Relevant bibliographies by topics / Robots – Control systems

Academic literature on the topic 'Robots – Control systems'

Author: Grafiati
Published: 4 June 2021
Last updated: 29 January 2023

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Contents

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Robots – Control systems.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "Robots – Control systems"

1

Maimon, Oded, and Mark Last. "Information-efficient robotic control." Robotica 12, no. 2 (March 1994): 157–64. http://dx.doi.org/10.1017/s0263574700016738.

Full text
Abstract:
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.
APA, Harvard, Vancouver, ISO, and other styles
2

Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (March 1, 2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.

Full text
Abstract:
Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.
APA, Harvard, Vancouver, ISO, and other styles
3

Sathyan, Anoop, and Ou Ma. "Collaborative Control of Multiple Robots Using Genetic Fuzzy Systems." Robotica 37, no. 11 (April 15, 2019): 1922–36. http://dx.doi.org/10.1017/s0263574719000353.

Full text
Abstract:
SummaryThis paper introduces an approach of collaborative control for individual robots to collaboratively perform a common task, without the need for a centralized controller to coordinate the group. The approach is illustrated by an application example involving multiple robots performing a collaborative task to achieve a common goal. The objective of this example problem is to control multiple robots that are connected to an object through elastic cables in order to bring the object to a target position. There is no communication between the robots, and hence each robot is unaware of how the other robots are going to react at any instant. Only the information pertaining to the object and the target is available to all the robots at any instant. Genetic fuzzy system (GFS) is used to develop controller for each of the robots. The nonlinearity of fuzzy logic systems coupled with the search capability of genetic algorithms provides a tool to design controllers for such collaborative tasks. A set of training scenarios are developed to train the individual robot controllers for this task. The trained controllers are then tested on an extensive set of scenarios. This paper describes the development process of GFS controllers for dynamic case involving systems consisting of three robots. It is also shown that the GFS controllers are scalable for the more complex systems involving more than three robots.
APA, Harvard, Vancouver, ISO, and other styles
4

Zhang, Shijie, and Yi Cao. "Consensus in networked multi-robot systems via local state feedback robust control." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141989354. http://dx.doi.org/10.1177/1729881419893549.

Full text
Abstract:
In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.
APA, Harvard, Vancouver, ISO, and other styles
5

Torabi, Ali, Mohsen Khadem, Koroush Zareinia, Garnette Roy Sutherland, and Mahdi Tavakoli. "Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement." Robotica 38, no. 10 (May 20, 2020): 1880–94. http://dx.doi.org/10.1017/s0263574720000326.

Full text
Abstract:
SUMMARYThe enhanced dexterity and manipulability offered by master–slave teleoperated surgical systems have significantly improved the performance and safety of minimally invasive surgeries. However, effective manipulation of surgical robots is sometimes limited due to the mismatch between the slave and master robots’ kinematics and workspace. The purpose of this paper is first to formulate a quantifiable measure of the combined master–slave system manipulability. Next, we develop a null-space controller for the redundant master robot that employs the proposed manipulability index to enhance the performance of teleoperation tasks by matching the kinematics of the redundant master robot with the kinematics of the slave robot. The null-space controller modulates the redundant degrees of freedom of the master robot to reshape its manipulability ellipsoid (ME) towards the ME of the slave robot. The ME is the geometric interpretation of the kinematics of a robot. By reshaping the master robot’s manipulability, we match the master and slave robots’ kinematics. We demonstrate that by using a redundant master robot, we are able to enhance the master–slave system manipulability and more intuitively transfer the slave robot’s dexterity to the user. Simulation and experimental studies are performed to validate the performance of the proposed control strategy. Results demonstrate that by employing the proposed manipulability index, we can enhance the user’s control over the force/velocity of a surgical robot and minimize the user’s control effort for a teleoperated task.
APA, Harvard, Vancouver, ISO, and other styles
6

Hernandez-Martinez, E. G., J. J. Flores-Godoy, and G. Fernandez-Anaya. "Decentralized Discrete-Time Formation Control for Multirobot Systems." Discrete Dynamics in Nature and Society 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/746713.

