and the contact forces. The algorithm is based on an optimization scheme which minimizes a quadratic cost function associated with the joint torques and contact force vectors for the coordinating robot arms with the constraint of robot equations for a given trajectory of the payload. The developed algorithm is found to be very efficient in terms of computational requirements in comparison with the existing load distribution algorithms. Some of the comparative simulation results are provided. The developed scheme is very attractive for real time applications.The theory of position control for coordinated multiple manipulator is studied. The main objective of this study is to develop a multiple arm load sharing (with minimum norms) position controller. (Abstract shortened by UMI.)
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Jacobs, Sean Andrew. "Adaptive control of a climbing robot." Thesis, University of Leeds, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.534748.
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Monteiro, Hugo Alexandre Pereira. "Neuromorphic systems for legged robot control." Thesis, University of Edinburgh, 2013. http://hdl.handle.net/1842/7736.
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Locomotion automation is a very challenging and complex problem to solve. Besides the obvious navigation problems, there are also problems regarding the environment in which navigation has to be performed. Terrains with obstacles such as rocks, steps or high inclinations, among others, pose serious difficulties to normal wheeled vehicles. The flexibility of legged locomotion is ideal for these types of terrains but this alternate form of locomotion brings with it its own challenges to be solved, caused by the high number of degrees of freedom inherent to it. This problem is usually computationally intensive, so an alternative, using simple and hardware amenable bio-inspired systems, was studied. The goal of this thesis was to investigate if using a biologically inspired learning algorithm, integrated in a fully biologically inspired system, can improve its performance on irregular terrain by adapting its gait to deal with obstacles in its path. At first, two different versions of a learning algorithm based on unsupervised reinforcement learning were developed and evaluated. These systems worked by correlating different events and using them to adjust the behaviour of the system so that it predicts difficult situations and adapts to them beforehand. The difference between these versions was the implementation of a mechanism that allowed for some correlations to be forgotten and suppressed by stronger ones. Secondly, a depth from motion system was tested with unsatisfactory results. The source of the problems are analysed and discussed. An alternative system based on stereo vision was implemented, together with an obstacle detection system based on neuron and synaptic models. It is shown that this system is able to detect obstacles in the path of the robot. After the individual systems were completed, they were integrated together and the system performance was evaluated in a series of 3D simulations using various scenarios. These simulations allowed to conclude that both learning systems were able to adapt to simple scenarios but only the one capable of forgetting past correlations was able to adjust correctly in the more complex experiments.
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Bekit, Biniam Weldai. "Robust nonlinear control of robot manipulators." Thesis, King's College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.321945.
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Niemeyer, Günter Dieter. "Computational algorithms for adaptive robot control." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/42187.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.Title as it appeared in MIT Graduate list, February 1990: Computational algorithms for adaptive control.
Includes bibliographical references (leaves 87-91).
by Günter [sic] Dieter Niemeyer.
M.S.
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Williamson, Matthew M. (Matthew Murray). "Robot arm control exploiting natural dynamics." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/16720.
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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (p. 143-150).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
by Matthew M. Williamson.
Ph.D.
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Winter, Pieter. "Position control of a mobile robot." Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/1776.
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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2005.Position calculation of mobile objects has challenged engineers and designers for years and is still continuing to do so. There are many solutions available today. Probably the best known and most widely used outdoor system today is the Global Positioning System (GPS). There are very little systems available for indoor use. An absolute positioning system was developed for this thesis. It uses a combination of ultrasonic and Radio Frequency (RF) communications to calculate a position fix in doors. Radar techniques were used to ensure robustness and reliability even in noisy environments. A small mobile robot was designed and built to test and illustrate the use of the system.
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Chahl, Javaan Singh. "Stratagems for mobile robot navigation using panoramic vision." Phd thesis, 1996. http://hdl.handle.net/1885/145673.
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"A rule-based drawing robot." 1999. http://library.cuhk.edu.hk/record=b5890081.
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by Tang Kai Hung.Thesis (M.Phil.)--Chinese University of Hong Kong, 1999.
Includes bibliographical references.
Abstracts in English and Chinese.
Acknowledgements --- p.vi
Abstract --- p.1
Chapter 1 --- Introduction
Chapter 1.1 --- Motivation --- p.3
Chapter 1.2 --- Objective --- p.7
Chapter 1.3 --- Outline --- p.9
Chapter 2 --- Color Identification
Chapter 2.1 --- Grabbing --- p.11
Chapter 2.2 --- Digital Image Representation --- p.13
Chapter 2.3 --- Color Segmentation --- p.15
Chapter 2.3.1 --- Fuzzy Rule-Based Method --- p.15
Chapter 2.3.2 --- Fuzzy Clustering Method --- p.20
Chapter 2.4 --- Conclusion --- p.25
Chapter 3 --- Shape Recognition
Chapter 3.1 --- Labeling --- p.29
Chapter 3.1.1 --- Pre-processing --- p.29
Chapter 3.1.2 --- Connected Components --- p.30
Chapter 3.2 --- Blob Analysis --- p.33
Chapter 3.2.1 --- Characteristic Values --- p.33
Chapter 3.2.2 --- Corner Detection --- p.35
Chapter 3.3 --- Type Classification --- p.37
Chapter 3.3.1 --- Standard Blob --- p.37
Chapter 3.3.2 --- Non-standard Object --- p.39
Chapter 3.4 --- Flow Chart --- p.39
Chapter 3.5 --- Point Generation --- p.42
Chapter 3.5.1 --- Draw the Boundary --- p.42
Chapter 3.5.2 --- Filling in Color by Lines --- p.48
Chapter 3.6 --- Conclusion --- p.50
Chapter 4 --- Drawing
Chapter 4.1 --- Difficulties & Remedies --- p.54
Chapter 4.1.1 --- Data Transmission Difficulty --- p.54
Chapter 4.1.2 --- Robot Drawing Plane --- p.56
Chapter 4.2 --- Coordinates Conversion --- p.59
Chapter 4.3 --- Quantitative Performance Measure --- p.64
Chapter 4.4 --- Conclusion --- p.66
Chapter 5 --- Conclusions & Future Works --- p.69
Appendix
Bibliography
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Theodore, Rex J. "Dynamic Modeling And Control Analysis Of Multilink Flexible Manipulators." Thesis, 1995. http://etd.iisc.ernet.in/handle/2005/1632.
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