Journal articles on the topic 'Robot control'
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1
Karpas, Erez, and Daniele Magazzeni. "Automated Planning for Robotics." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 417–39. http://dx.doi.org/10.1146/annurev-control-082619-100135.
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Modern robots are increasingly capable of performing “basic” activities such as localization, navigation, and motion planning. However, for a robot to be considered intelligent, we would like it to be able to automatically combine these capabilities in order to achieve a high-level goal. The field of automated planning (sometimes called AI planning) deals with automatically synthesizing plans that combine basic actions to achieve a high-level goal. In this article, we focus on the intersection of automated planning and robotics and discuss some of the challenges and tools available to employ automated planning in controlling robots. We review different types of planning formalisms and discuss their advantages and limitations, especially in the context of planning robot actions. We conclude with a brief guide aimed at helping roboticists choose the right planning model to endow a robot with planning capabilities.
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Han, Jong-Ho. "Tracking Control of Moving Sound Source Using Fuzzy-Gain Scheduling of PD Control." Electronics 9, no. 1 (December 21, 2019): 14. http://dx.doi.org/10.3390/electronics9010014.
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This paper proposes fuzzy gain scheduling of proportional differential control (FGS-PD) system for tracking mobile robot to moving sound sources. Given that the target positions of the real-time moving sound sources are dynamic, the mobile robots should be able to estimate the target points continuously. In such a case, the robots tend to slip owing to abnormal velocities and abrupt changes in the tracking path. The selection of an appropriate curvature along which the robot follows a sound source makes it possible to ensure that the robot reaches the target sound source precisely. For enabling the robot to recognize the sound sources in real time, three microphones are arranged in a straight formation. In addition, by applying the cross correlation algorithm to the time delay of arrival base, the received signals can be analyzed for estimating the relative positions and velocities of the mobile robot and the sound source. Even if the mobile robot is navigating along a curved path for tracking the sound source, there could be errors due to the inertial and centrifugal forces resulting from the motion of the mobile robot. Velocities of both robot wheels are controlled using FGS-PD control to compensate for slippage and to minimize tracking errors. For experimentally verifying the efficacy of the proposed the control system with sound source estimation, two mobile robots were fabricated. It was demonstrated that the proposed control method effectively reduces the tracking error of a mobile robot following a sound source.
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Kazerooni, H. "Compliance Control and Stability Analysis of Cooperating Robot manipulators." Robotica 7, no. 3 (July 1989): 191–98. http://dx.doi.org/10.1017/s0263574700006044.
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SUMMARYThe work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.
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Rios, Jorge D., Daniel Ríos-Rivera, Jesus Hernandez-Barragan, Marco Pérez-Cisneros, and Alma Y. Alanis. "Formation Control of Mobile Robots Based on Pin Control of Complex Networks." Machines 10, no. 10 (October 6, 2022): 898. http://dx.doi.org/10.3390/machines10100898.
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Robot formation control has several advantages that make it interesting for research. Multiple works have been published in the literature using different control approaches. This work presents the control of different groups of robots to achieve a desired formation based on pinning control of complex networks and coordinate translation. The implemented control law comprises complex network bounding, proportional, and collision avoidance terms. The tests for this proposal were performed via simulation and experimental tests, considering different networks of differential robots. The selected robots are Turtlebot3® Waffle Pi robots. The Turtlebot3® Waffle Pi is a differential mobile robot with the Robot Operating System (ROS). It has a light detection and ranging (LiDAR) sensor used to compute the collision avoidance control law term. Tests show favorable results on different formations testing on various groups of robots, each composed of a different number of robots. From this work, implementation on other devices can be derived, as well as trajectory tracking once in formation, among other applications.
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Ravichandar, Harish, Athanasios S. Polydoros, Sonia Chernova, and Aude Billard. "Recent Advances in Robot Learning from Demonstration." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 297–330. http://dx.doi.org/10.1146/annurev-control-100819-063206.
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In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be neither easily scripted (as is done in traditional robot programming) nor easily defined as an optimization problem, but can be demonstrated. While there have been multiple surveys of this field in the past, there is a need for a new one given the considerable growth in the number of publications in recent years. This review aims to provide an overview of the collection of machine-learning methods used to enable a robot to learn from and imitate a teacher. We focus on recent advancements in the field and present an updated taxonomy and characterization of existing methods. We also discuss mature and emerging application areas for LfD and highlight the significant challenges that remain to be overcome both in theory and in practice.
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Butler, John Travis, and Arvin Agah. "Control of a Mobile Service Robot Using Human Evaluations of Task-related Movement Patterns." Journal of Robotics and Mechatronics 12, no. 6 (December 20, 2000): 689–701. http://dx.doi.org/10.20965/jrm.2000.p0689.
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An important future application of robotics will be the utilization of mobile service robots in homes and offices, assisting people with their daily chores. Above all, these robots must be safe to use. In addition, service robots must be designed to be effective, productive, and user-friendly. In order for people to accept and use these robots, the robots must behave in a manner acceptable to humans. The intelligent control of service robots must take into. account the effects of robot behaviors on people. This paper focuses on the interactions between humans and mobile service robots, studying how people respond to a variety of robot behaviors as the robot performs certain tasks. Since different people could react differently to service robots, this paper reports on the effects of users' gender, age, technical background, and robot body preference on the responses to robot behaviors. The robot behaviors include the robot approaching a human, the robot avoiding a human while passing, and the robot performing non-interactive behaviors. The level of comfort the robot caused human subjects was analyzed according to the effects of robot speed, robot distance, and robot body design. It is hoped that information gained from human factor studies can be used to obtain a better understanding of acceptability of service robots by different people, resulting in the design and development of more effective intelligent controllers for service robots in the coming new generation.