Full text
Abstract:
Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.
APA, Harvard, Vancouver, ISO, and other styles
7

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.

Full text
Abstract:
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.
APA, Harvard, Vancouver, ISO, and other styles
8

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.

Full text
Abstract:
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.
APA, Harvard, Vancouver, ISO, and other styles
9

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.

Full text
Abstract:
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.
APA, Harvard, Vancouver, ISO, and other styles
10

Siefke, Lennart, Volker Sommer, Björn Wudka, and Carsten Thomas. "Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture." Robotics 9, no. 4 (September 27, 2020): 78. http://dx.doi.org/10.3390/robotics9040078.

Full text
Abstract:
Multi-robot systems are often static and pre-configured during the design time of their software. Emerging cooperation between unknown robots is still rare and limited. Such cooperation might be basic like sharing sensor data or complex like conjoined motion planning and acting. Robots should be able to detect other robots and their abilities during runtime. When cooperation seems to be possible and beneficial, it should be initiated autonomously. A centralized cloud control shall be avoided. Using software patterns belonging to service-oriented architectures, the robots are able to discover other robots and their abilities during runtime. These abilities are implemented as services and described by their interfaces. Composition of services can be done easily and flexibly. The software patterns originally belonging to cloud computing could be successfully adopted to decentralized multi-robot systems. The developed concept allows autonomous systems to cooperate flexibly and to compose multi-robot systems during runtime.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "Robots – Control systems"

1

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.

Full text
Abstract:
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.
APA, Harvard, Vancouver, ISO, and other styles
2

Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Pires, Leo Santana. "Uma contribuição ao estudo da dinamica não linear e controle de um particular sistema robotico levando-se em conta as interações entre as juntas." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264708.

Full text
Abstract:
Orientadores: Helder Anibal Hermini, Jose Manoel Balthazar
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Meêanica
Made available in DSpace on 2018-08-04T10:09:17Z (GMT). No. of bitstreams: 1 Pires_LeoSantana_M.pdf: 9313372 bytes, checksum: a9469afaba08752e7ef419dc781fe926 (MD5) Previous issue date: 2005
Resumo: Uma aproximação unificada para projeto e controle de manipuladores robóticos que retenha todas as não linearidades inerentes na dinâmica é desenvolvido para uma configuração robô-motor considerado como um sistema interagente. Este projeto de sistema interagente, baseado no modelo de teoria de controle de desacoplagem não-linear de Beekmann, desacopla a configuração robô-motor para os subsistemas robô, motor e interação cm série. Esta aproximação está em contraste ao tratamento convencional do motor como uma pura fonte dc torque c o negligenciamento da interação dinâmica entre a junta do robô e o motor, e ao desconsiderar a formulação não-linear
Abstract: A unified approach to a robotic controI design, which retains all the nonlinearities inherent in the dynamics, is developed for the motor-robot configuration considered as an imeracting system. This control system design, based on the Beekmann model's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approch is in contrast to the conventional treatment of the motor as apure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism and not consider the nonlinear formulation
Mestrado
Projeto Mecanico e Mecanica dos Solidos
Mestre em Engenharia Mecânica
APA, Harvard, Vancouver, ISO, and other styles
4

Kmelnitsky, Vitaly M. "Automated On-line Diagnosis and Control Configuration in Robotic Systems Using Model Based Analytical Redundancy." Digital WPI, 2002. https://digitalcommons.wpi.edu/etd-theses/167.

Full text
Abstract:
Because of the increasingly demanding tasks that robotic systems are asked to perform, there is a need to make them more reliable, intelligent, versatile and self-sufficient. Furthermore, throughout the robotic system?s operation, changes in its internal and external environments arise, which can distort trajectory tracking, slow down its performance, decrease its capabilities, and even bring it to a total halt. Changes in robotic systems are inevitable. They have diverse characteristics, magnitudes and origins, from the all-familiar viscous friction to Coulomb/Sticktion friction, and from structural vibrations to air/underwater environmental change. This thesis presents an on-line environmental Change, Detection, Isolation and Accommodation (CDIA) scheme that provides a robotic system the capabilities to achieve demanding requirements and manage the ever-emerging changes. The CDIA scheme is structured around a priori known dynamic models of the robotic system and the changes (faults). In this approach, the system monitors its internal and external environments, detects any changes, identifies and learns them, and makes necessary corrections into its behavior in order to minimize or counteract their effects. A comprehensive study is presented that deals with every stage, aspect, and variation of the CDIA process. One of the novelties of the proposed approach is that the profile of the change may be either time or state-dependent. The contribution of the CDIA scheme is twofold as it provides robustness with respect to unmodeled dynamics and with respect to torque-dependent, state-dependent, structural and external environment changes. The effectiveness of the proposed approach is verified by the development of the CDIA scheme for a SCARA robot. Results of this extensive numerical study are included to verify the applicability of the proposed scheme.
APA, Harvard, Vancouver, ISO, and other styles
5

Ali, Khaled Subhi. "Multiagent telerobotics : matching systems to tasks." Diss., Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/9234.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Love, Lonnie J. "Adaptive impedance control." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/15911.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Yuan, Hongliang. "Control of nonholonomic systems." Orlando, Fla. : University of Central Florida, 2009. http://purl.fcla.edu/fcla/etd/CFE0002683.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Sharif, Curtis Shahid. "Development of a supervisory surrogate controller for a robotic workcell." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17830.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Shifman, Jeffrey Joseph. "The control of flexible robots." Thesis, University of Cambridge, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.385838.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Gargas, Eugene Frank III. "Generation and use of a discrete robotic controls alphabet for high-level tasks." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43651.

Full text
Abstract:
The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through the analysis of various user data sets in a modified version of the motion description language, MDLe. It can then be used to mimic the actions of a future user attempting to perform the task by calling scaled versions of the controls in the alphabet, potentially reducing the amount of data required to be transmitted to the robot, with minimal error. In this thesis, theory is developed that will allow the construction of such an alphabet, as well as its use to mimic new actions. A MATLAB algorithm is then built to implement the theory. This is followed by an experiment in which various users drive a Khepera robot through different courses with a joystick. The thesis concludes by presenting results which suggest that a relatively small group of users can generate an alphabet capable of mimicking the actions of other users, while drastically reducing bandwidth.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Books on the topic "Robots – Control systems"

1

Control of single wheel robots. Berlin: Springer, 2006.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
2

X, Liu John, ed. Control and learning in robotic systems. New York: Nova Science Publishers, 2005.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
3

1963-, Chiacchio Pasquale, and Chiaverini Stefano 1961-, eds. Complex robotic systems. London: Springer, 1998.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
4

Seth, Hutchinson, and Vidyasagar M. 1947-, eds. Robot modeling and control. Hoboken, NJ: John Wiley & Sons, 2005.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
5

Spong, Mark W. Robot modeling and control. Hoboken, NJ: John Wiley & Sons, 2006.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
6

Towards real learning robots. Frankfurt am Main: Peter Lang, 2000.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
7

Towards real learning robots. Frankfurt am Main: Peter Lang, 1999.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
8

Suibhne, Ciarán Mac. Bilateral control of teleoperated axes. Dublin: University College Dublin, 1995.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
9

Katharina, Morik, Kaiser Michael, and Klingspor Volker, eds. Making robots smarter: Combining sensing and action through robot learning. Boston: Kluwer Academic, 1999.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
10

Mechanics and control of robots. New York: Springer, 1997.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
More sources

Book chapters on the topic "Robots – Control systems"

1

Siqueira, Adriano A. G., Marco H. Terra, and Marcel Bergerman. "Markov Jump Linear Systems-Based Control." In Robust Control of Robots, 101–49. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-898-0_6.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Chiaverini, Stefano. "Redundant Robots." In Encyclopedia of Systems and Control, 1141–50. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_173.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Park, Frank C. "Parallel Robots." In Encyclopedia of Systems and Control, 1031–37. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_174.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