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Kumar, P. Vishun, Golla Chatrapati, Shivaji Shivaji, Mangali Jagadeesh, Saritala Abishaik, and Pocha Devendra Reddy. "Speech control Robot using NodeMCU." Journal of Communication Engineering and its Innovations 8, no. 2 (June 27, 2022): 1–6. http://dx.doi.org/10.46610/jocei.2022..2022.v08i02.001.
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The movement of robot controlling via IoT technology. The field of robotic technology is implemented in many domains. Specific tasks are performed by robots which humans cannot and also humans are takes more time to complete. Robots are followed human instructions and perform the tasks such as security operations, act as spy robots etc. In this paper, we discuss about a smart robotic vehicle that operates on human voice commands, given remotely by using an Android platform based smart IoT device. The robotic assistant is developed on a NodeMCU ESP8266 micro-controller based platform. The voice commands are carried out and this signal is converted to text format and then communicated through Wi-Fi network. This robot is able to move in different directions like left, right, stop, backward, forward.
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Peng, Huan Xin, Bin Liu, and De Hong Xu. "Robot Flocking Control with Part Information of the Virtual Leader." Applied Mechanics and Materials 364 (August 2013): 352–56. http://dx.doi.org/10.4028/www.scientific.net/amm.364.352.
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Under virtual leader-follower model, when all robots can receive the information of the virtual leader, the robot flocking algorithm can avoid diverging. For time-delay, noise and network congestion in the communication, in the fact, only part robots can receive the information of the virtual leader. In the paper, we analyze the performance of robot flocking control algorithm with part information of the virtual leader. We analyze the impact brought by the parameters on the robot flocking control when only part robots can receive the information of the virtual leader, and simulations are done. Results show that the performance of distributed robot flocking algorithm depends on the probability of robot receiving the information of the virtual leader, the communication radius among robots, and density of robot and so on.
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Kress-Gazit, Hadas, Morteza Lahijanian, and Vasumathi Raman. "Synthesis for Robots: Guarantees and Feedback for Robot Behavior." Annual Review of Control, Robotics, and Autonomous Systems 1, no. 1 (May 28, 2018): 211–36. http://dx.doi.org/10.1146/annurev-control-060117-104838.
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Robot control for tasks such as moving around obstacles or grasping objects has advanced significantly in the last few decades. However, controlling robots to perform complex tasks is still accomplished largely by highly trained programmers in a manual, time-consuming, and error-prone process that is typically validated only through extensive testing. Formal methods are mathematical techniques for reasoning about systems, their requirements, and their guarantees. Formal synthesis for robotics refers to frameworks for specifying tasks in a mathematically precise language and automatically transforming these specifications into correct-by-construction robot controllers or into a proof that the task cannot be done. Synthesis allows users to reason about the task specification rather than its implementation, reduces implementation error, and provides behavioral guarantees for the resulting controller. This article reviews the current state of formal synthesis for robotics and surveys the landscape of abstractions, specifications, and synthesis algorithms that enable it.
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Xing, Guansheng, and Weichuan Meng. "Design of Robot Vision Servo Control System Based on Image." Journal of Physics: Conference Series 2136, no. 1 (December 1, 2021): 012049. http://dx.doi.org/10.1088/1742-6596/2136/1/012049.
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Abstract Visual servo is a closed-loop control system of robot, which takes the image information obtained by visual sensor as feedback. Generally speaking, visual servo plays an important role in robot control, which is one of the main research directions in the field of robot control and plays a decisive role in the development of intelligent robots. In order to make the robot competent for more complex tasks and work more intelligently, autonomously and reliably, it is necessary not only to improve the control system of the robot, but also to obtain more and better information about the working environment of the robot. This paper introduces the principle and basic realization method of robot visual servo based on image, and expounds the problems and solutions in image feature extraction and visual servo controller design. In order to further expand the application field of robots and improve the operation performance of robots, robots must have higher intelligence level and stronger adaptability to the environment, so as to manufacture intelligent robots that can replace human labor.
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Han, Qing, Hongan Yang, and Hao Lang. "Bearing-Only Formation Control for Cascade Multirobots." Mathematical Problems in Engineering 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/5320954.
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A new formation control method is proposed, which is used to queue multirobots in a single-direction cascade structure. In the cascade formation, each robot is a follower for the previous robot and a leader for the next robot, and the robots in the middle act as both leader and follower. The follower robot can only observe the bearing information of the leader robot. The observability of the cascade leader-follower formation is studied, which shows that the bearing-only observation meets the observability conditions required for the nonlinear system. Based on the bearing-only observations, the unscented Kalman filter (UKF) is employed for the state estimation of the leader and the follower robots at all levels, which enables the real-time movement control of the follower robots via the input-output feedback control. Simulation results demonstrate that the proposed approach can efficiently control the formation of multirobots as desired.