De Luca, Alessandro. "Flexible Robots." In Encyclopedia of Systems and Control, 451–58. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_176.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Lynch, Kevin M. "Underactuated Robots." In Encyclopedia of Systems and Control, 1503–11. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_177.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Oriolo, Giuseppe. "Wheeled Robots." In Encyclopedia of Systems and Control, 1548–54. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_178.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Goswami, Ambarish. "Walking Robots." In Encyclopedia of Systems and Control, 1537–48. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_179.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Antonelli, Gianluca. "Underwater Robots." In Encyclopedia of Systems and Control, 1–4. London: Springer London, 2020. http://dx.doi.org/10.1007/978-1-4471-5102-9_100029-1.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Vitiello, N., E. Trigili, and S. Crea. "Rehabilitation Robots." In Encyclopedia of Systems and Control, 1–6. London: Springer London, 2020. http://dx.doi.org/10.1007/978-1-4471-5102-9_100032-1.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Chiaverini, Stefano. "Redundant Robots." In Encyclopedia of Systems and Control, 1–14. London: Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-5102-9_173-1.

Full text
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "Robots – Control systems"

1

Aloi, Vincent, Caroline Black, and Caleb Rucker. "Stiffness Control of Parallel Continuum Robots." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9112.

Full text
Abstract:
Parallel continuum robots can provide compact, compliant manipulation of tools in robotic surgery and larger-scale human robot interaction. In this paper we address stiffness control of parallel continuum robots using a general nonlinear kinetostatic modeling framework based on Cosserat rods. We use a model formulation that estimates the applied end-effector force and pose using actuator force measurements. An integral control approach then modifies the commanded target position based on the desired stiffness behavior and the estimated force and position. We then use low-level position control of the actuators to achieve the modified target position. Experimental results show that after calibration of a single model parameter, the proposed approach achieves accurate stiffness control in various directions and poses.
APA, Harvard, Vancouver, ISO, and other styles
2

Mwaffo, Violet, Pietro De Lellis, and Sean Humbert. "Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3162.

Full text
Abstract:
Abstract In this work, we analyze the decentralized formation control problem for a class of multi-robotic systems evolving on slippery surfaces. Grounded on experimental data of robots moving on a gravel surface inducing slippery, we show that a deterministic model cannot capture the uncertainties resulting from the kinematics of the robots while, instead, a model incorporating stochastic noise is capable of emulating such perturbations on wheel driving speed and turn rate. To account for these uncertainties, we consider a second order non-holonomic unicycle model to capture the full dynamics of individual vehicles where both actuation force and torque are subject to stochastic disturbances. Upon reducing the input-output dynamics of individual robot to a stochastic double integrator, we investigate the effects of these perturbations on the control input using concepts from stochastic stability theory and through numerical simulations. We demonstrated the applicability of the proposed scheme for formation control notably by providing sufficient conditions for exponential mean square convergence and we numerically determined the range of noise intensities for which team of robots can achieve formation stabilization. The promising findings from this work are expected to aid the design of robust control schemes for formation control of non-holonomic robots on off-road or un-paved surfaces.
APA, Harvard, Vancouver, ISO, and other styles
3

Reid, Christopher J., Biswanath Samanta, and Christopher Kadlec. "Development of a Network Infrastructure for Heterogeneous Robot and Control Systems Interactions." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-52464.

Full text
Abstract:
The use of robots in complex tasks such as search and rescue operations is becoming more and more common. These robots often work independently with no cooperation with other robots or control software, and are very limited in their ability to perform dynamic tasks and interact with both humans and other robots. To this end, a system must be developed to facilitate the cooperation of heterogeneous robots to complete complex tasks. To model and study human-robot and robot-robot interactions in a multi-system environment, a robust network infrastructure must be implemented to support the broad nature of these studies. The work presented here details the creation of a cloud-based infrastructure designed to support the introduction and implementation of multiple heterogeneous robots to the environment utilizing the Robot Operating System (ROS). Implemented robots include both ground-based (e.g. Turtlebot) and air-based (e.g Parrot ARDrone2.0) systems. Additional hardware is also implemented, such as embedded vision systems, host computers to support virtual machines for software implementation, and machines with graphics processing units (GPUs) for additional computational resources. Control software for the robots is implemented in the system with complexities ranging from simple teleoperation to skeletal tracking and neural network simulators. A robust integration of multiple heterogeneous components, including both hardware and software, is achieved.
APA, Harvard, Vancouver, ISO, and other styles
4

Rajendran, Sunil Kumar, and Feitian Zhang. "Learning Based Speed Control of Soft Robotic Fish." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-8977.

Full text
Abstract:
Bioinspired robotics takes advantage of biological systems in nature for morphology, action and perception to build advanced robots of compelling performance and wide application. This paper focuses on the design, modeling and control of a bioinspired robotic fish. The design utilizes a recently-developed artificial muscle named super coiled polymer for actuation and a soft material (silicone rubber) for building the robot body. The paper proposes a learning based speed control design approach for bioinspired robotic fish using model-free reinforcement learning. Based on a mathematically tractable dynamic model derived by approximating the robotic fish with a three-link robot, speed control simulation is conducted to demonstrate and validate the control design method. Exampled with a three-link reduced-order dynamic system, the proposed learning based control design approach is applicable to many and various complicated bioinspired robotic systems.
APA, Harvard, Vancouver, ISO, and other styles
5

Tyagi, Rajat, and Stephen Mascaro. "Omnidirectional Force Feedback for Teleoperation of Omnidirectional Wheeled Robots." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9122.

Full text
Abstract:
The objective of this research is to improve the ability of a human operator to teleoperate an omnidirectional wheeled robot using omnidirectional force feedback. Omnidirectional wheeled robots offer improved mobility over conventional wheeled robots and can potentially benefit people requiring motorized transportation and industries where robotic vehicles must operate in confined spaces. However, omnidirectional robotic vehicles require more degrees of freedom to control due to the additional degrees of freedom inherent in the vehicle’s design. We hypothesize that providing force feedback to the operator through an omnidirectional joystick will allow the robot to assist the driver in navigating and avoiding collisions with obstacles in a manner that is natural to the operator, coordinating both translational and rotational degrees of freedom. This research is the first attempt to use omnidirectional 3-DOF (degree of freedom) force feedback to provide navigational assistance for a human to drive/teleoperate an omnidirectional vehicle. This paper presents experiments using a novel omnidirectional force-feedback joystick and force-feedback strategy to guide operators to navigate a virtual omnidirectional wheeled robot in real-time through a geometrically constrained virtual environment. Experimental results demonstrate that the 3-DOF force feedback significantly improves collision avoidance. Additionally, including rotational feedback and optimizing the center of compliance results in significantly smoother trajectories.
APA, Harvard, Vancouver, ISO, and other styles
6

Zhang, Guoxian, and Devendra P. Garg. "Mobile Multi-Robot Control in Target Search and Retrieval." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2196.

Full text
Abstract:
In this paper, the design of a controller is proposed for a multi-robot target search and retrieval system. Inspired by research in insect foraging and swarm robotics, we developed a transition mechanism for the multi-robot system. Environmental information and task performance obtained by the robot system are used to adjust individual robot’s parameters and guide environment exploration. The proposed control system is applicable in the solution of multi-target problem also where several robots may be needed to cooperate together to retrieve a large target. Simulations show that the task performance improves significantly with the proposed method by sharing information in parameter learning and environment exploration.
APA, Harvard, Vancouver, ISO, and other styles
7

Menezes, Amor A., and Pierre T. Kabamba. "Resilient Self-Reproducing Systems." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2284.