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Zhen, Zhang, Cao Qixin, Charles Lo, and Zhang Lei. "A CORBA-based simulation and control framework for mobile robots." Robotica 27, no. 3 (May 2009): 459–68. http://dx.doi.org/10.1017/s026357470800489x.
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SUMMARYThis paper presents a distributed multiple mobile robots framework which allows programming and control of virtual and real mobile robots. The system provides the map building, path planning, robot task planning, simulation, and actual robot control functions in an indoor environment. Users can program the virtual robots in a customized simulation environment and check the performance of execution, i.e., if the simulation result is satisfying, users can download the code to a real robot. The paper focuses on the distributed architecture and key technologies of virtual robots simulation and control of real robots. A method for construction and transfer of a key index value (which stores the robot configuration) is proposed. Using this method, only the robot key configuration index is needed to build the robot in the virtual environment. This results in reduced network load and improved real time performance of the distributed system. Experiments were conducted to compare the performance of the proposed system with the performance of a centralized system. The results show that the distributed system uses less system resources and has better real time performance. What is more, this framework has been applied to Yaskawa's robot “SmartPal.” The simulation and experiment results show that our robotic framework can simulate and control the robot to perform complex tasks.
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Kawasaki, Haruhisa. "Special Issue on Recent Advances in Robot Control." Journal of Robotics and Mechatronics 13, no. 5 (October 20, 2001): 449. http://dx.doi.org/10.20965/jrm.2001.p0449.
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This special issue contains outstanding papers on robot control presented at international meetings in Japan in 2000. Featured topics include face robots, polishing robots, control for multifingered robotic hands, re configurable brachiating space robots, DD parallel robots, and robot control technologies such as a distributed robust motion controller, image-based visual servoing, fault adaptive kinematic control, and optimum control for a robot manipulator. We also will have a variety of topics such as shaft insert tasks in the robot task field, fingerprint image sensing in sensing technologies, compliance display, emergence of affective behavior, human/robot communication in interfaces, and workspace analysis of parallel manipulators in robot analysis. In preparing this special issue, we have asked authors to revise work presented at international meetings to include further analyses and experimental data to help make papers even more interesting and informative concerning the purposes of the study, analyses, experiments, and simulation. We thank Professor Kohei Ohnishi, Department of System Design Engineering, School of Science and Engineering, Keio University, for his complete, courteous assistance, and all of the authors who such unstinting time to update their papers for this special issue.
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Yu, Miao, Hui Ping Liu, and Jing Ji. "The Collaboration Control for the Multi-Robot Polishing System." Advanced Materials Research 430-432 (January 2012): 1826–29. http://dx.doi.org/10.4028/www.scientific.net/amr.430-432.1826.
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This paper puts forward a multi-Agent alliance control model that is made up of the series robot Agent, the parallel moving platform Agent and the polishing tool system Agent and so on by the MAS theory. Based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the MOTOMAN-HP3 serial robot communication, the NPT800 parallel robot of motion control and communication between two robots are introduced respectively. In the end, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the win socket. The satisfied polishing effect on the curved surfaces can be obtained and the demand of the polishing can be achieved by the MAS.
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Karnik, Ajit M., and Naresh K. Sinha. "Adaptive control of an industrial robot." Robotica 4, no. 4 (October 1986): 243–46. http://dx.doi.org/10.1017/s0263574700009929.
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SUMMARYFor the past several years, industrial robots are being used extensively. These robots are generally equipped with relatively simple control systems. Such control systems have proved adequate, but with increased demand on robot performance, there is need for advanced and sophisticated controllers. One of the probelms in the control of robots is that system dynamics change due to several factors such as the orientation of arms and their effective inertia.Adaptive controllers have the advantage that the system is continuously modelled and controller parameters are evaluated on-line, thus resulting in superior performance. Adaptive controllers can be realized in several ways.This paper describes the design and performance of an explicit self tuning regulator for a robot arm.
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Hirano, Tetsuro, Masato Ishikawa, and Koichi Osuka. "Control and Development of Cylindrical Mobile Robot." Journal of Robotics and Mechatronics 25, no. 2 (April 20, 2013): 392–99. http://dx.doi.org/10.20965/jrm.2013.p0392.
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Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.
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Abdelaal, Alaa Eldin, Prateek Mathur, and Septimiu E. Salcudean. "Robotics In Vivo: A Perspective on Human–Robot Interaction in Surgical Robotics." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 221–42. http://dx.doi.org/10.1146/annurev-control-091219-013437.
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This article reviews recent work on surgical robots that have been used or tested in vivo, focusing on aspects related to human–robot interaction. We present the general design requirements that should be considered when developing such robots, including the clinical requirements and the technologies needed to satisfy them. We also discuss the human aspects related to the design of these robots, considering the challenges facing surgeons when using robots in the operating room, and the safety issues of such systems. We then survey recent work in seven different surgical settings: urology and gynecology, orthopedic surgery, cardiac surgery, head and neck surgery, neurosurgery, radiotherapy, and bronchoscopy. We conclude with the open problems and recommendations on how to move forward in this research area.
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He, Yue, Yu Xie, Guang Pan, Yonghui Cao, Qiaogao Huang, Shumin Ma, Daili Zhang, and Yong Cao. "Depth and Heading Control of a Manta Robot Based on S-Plane Control." Journal of Marine Science and Engineering 10, no. 11 (November 9, 2022): 1698. http://dx.doi.org/10.3390/jmse10111698.
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Bionic underwater robots have many advantages such as high mobility, high efficiency, high affinity, etc. They are especially suitable for tasks such as collecting hydrographic information and for detailed surveys of the marine environment. These tasks are based on their high-precision attitude control. Therefore, this paper proposes a control scheme for a bionic underwater robot—a manta robot. To improve the depth retention capability of the manta robot, a S-plane controller based on asymmetric output was designed in combination with the longitudinal motion characteristics of the manta robot. In addition, to achieve good motion control for the manta robot under conditions of large changes in the heading angle, the fuzzy controller and the heading transition target value function were combined to design the heading controller of the manta robot. Finally, the feasibility and reliability of the control system of the manta robot were verified by pool experiments. The experimental results showed that the depth control error was within ±5 cm and the heading control error was within ±5 degrees. The control scheme proposed in this paper achieves high-precision attitude control of the manta robot, providing a basis for the practical application of the manta robot.
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Kiran, Deepanshu, Himanshu Singh, and Kushal Kant Singh Saxeriya. "Gesture Control Robot using Arduino." International Journal of Trend in Scientific Research and Development Volume-3, Issue-3 (April 30, 2019): 1467–69. http://dx.doi.org/10.31142/ijtsrd23411.
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Sulistijono, Indra Adji, Son Kuswadi, One Setiaji, Inzar Salfikar, and Naoyuki Kubota. "A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement." Journal of Advanced Computational Intelligence and Intelligent Informatics 16, no. 3 (May 20, 2012): 444–52. http://dx.doi.org/10.20965/jaciii.2012.p0444.
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Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been studied actively. We propose a new fuzzy-logic control scheme for vision systems that would enable a robot to search for and to kick a ball towards an opponent goal. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing and walking, and turning movement are estimated from these data. From this information the robot selects the appropriate motion pattern effectively. In order to generate the appropriate reaction in various body of robot situations, a fuzzy algorithm is applied in finding the appropriate angle of the joint from the vision system. The performance of the proposed algorithm is verified by searching for a ball, walking, turning tap and ball kicking movement experiments using an 18-DOF humanoid robot, called EFuRIO.
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Michalík, Roman, Aleš Janota, Michal Gregor, and Marián Hruboš. "Human-Robot Motion Control Application with Artificial Intelligence for a Cooperating YuMi Robot." Electronics 10, no. 16 (August 17, 2021): 1976. http://dx.doi.org/10.3390/electronics10161976.
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This paper deals with the application focused on motion control for a cooperating YuMi robot. The use of sensors on gloves or other controls to control robots may restrict both operation of the robot and the operator’s activities. Therefore, research focusing on camera-based monitoring of body parts or hand gestures is becoming increasingly popular. The presented approach is based on using a camera to recognize hand gestures and implementing artificial intelligence to control a YuMi robot with Python using a TCP/IP connection. The program can be expanded by integrating other IoT devices to help control the robot and collect data useful for a needed application.
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Guo, Lei, Liang Zhao, Yuan Song, and Jikun Hu. "Design and control of a variable structure robot." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090360. http://dx.doi.org/10.1177/1729881420903606.
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Because wheeled mobile robots have so many applications in warehouse logistics, improving their ability to adapt to the environment has been the subject of extensive research. To enhance the traffic and obstacle avoidance capabilities of wheeled robots, a wheeled mobile robot with a transformable chassis is proposed in this article for use in an automated warehouse. The robot can not only move in all directions but also change its chassis structure according to the specific warehouse environment. First, the robot structure is designed, and the motion modes of the robot are analyzed. After kinematics analysis is performed, a kinematics model is presented. In addition, with the goal of trajectory tracking and indoor positioning, a sliding mode controller and an extended Kalman filter controller are designed. Then, the effectiveness of the kinematics model and the controller design is verified by computer simulation. Finally, a physical prototype of the robot is built and the effectiveness of the robot is demonstrated through experiments.
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Gao, Xi Na, and Li Juan Wu. "Multi-Robot Formation Control Based on the Artificial Potential Field Method." Applied Mechanics and Materials 519-520 (February 2014): 1360–63. http://dx.doi.org/10.4028/www.scientific.net/amm.519-520.1360.
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The artificial potential field method is one of multi-robot formation control methods. In this paper we make a study on multi-robot formation control based on the artificial potential field method and the leader-follower method. The robots are set leader robot and follower robots respectively. According to the known ideal distance between the leader and follower, we adjust the repulsiveness or attractiveness to maintain multi-robot formation. Multi-robots obstacle avoidance is adopted the artificial potential field method. In this paper the triangle formation is taken as an example. At last the simulation result proves the validity of this algorithm.
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Huang, Xi Guang. "A Technology of Robot Simulation and Control." Advanced Materials Research 217-218 (March 2011): 544–48. http://dx.doi.org/10.4028/www.scientific.net/amr.217-218.544.
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The internet provides a unique opportunity to remote control robots. Easy to use web interfaces enable people to control robots and to monitor their operation from the distance. This paper describes a remote control technology which combines computer network and an autonomous robot is constructed. The main feature of this technology is that users just need a general purpose computer and a world wide web browser, they can command the mobile robot in a remote location through internet.