Full text
Abstract:
This paper is motivated by the need to minimize the payload mass required to establish an extraterrestrial robotic colony. One approach for this minimization is to deploy a colony consisting of individual robots capable of self-reproducing. An important consideration once such a colony is established is its resiliency to large-scale environment or state variations. Previous approaches to learning and adaptation in self-reconfigurable robots have utilized reinforcement learning, cellular automata, and distributed control schemes to achieve robust handling of failure modes at the modular level. This work considers self-reconfigurability at the system level, where each constituent robot is endowed with a self-reproductive capacity. Rather than focus on individual dynamics, the hypothesis is that resiliency in a collective may be achieved if: 1) individual robots are free to explore all options in their decision space, including self-reproduction, and 2) they dwell preferentially on the most favorable options. Through simulations, we demonstrate that a colony operating in accordance with this hypothesis is able to adapt to changes in the external environment, respond rapidly to applied disturbances and disruptions to the internal system states, and operate in the presence of uncertainty.
APA, Harvard, Vancouver, ISO, and other styles
8

Dang, Fengying, and Feitian Zhang. "Identification of Hydrodynamic Coefficients of a Robotic Fish Using Improved Extended Kalman Filter." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5385.

Full text
Abstract:
Bio-inspired robotic fish have received an increasingly rapid development in recent years due to their advanced performances, such as high energy efficiency and high maneuverability. An accurate dynamic model is essential to the design and control of such robots. Hydrodynamic co-efficients play an important role in modeling the robot, which are usually obtained from theoretical calculation or water tunnel experiments. This paper proposes a novel method for hydrodynamic coefficients identification using an improved Kalman filter with angular velocity and distributed pressure measurements, which are typically available from the robot’s on-board sensors. Simulation based on a Joukowski airfoil shaped robotic fish demonstrates the proposed method.
APA, Harvard, Vancouver, ISO, and other styles
9

Raza, Ali, and Benito R. Fernandez. "Artificial Immune System for Heterogeneous Mobile Robotic Systems." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4264.

Full text
Abstract:
Artificial immune system draws its inspiration from the biological immune functions mainly those of humans. Recently, newer definitions of biological immune system have appeared and gained significance because of their strong immunological roots e.g. danger theory. This raises the need to look into earlier work on immuno-inspired robotics. Especially, older approach of idiotypic-network must be compared with the newer approach of danger-theory. Authors in this research have successfully applied both the definitions on heterogeneous mobile robotic systems. Idiotypic connections between antibodies have been used as a tool to navigate robots as well as to establish inter-robot communication in an immune network approach. Similarly, co-stimulatory signal concentrations have been used to contextualize the environment, in a danger theory approach, to initiate and regulate the immuno responses. Immune metaphors have been translated into relevant computational models and simulated in search and rescue operation in an obstacle filled arena.
APA, Harvard, Vancouver, ISO, and other styles
10

Rajendran, Sunil Kumar, and Feitian Zhang. "Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5380.

Full text
Abstract:
Super-coiled polymer (SCP), one of the newly-developed artificial muscles, has various advantages over traditional artificial muscles in terms of cost, flexibility and power-to-weight ratio. This paper investigates the performance of super-coiled polymer-based actuation in underwater robotics, and presents a novel design of robotic fish using antagonistic SCP actuators. Dynamic model of the robot is derived. An example robotic fish prototype is developed and used in experiments to study SCP actuation for underwater robots. Furthermore, experimental results show that using SCP actuators in robotic fish solves the challenging heat-dissipation problem at ease, thus improving the dynamic response of SCP actuation significantly. A PID controller is designed to regulate the tail flap angle of the designed robotic fish. Simulation results of the closed-loop system are presented to validate the proposed robot design and actuation approach.
APA, Harvard, Vancouver, ISO, and other styles

Reports on the topic "Robots – Control systems"

1

Velázquez López, Noé. Working Paper PUEAA No. 7. Development of a farm robot (Voltan). Universidad Nacional Autónoma de México, Programa Universitario de Estudios sobre Asia y África, 2022. http://dx.doi.org/10.22201/pueaa.005r.2022.