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Suwarno, Iswanto, Wiwin A. Oktaviani, Yosi Apriani, Dhiya Uddin Rijalusalam, and Anish Pandey. "Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot." Journal of Robotics and Control (JRC) 3, no. 1 (January 19, 2022): 107–14. http://dx.doi.org/10.18196/jrc.v3i1.11528.
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The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.
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Wu, Jun Hui, Tong Di Qin, Jie Chen, Kai Yan Lin, Hui Ping Si, and Chi Bin Zhang. "Study on the Architecture and Motion Control of the Traverse Robot." Advanced Materials Research 712-715 (June 2013): 2249–54. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2249.
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In order to keep the problem of robot obstacle avoidance and the traversal motion control simple, the performance and characteristics of the traverse robot are described firstly, followed the architecture of horizontal and vertical was adopted, and the traversal robots based on hybrid architecture was designed independently, also, the architecture met the performance needs of the traverse robot. Then the kinematic model of the robot was created and analyzed, and the motion control strategy based on the traversal robot was obtained. The strategy not only simplified the movement of the traversal robot, but it also completed the different methods of obstacle avoidance, which ensure the efficiency and reliability of the overall running of traversal robots.
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Wyrwał, Daniel, and Tymoteusz Lindner. "Control algorithm for holonomic robot that balances on single spherical wheel." MATEC Web of Conferences 252 (2019): 02005. http://dx.doi.org/10.1051/matecconf/201925202005.
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This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any direction. This paper presents theoretical information about balancing robots and the most important elements of the robot. Next, the design concept of the controller based on STM32 family, control algorithms and filters were proposed and implemented. In the final section of this paper, the investigation results were presented and discussed.
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Stipančić, Tomislav, Bojan Jerbić, and Petar Ćurković. "Probabilistic Approach to Robot Group Control." Advanced Materials Research 317-319 (August 2011): 742–49. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.742.
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The objective of this paper is to discuss the probabilistic part of the model for robot group control applied in industrial applications. The proposed model is based on well-known concepts of Ubiquitous Computing [1] and enables contextual perception of a working environment. Compared with classical industrial robots, usually preprogrammed for a limited number of operations / actions, the system based on this model can react in uncertain situations and scenarios. The model combines ontology to describe the specific domain of interest and decision–making mechanisms based on Bayesian Networks (BN) to enable the work of a single robot without human intervention by learning Behavioral Patterns (BP) of other robots in the group.
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Karbasi, Hamidreza, Amir Khajepour, and Jan Paul Huissoon. "Unidrive Modular Robot: Dynamics, Control, and Experiments." Journal of Dynamic Systems, Measurement, and Control 128, no. 4 (November 15, 2005): 969–75. http://dx.doi.org/10.1115/1.2363199.
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In this paper, a control design methodology for the new class of modular robots so-called “unidrive modular robots” is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial advantage over regular modular robots in terms of the mass of each module. The drive is mounted at the robot base and all joints tap power from the single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, a general state space model of the robot is first developed and then based on the theory of variable structure systems and sliding mode control a design methodology for local controllers is introduced. The control design technique is validated by experimental results.
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Bian, Ming Ming, Li Jian Zhang, and Lin Lin Bian. "Design of Mobile Robot Remote Control." Advanced Materials Research 1030-1032 (September 2014): 1453–56. http://dx.doi.org/10.4028/www.scientific.net/amr.1030-1032.1453.
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With the application of mobile robot in the industry, put forward higher requirements to the computer remote control technology. Remote control for mobile robots, the communication protocol between the host computer and the robot body and the control command design is presented in this paper. Visual C++ 6 programming language is used to complete the system. Dependability and practicability of system are proved by test.
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Seo, Jungwon, Jamie Paik, and Mark Yim. "Modular Reconfigurable Robotics." Annual Review of Control, Robotics, and Autonomous Systems 2, no. 1 (May 3, 2019): 63–88. http://dx.doi.org/10.1146/annurev-control-053018-023834.
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This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.
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NIKITIN, YURY, ALEXANDR TURYGIN, and VLADIMIR STOLLMANN. "MULTILEVEL CONTROL OF A TRANSPORT ROBOT." MM Science Journal 2022, no. 2 (June 1, 2022): 5662–69. http://dx.doi.org/10.17973/mmsj.2022_06_2022089.
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The control systems of modern robots are multilevel. The upper level control of the transport robot by voice commands and simulation of its motion in the software product Microsoft Robotics Developer Studio are considered. Visual Programming Language for creating and debugging applications was used to simulate the motion of the transport robot. An Android tablet or mobile phone with an application is used to recognize voice commands and the robot can be controlled using the Bluetooth interface. A program has been developed that will allow a human to control the robot using speech. An example of simulation of the robot and its motion path using voice control is given. The developed control system allows the transport robot to follow from one target point to another using voice control. At a low level, optimal asynchronous motor based actuator control using a model oriented approach in SimInTech is considered.
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Eoh, Gyuho, Jeong S. Choi, and Beom H. Lee. "Faulty robot rescue by multi-robot cooperation." Robotica 31, no. 8 (May 29, 2013): 1239–49. http://dx.doi.org/10.1017/s0263574713000374.
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SUMMARYThis paper presents a multi-agent behavior to cooperatively rescue a faulty robot using a sound signal. In a robot team, the faulty robot should be immediately recalled since it may seriously obstruct other robots, or collected matters in the faulty robot may be lost. For the rescue mission, we first developed a sound localization method, which estimates the sound source from a faulty robot by using multiple microphone sensors. Next, since a single robot cannot recall the faulty robot, the robots organized a heterogeneous rescue team by themselves with pusher, puller, and supervisor. This self-organized team succeeded in moving the faulty robot to a safe zone without help from any global positioning systems. Finally, our results demonstrate that a faulty robot among multi-agent robots can be immediately rescued with the cooperation of its neighboring robots and interactive communication between the faulty robot and the rescue robots. Experiments are presented to test the validity and practicality of the proposed approach.
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Kosuge, Kazuhiro. "Applications of Motion Control Originated from Robot Technology." Journal of Robotics and Mechatronics 16, no. 4 (August 20, 2004): 346–47. http://dx.doi.org/10.20965/jrm.2004.p0346.
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A new research model proposed by the Science Council of Japan in 1999 [1, 2] is based on how research is conducted and culturally integrated into society. Motion control systems developed for robots as part of the robot technology (RT) has potential applications both in actual robot systems and other systems, as demonstrated in several examples showing how motion control schemes developed for robots can be used.
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Maimon, Oded, and Mark Last. "Information-efficient robotic control." Robotica 12, no. 2 (March 1994): 157–64. http://dx.doi.org/10.1017/s0263574700016738.
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SUMMARYThe work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.
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BESSEGHIEUR, Khadir, Wojciech KACZMAREK, and Jarosław PANASIUK. "Multi-robot Control via Smart Phone and Navigation in Robot Operating System." Problems of Mechatronics Armament Aviation Safety Engineering 8, no. 4 (December 30, 2017): 37–46. http://dx.doi.org/10.5604/01.3001.0010.7316.
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Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation. Most of the available packages across the ROS community are addressed for controlling a single robot. In this paper, we aim to extend some packages so, they can be used in multi-robot applications on ROS. Mainly, the multi-robot autonomous navigation and multi-robot smart phone teleoperation are addressed in this work. After being extended and compiled, the new packages are assessed in some simulations and experiments with real robots.
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Xu, Liyan, Xiaodong Tan, and Shengyun Liu. "Design of dancing robot control system based on STM32." MATEC Web of Conferences 309 (2020): 04003. http://dx.doi.org/10.1051/matecconf/202030904003.
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Dancing robot control system for children’s entertainment is introduced. In order to achieve better interaction, this robot use the ARM core chip STM32 as the control core, Bluetooth module as the means of wireless communication, and smart phones as the face display screen and motion controller of dance robots. Experimental results show that the robot is stable, it can work given dance actions. The robot is good operable and maintainable.
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Vukobratovic, Miomir. "Beginnings of robotics as a separate discipline of technical sciences and some fundamental results - a personal view." Robotica 20, no. 2 (March 2002): 223–35. http://dx.doi.org/10.1017/s0263574701003903.
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Based on the author's knowledge the paper gives a brief account of some of the scientific achievements of robotics that were of crucial importance to its development.In a rough chronological order these are: zero-moment concept and semi-inverse method; recursive formulation of robot dynamics; computer-aided derivation of robot dynamics in symbolic form; dynamic approach to generation of trajectories of robotic manipulators; centralized feedforward control in robotics; robot dynamic control; decentralized control and observer applied to strongly coupled active mechanisms; force feedback in dynamic control of robots; decentralized control stability tests for robotic mechanisms; underactuated robotic systems; practical stability tests in robotics; unified approach to control laws synthesis for robot interacting with dynamic environment; modeling and control of multi-arm cooperating robots interacting with environment; connectionist algorithms for advanced learning control of robots interacting with dynamic environment; fuzzy logic robot control with model-based dynamic compensation, and internal redundancy – a new way to improve robot dynamic performance.
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Kambayashi, Yasushi, Hideaki Yajima, Tadashi Shyoji, Ryotaro Oikawa, and Munehiro Takimoto. "Formation Control of Swarm Robots Using Mobile Agents." Vietnam Journal of Computer Science 06, no. 02 (May 2019): 193–222. http://dx.doi.org/10.1142/s2196888819500131.
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In this paper, we propose an algorithm for controlling a fleet of swarm robots that construct three-dimensional forms. The swarm robots coordinate with each other through network communication, and compose formations such as polyhedrons presented as spherical coordinates. Our control algorithm achieves communication through mobile software agents, which introduce control programs to robots that initially have no information about the formation. Mobile software agents are autonomous objects that can migrate from one robot to other robots through a communication network and can deliver control programs as they are needed. We have made our swarm robot system to mimic the behaviors of the leafcutter ants. A leafcutter ant is a typical social insect and uses pheromone for communication. In our robot control system, we have implemented ants and pheromones as mobile software agents. We call the mobile software agents that drive the mobile robots as ant agents, and call the other agents that provide communication as pheromone agents. The ant agents drive the swarm robots to locations identified by the pheromone agents. Each ant agent has only partial information. There is no need for either a central control or an agent that has the entire design of the formation. In order to diffuse the partial information among the neighboring robots, each ant agent generates pheromone agents and dispatches them to the surrounding robots. Dispatched pheromone agent looks for a proper ant agent to influence towards a desired relative location. It is the ant agent that actually drives the robot by following the guidance of the pheromone agent, and the collective actions of ant agents and pheromone agents achieve the composition of the objective formation. We have implemented a simulator based on our algorithm and conducted numerical experiments. The results demonstrate that our mobile robot control system is feasible and efficient in practice in practical situations.
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Amir, Ashadi, Untung Suwardoyo, and Ahmad Salim K. "Movement Control System of 3-DOF Quadruped Robot." PROtek : Jurnal Ilmiah Teknik Elektro 10, no. 1 (January 7, 2023): 22. http://dx.doi.org/10.33387/protk.v10i1.4962.
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Robotics technology has been used in various aspects of life to make work easier. In the industrial sector, robots are used to replace human roles in order to produce more effective and efficient work. The use of robots is also carried out in jobs with a high level of risk, one of which is search and rescue (SAR). In its development, the use of robots for SAR requires high flexibility and effectiveness in carrying out movements for finding and extinguishing hotspots as well as rescuing victims. So, in this research, a movement control system will be designed for a legged robot. The robot's design consists of four legs. Each leg of the robot is integrated with three servo motors, so that each leg movement will have three degrees of freedom. Tests are carried out to determine the speed of the robot in various directions of movement by changing the rotation angle of the servo on each leg. The test results show that a legged robot can accelerate at a maximum speed of 0.066 m/s.
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Sutyasadi, Petrus, and Manukid Parnichkun. "Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed SensitivityH∞Robust Control." Journal of Control Science and Engineering 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/8760215.
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This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivityH∞robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances.
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Khoi, Phan Bui, and Nguyen Van Toan. "APPLICATION OF FUZZY LOGIC FOR CONTROLLING MECHANISM OF RELATIVE MANIPULATION ROBOT (MRM ROBOT)." Vietnam Journal of Science and Technology 54, no. 3 (June 16, 2016): 386. http://dx.doi.org/10.15625/0866-708x/54/3/7333.
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In robot control, mathematical equations describing dynamic behaviors of robots are usually complicated. Additionally, the components such as inertial and friction parameters appearing in these equations are very difficult to determine exactly. With robots having complex structure such as parallel robots, MRM robots etc., the derivation of dynamic equations becomes more difficult and sometimes cannot obtain analytically. In those cases, controlling robot based on its equations of motion is quite hard. Applying fuzzy logic for robot control can overcome the mentioned drawbacks. This is because fuzzy control algorithm gives favorable condition to deal with the lack of adequation as well as inaccuracy of components in robot’s dynamic equations. Furthermore, the fuzzy rules are created by clauses which based on human logic, so it is easily to understand and implement. This paper discusses the application of fuzzy logic for controlling MRM robots. To compare the results obtained from fuzzy control, this paper are also adressed the use of the computed torque algorithm to control MRM robots
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Tsunoda, Yusuke, Yuichiro Sueoka, and Koichi Osuka. "Experimental Analysis of Acoustic Field Control-Based Robot Navigation." Journal of Robotics and Mechatronics 31, no. 1 (February 20, 2019): 110–17. http://dx.doi.org/10.20965/jrm.2019.p0110.
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This paper proposes novel robot navigation methods that utilize strong interaction between a designed field and a robot controller. In recent years, several studies have demonstrated the importance of interactions between different subject types (e.g., human-robot interaction, robot-environment interaction) instead of just that between a robot controller and an isolated subject. This study explores therobot-field interactiondesign to realize autonomous robot navigation, and verifies the proposed methods experimentally. We prepare acoustic navigation trails from the start to the goal; one is generated from multiple sounds with identical frequencies, while the other is generated from multiple sounds with different frequencies. For each field controller, both the dynamic acoustic trail and the static acoustic trail, two types ofstaticrobot controllers are designed based only on thepresentsensor data,namely, gradient-following controller and sound-habituation controller. The former is a microphone-array based controller for robots equipped with multiple microphones, while the latter is designed for robots with a single microphone. Throughout the real-world demonstration, we show the validity of our proposed methods.
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Kim, T. Yu, R. A. Prakapovich, and A. A. Lobatiy. "Forced motion control of a mobile robot." Informatics 19, no. 3 (September 28, 2022): 86–100. http://dx.doi.org/10.37661/1816-0301-2022-19-3-86-100.
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Objectives. The increase of the efficiency of a separate transport mobile robot in a warehouse due to optimal regulation of the speed of its movement. It is required to control the position, speed, acceleration and direction of movement of the mobile robot at each moment of time along a known route. A method for forced control of the movement of a transport mobile robot was proposed. A control block for various motion maneuvers was developed in Simulink environment, which calculates the distance to the nearest turning point or stop and then by constructed cyclogram the corresponding speed at each moment of time is determined. The proposed control unit can be used in practice for the tasks of optimal movement of transport robots in predetermined area.Methods. The method of the theory of optimal control according to the criterion of maximum speed, the wave algorithm for finding the shortest path, the method of finite automata for relay control of the acceleration of movement are used.Results. Based on the proposed method of forced control of the movement of a transport mobile robot in the Simulink environment, a maneuver control system was developed that provides the minimum travel time for each segment of the path. Maneuvers mean the rectilinear movement of the robot, as well as its turn on the spot, in two modes: with and without reaching maximum speed. The technique is based on the assumption that the movement of the transport robot is uniformly accelerated. A side result of the developed control system is that when it is scaled to a group of robots, it becomes possible to predict the time and place of their potential collisions, in order to subsequently take into account a group of robots for effective control.Conclusion. The developed control system can be used to control a real transport mobile robot equipped with a servo drive in solving the problems of transporting goods around the warehouse.
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Pană, Cristina, Cristian Vladu, Daniela Pătraşcu-Pană, Florina Besnea (Petcu), Çtefan Cismaru, Andrei Trăşculescu, Ionuţ Reşceanu, and Nicu Bîzdoacă. "Position control for hybrid infinite-continuous hyper-redundant robot." MATEC Web of Conferences 343 (2021): 08009. http://dx.doi.org/10.1051/matecconf/202134308009.
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This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.
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Khairil, Khairil, and Toibah Umi Kalsum. "Implementasi Pengendalian Robot Mobil Pencari Target Dan Penghindar Rintangan." JURNAL AMPLIFIER : JURNAL ILMIAH BIDANG TEKNIK ELEKTRO DAN KOMPUTER 11, no. 2 (December 31, 2021): 36–42. http://dx.doi.org/10.33369/jamplifier.v11i2.19170.
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Robots are useful to help humans in performing jobs that require high precision, substantial labor, repetitive and dirty work, and high-risk or dangerous jobs. Those are the high-risk human jobs that a robot can do. Wheeled robots have the ability to go to the targeted position. Proportional control is used to control the movement of robots. In addition, the robot will also be equipped with PI control method to adjust the actual wheel speed of the robot. The block diagram of the obstacle-driven avoider robot consists of push button, rotary encoder, ultrasonic sensor, Atmega, IC L298D, DC Motor and Light. The results of the obstacle-driven avoider robot, wheeled robots have the ability to run in accordance with the desired black line. Proportional control is used to control the movement of robots. In addition, the robot will also be equipped with ultrasonic sensors to set the robot in avoiding obstacles. Based on the results of testing and analysis that have done, it is suggested that there is tool that can be provided to develop a more sophisticated technology like adding sensors or more features.
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Hu, Yu Lan. "Simulation on Obstacle Avoidance Method for Multi-Robots in Movement Control Process." Advanced Materials Research 562-564 (August 2012): 945–48. http://dx.doi.org/10.4028/www.scientific.net/amr.562-564.945.
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Obstacle avoidance in move control process is a key intelligent technology in robot control. As one of the most basic and important topics the problem of mobile robot path planning solve the trouble that the robot avoid obstacles in the environment and how to successfully reach the destination. This paper introdues the artificial potential field method for robot obstacle avoidance. Then this paper presents the simulation on obstacle avoidance method for multi-robots in move control process. Firstly, the paper introduces simulation on obstacle avoidance method in matlab environment. Second, this paper introduces simulation on obstacle avoidance method in movement process for multi-robots using software Multigen Vega and Multigen Creator to realize. At last, simulation results show the movement process for multi-robots in multiple obstacles. Multi-robots have good obstacle avoidance effect.
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Cen, Hua, and Bhupesh Kumar Singh. "Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure." Wireless Communications and Mobile Computing 2021 (June 17, 2021): 1–9. http://dx.doi.org/10.1155/2021/2974839.
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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.
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Pecora, Federico, Henrik Andreasson, Masoumeh Mansouri, and Vilian Petkov. "A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control." Proceedings of the International Conference on Automated Planning and Scheduling 28 (June 15, 2018): 485–93. http://dx.doi.org/10.1609/icaps.v28i1.13923.
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Deploying fleets of autonomous robots in real-world applications requires addressing three problems: motion planning, coordination, and control. Application-specific features of the environment and robots often narrow down the possible motion planning and control methods that can be used. This paper proposes a lightweight coordination method that implements a high-level controller for a fleet of potentially heterogeneous robots. Very few assumptions are made on robot controllers, which are required only to be able to accept set point updates and to report their current state. The approach can be used with any motion planning method for computing kinematically-feasible paths. Coordination uses heuristics to update priorities while robots are in motion, and a simple model of robot dynamics to guarantee dynamic feasibility. The approach avoids a priori discretization of the environment or of robot paths, allowing robots to "follow each other" through critical sections. We validate the method formally and experimentally with different motion planners and robot controllers, in simulation and with real robots.
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Dewi, Tresna, Citra Anggraini, Pola Risma, Yurni Oktarina, and Muslikhin Muslikhin. "MOTION CONTROL ANALYSIS OF TWO COLLABORATIVE ARM ROBOTS IN FRUIT PACKAGING SYSTEM." SINERGI 25, no. 2 (February 20, 2021): 217. http://dx.doi.org/10.22441/sinergi.2021.2.013.
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As robots' use increases in every sector of human life, the demand for cheap and efficient robots has also enlarged. The use of two or more simple robot is preferable to the use of one sophisticated robot. The agriculture industry can benefit from installing a robot, from seeding to the packaging of the product. A precise analysis is required for the installation of two collaborative robots. This paper discusses the motion control analysis of two collaborative arms robots in the fruit packaging system. The study begins with the relative motion analysis between two robots, starting with kinematics modeling, image processing for object detection, and the Fuzzy Logic Controller's design to show the relationship between the robot inputs and outputs. The analysis is carried out using SCILAB, open-source software for numerical computing engineering. This paper is intended as the initial analysis of the feasibility of the real experimental system.