Full text
Abstract:
Over the last century, agriculture has evolved from a labor-intensive industry to one that uses mechanized, high-powered production systems. The introduction of robotic technology in agriculture could be a new step towards labor productivity. By mimicking or extending human skills, robots overcome critical human limitations, including the ability to operate in harsh agricultural environments. In this context, in 2014 the development of the first agricultural robot in Mexico (“Voltan”) began at Chapingo Autonomous University. The research’s objective was to develop an autonomous multitasking vehicle for agricultural work. As a result of this development, a novel suspension system was created. In addition, autonomous navigation between crop rows was achieved through computer vision, allowing crop monitoring, fertilizer application and, in general, pest and disease control.
APA, Harvard, Vancouver, ISO, and other styles
2

Gage, Douglas W. Command Control for Many-Robot Systems. Fort Belvoir, VA: Defense Technical Information Center, June 1992. http://dx.doi.org/10.21236/ada422540.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Doyle, John C. Robust Control of Uncertain Nonlinear Systems. Fort Belvoir, VA: Defense Technical Information Center, January 1995. http://dx.doi.org/10.21236/ada298938.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Yoozbashizadeh, Mahdi, and Forouzan Golshani. Robotic Parking Technology for Congestion Mitigation and Air Quality Control Around Park & Rides. Mineta Transportation Institute, June 2021. http://dx.doi.org/10.31979/mti.2021.1936.

Full text
Abstract:
A lack or limited availability for parking may have multiple consequences, not the least of which is driver frustration, congestion, and air pollution. However, there is a greater problem that is not widely recognized by the public, namely the negative effect on the use of transit systems due to insufficient parking spaces close to key transit stations. Automated parking management systems, which have been successfully deployed in several European and Japanese cities, can manage parking needs at transit stations more effectively than other alternatives. Numerous studies have confirmed that quick and convenient automobile access to park-and-ride lots can be essential to making public transit competitive with the automobile in suburban areas. Automated parking systems use a robotic platform that carries each vehicle to one of the locations in a custom designed structure. Each location is designed compactly so that considerably more vehicles can be parked in the automated garages than the traditional parking lots. Central to the design of these systems are three key technologies, namely: 1. Mechanical design and the operation of vehicle transfer, i.e., the robotic platform 2. Structural and architectural requirements to meet safety and earthquake standards, among other design imperatives, 3. Automation and intelligent control issues as related to the overall operation and system engineering. This article concerns the first technology, and more specifically the design of the robotic platform for vehicle transfers. We will outline the overall design of the robot and the shuttle, followed by a description of the prototype that was developed in our laboratories. Subsequently, performance related issues and scalability of the current design will be analyzed.
APA, Harvard, Vancouver, ISO, and other styles
5

Hovakimyan, Naira. Robust Adaptive Control of Multivariable Nonlinear Systems. Fort Belvoir, VA: Defense Technical Information Center, November 2008. http://dx.doi.org/10.21236/ada501711.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Hovakimyan, Naira. Robust Adaptive Control of Multivariable Nonlinear Systems. Fort Belvoir, VA: Defense Technical Information Center, March 2011. http://dx.doi.org/10.21236/ada565190.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Dohner, J. L. System identification for robust control design. Office of Scientific and Technical Information (OSTI), April 1995. http://dx.doi.org/10.2172/72725.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Zhou, Kemin, and Guoxiang Gu. Robust System Identification and Control Design. Fort Belvoir, VA: Defense Technical Information Center, January 2001. http://dx.doi.org/10.21236/ada392562.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Gage, Douglas W. Development and Command-Control Tools for Many-Robot Systems. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada435840.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Packard, Andrew, and John C. Doyle. Robust Control of Multivariable and Large Scale Systems. Fort Belvoir, VA: Defense Technical Information Center, March 1988. http://dx.doi.org/10.21236/ada194250.

Full text
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic 'Robots – Control systems' for particular source types:
Journal articles Dissertations / Theses Books
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography