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Winter, Pieter Arnoldus. "Position control of a mobile robot /". Link to the online version, 2005. http://hdl.handle.net/10019/1317.
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Winter, Pieter. "Position control of a mobile robot". Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/1776.
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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2005.Position calculation of mobile objects has challenged engineers and designers for years and is still continuing to do so. There are many solutions available today. Probably the best known and most widely used outdoor system today is the Global Positioning System (GPS). There are very little systems available for indoor use. An absolute positioning system was developed for this thesis. It uses a combination of ultrasonic and Radio Frequency (RF) communications to calculate a position fix in doors. Radar techniques were used to ensure robustness and reliability even in noisy environments. A small mobile robot was designed and built to test and illustrate the use of the system.
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Steven, Andrew. "Hybrid force and position control in robotic surface processing". Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.
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This programme of research was supported by NEI Parsons Ltd. who sought a robotic means of polishing mechanical components. A study of the problems associated with robot controlled surface processing is presented. From this evolved an approach consistent with the formalisation of the demands of workpiece manipulation which included the adoption of the Hybrid robot control scheme capable of simultaneous force and position control. A unique 3 axis planar experimental manipulator was designed which utilized combined parallel and serial drives. A force sensing wrist was used to measure contact force. A variant of the Hybrid control 'scheme was successfully implemented on a twin computer control system. A number of manipulator control programs are presented. The force control aspect is shown both experimentally and analytically to present control problems and the research has concentrated on this aspect. A general analysis of the dynamics of force control is given which shows force response to be dependent on a number' of important parameters including force sensor, environment and manipulator dynamics. The need for a robust or adaptable force controller is discussed. A series of force controlled manipulator experiments is described and the results discussed in the context of general analyses and specific single degree of freedom simulations. Improvements to manipulator force control are suggested and some were implemented. These are discussed together with their immediate application to the improvement of robot controlled surface processing. This work also lays important foundations for long term related research. In particular the new techniques for actively controlled assembly and force control under 'fast' operation.
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Sahirad, Mohammad. "Position and force control of direct drive robot arms". Thesis, Imperial College London, 1988. http://hdl.handle.net/10044/1/47240.
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Irigoyen, Eizmendi Javier. "Commande en position et force d'un robot manipulateur d'assemblage". Grenoble 2 : ANRT, 1986. http://catalogue.bnf.fr/ark:/12148/cb37598444q.
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Yung, Ho-lam. "Position and pose estimation for visual control of robot manipulators in planar tasks". Click to view the E-thesis via HKUTO, 2009. http://sunzi.lib.hku.hk/hkuto/record/B43224283.
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Zhang, Zhongkai. "Vision-based calibration, position control and force sensing for soft robots". Thesis, Lille 1, 2019. http://www.theses.fr/2019LIL1I001/document.
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La modélisation de robots souples est extrêmement difficile, à cause notamment du nombre théoriquement infini des degrés de liberté. Cette difficulté est accentuée lorsque les robots ont des configurations complexes. Ce problème de modélisation entraîne de nouveaux défis pour la calibration et la conception des commandes des robots, mais également de nouvelles opportunités avec de nouvelles stratégies de détection de force possibles. Cette thèse a pour objectif de proposer des solutions nouvelles et générales utilisant la modélisation et la vision. La thèse présente dans un premier temps un modèle cinématique à temps discret pour les robots souples reposant sur la méthode des éléments finis (FEM) en temps réel. Ensuite, une méthode de calibration basée sur la vision du système de capteur-robot et des actionneurs est étudiée. Deux contrôleurs de position en boucle fermée sont conçus. En outre, pour traiter le problème de la perte d'image, une stratégie de commande commutable est proposée en combinant à la fois le contrôleur à boucle ouverte et le contrôleur à boucle fermée. Deux méthodes (avec et sans marqueur(s)) de détection de force externe pour les robots déformables sont proposées. L'approche est basée sur la fusion de mesures basées sur la vision et le modèle par FEM. En utilisant les deux méthodes, il est possible d'estimer non seulement les intensités, mais également l'emplacement des forces externes. Enfin, nous proposons une application concrète : un robot cathéter dont la flexion à l'extrémité est piloté par des câbles. Le robot est contrôlé par une stratégie de contrôle découplée qui permet de contrôler l’insertion et la flexion indépendamment, tout en se basant sur un modèle FEMThe modeling of soft robots which have, theoretically, infinite degrees of freedom, are extremely difficult especially when the robots have complex configurations. This difficulty of modeling leads to new challenges for the calibration and the control design of the robots, but also new opportunities with possible new force sensing strategies. This dissertation aims to provide new and general solutions using modeling and vision. The thesis at first presents a discrete-time kinematic model for soft robots based on the real-time Finite Element (FE) method. Then, a vision-based simultaneous calibration of sensor-robot system and actuators is investigated. Two closed-loop position controllers are designed. Besides, to deal with the problem of image feature loss, a switched control strategy is proposed by combining both the open-loop controller and the closed-loop controller. Using soft robot itself as a force sensor is available due to the deformable feature of soft structures. Two methods (marker-based and marker-free) of external force sensing for soft robots are proposed based on the fusion of vision-based measurements and FE model. Using both methods, not only the intensities but also the locations of the external forces can be estimated.As a specific application, a cable-driven continuum catheter robot through contacts is modeled based on FE method. Then, the robot is controlled by a decoupled control strategy which allows to control insertion and bending independently. Both the control inputs and the contact forces along the entire catheter can be computed by solving a quadratic programming (QP) problem with a linear complementarity constraint (QPCC)
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Yung, Ho-lam y 容浩霖. "Position and pose estimation for visual control of robot manipulators in planar tasks". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2009. http://hub.hku.hk/bib/B43224283.
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Khademolama, Ehsan. "Vision in the Loop for Force and Position Control of the Robot Manipulators". Doctoral thesis, Università degli studi di Bergamo, 2018. http://hdl.handle.net/10446/104935.
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Over the last decades, both force sensors and cameras have developed as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics
ranging from basic theory to system implementation and applications are treated. It addresses the use of monocular eye-in-hand machine vision to control the position of a robot manipulator for dynamically challenging tasks. Such tasks are defined as those where the robot motion required approaches or exceeds the performance limits stated by the manufacturer.
Computer vision systems have been used for robot control for over four decades now, but have rarely been used for high-performance visual closed-loop control. This has largely been due to technological limitations in image processing, but since the mid 2010s advances have made it feasible to apply computer vision techniques at a sufficiently high rate to guide a robot or close a feedback control loop. Visual servoing is the use of computer vision for closed-loop control of a robot manipulator, and has the potential to solve a number of problems that currently limit the potential of robots in industry and advanced applications. In this thesis we have developed an algorithm that can extract high accurate position of object from vision data. This can be used as proximity sensor, in harsh environments.
In order to achieve high-performance it is necessary to have accurate models of the system to be controlled (the robot) and the sensor (the camera and vision system). Despite the long history of research in these areas individually, and combined in visual servoing, it is apparent that many issues have not been addressed in sufficient depth, and that much of the relevant information is spread through a very diverse literature. A new filter based on the wavelet multi resolution structures has been developed that can fuse position from camera and acceleration data from MEMS and produce velocity estimations which have lowest delay and drift with highest resolution at output.
Also in the empirical and theoretical way, we have studied over robotic actuators specially brushless DC motors. Outputs of these studies are one designed and implemented advanced brushless driver, which can control the brushless motors of medium power around $300[W]$ in position and velocity mode.
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Best, Charles Mansel. "Position and Stiffness Control of Inflatable Robotic Links Using Rotary Pneumatic Actuation". BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5971.
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Inflatable robots with pneumatic actuation are naturally lightweight and compliant. Both of these characteristics make a robot of this type better suited for human environments where unintentional impacts will occur. The dynamics of an inflatable robot are complex and dynamic models that explicitly allow variable stiffness control have not been well developed. In this thesis, a dynamic model was developed for an antagonistic, pneumatically actuated joint with inflatable links.The antagonistic nature of the joint allows for the control of two states, primarily joint position and stiffness. First a model was developed to describe the position states. The model was used with model predictive control (MPC) and linear quadratic control (LQR) to control a single degree of freedom platform to within 3° of a desired angle. Control was extended to multiple degrees of freedom for a pick and place task where the pick was successful ten out of ten times and the place was successful eight out of ten times.Based on a torque model for the joint which accounts for pressure states that was developed in collaboration with other members of the Robotics and Dynamics Lab at Brigham Young University, the model was extended to account for the joint stiffness. The model accounting for position, stiffness, and pressure states was fit to data collected from the actual joint and stiffness estimation was validated by stiffness measurements.Using the stiffness model, sliding mode control (SMC) and MPC methods were used to control both stiffness and position simultaneously. Using SMC, the joint stiffness was controlled to within 3 Nm/rad of a desired trajectory at steady state and the position was controlled to within 2° of a desired position trajectory at steady state. Using MPC,the joint stiffness was controlled to within 1 Nm/rad of a desired trajectory at steady state and the position was controlled to within 2° of a desired position trajectory at steady state. Stiffness control was extended to multiple degrees of freedom using MPC where each joint was treated as independent and uncoupled. Controlling stiffness reduced the end effecter deflection by 50% from an applied load when high stiffness (50 Nm/rad) was used rather than low stiffness (35 Nm/rad).This thesis gives a state space dynamic model for an inflatable, pneumatically actuated joint and shows that the model can be used for accurate and repeatable position and stiffness control with stiffness having a significant effect.
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Burke, Michael Glen. "Visual servo control for a human-following robot". Thesis, Stellenbosch : University of Stellenbosch, 2011. http://hdl.handle.net/10019.1/6813.
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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011.ENGLISH ABSTRACT: This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into imagebased visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better targetfollowing performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human’s orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this.
AFRIKAANSE OPSOMMING: Die ontwerp van ’n visiestelsel en beheer-komponente van ’n enkel-kamera robot vir die volging van mense word hier aangebied. Die gebruik van visuele terugvoer in die beheerlus word visie-gebaseerde of visuele servobeheer genoem. Visuele servobeheer tegnieke kan tipies onderskei word tussen beeld-gebaseerde servobeheer en posisie-gebaseerde visuele servobeheer. Altwee benaderings word hier bespreek. Die posisie-gebaseerde benadering word aanbeveel vir die volging van mense. Die posisie-gebaseerde servobeheertegniek bestaan uit drie duidelike fases: teiken herkenning, teiken oriëntasie bepaling en die beheerder berekeninge. Benaderings tot elk van hierdie fases word hier in detail bespreek. Dan word ’n volledige funksionele stelsel aangebied wat hierdie fases saamvoeg sodat mense gevolg kan word. Meer tradisionele benaderings tot die volging van mense gebruik tipies ’n beheerder wat die platvorm direk laat navigeer na die teikens, maar hier word geargumenteer dat beter werkverrigting verkry kan word deur ’n beheerder wat die teiken oriëntasie inligting ook gebruik. ’n Suiwer rigting-gebaseerde beheerder, wat beide oriëntasie en translasie foute minimeer, is onderhewig aan verskeie beperkings. Hier word egter aangetoon dat ’n hibriede, aanwinsskedulerende kombinasie van die twee tradisionele beheerders beter teikenvolging werkverrigting bied as die onderliggende twee tegnieke. In die geval van die volging van mense vereis die insluiting van teiken oriëntasie inligting dat ’n definisie van die persoon se oriëntasie beskikbaar is en dat dit geskat kan word. ’n Oriëntasie maatstaf vir mense word hier aangebied en dit word eksperimenteel getoon dat dit geskik is om ’n platvorm met wiele te beheer. Die resultate van die volging van mense wat die voorgestelde hibriede, aanwins-skedulerende beheerder gebruik, met hierdie maatstaf, word ter ondersteuning aangebied.
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Lim, Seungchul. "Position and vibration control of flexible space robots". Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/38624.
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This dissertation is concerned with the position and vibration control of flexible articulated space robots consisting of a rigid platform, two flexible arms, and a rigid end-effector carrying a payload, all components being serially connected through revolute joints. The mission is to carry a payload over a prescribed trajectory in the inertial space, while suppressing the elastic vibration of the arms and the rigid-body perturbations. The equations of motion governing the robot dynamics are derived by means of Lagrangian mechanics and they include actuator dynamics. Based on the assumption that the elastic deformations and the rigid-body perturbations are small relative to the nominal trajectory-following rigid-body motions, a perturbation approach is adopted to separate the equations into nonlinear rigid-body equations and linear perturbation equations. The nominal trajectory is planned to conserve the limited actuator resources and keep the platform attitude stationary, by eliminating the inherent kinematic redundancy of the manipulator. By assuming perfect sensing, i.e., all the states are completely accessible, two kinds of controls are designed in discrete-time. First, a feedforward control is designed to minimize the persistent disturbance resulting from the nominal motions. Next, a feedback control is synthesized based on the Linear Quadratic Regulator (LQR) theory with a prescribed degree of stability to make the system stable and further enhance the disturbance-rejection performances. These controls are subsequently applied to the case in which only the sensor outputs are available, and they are noisy. A finite number of sensors is assumed. A Kalman filter is designed to estimate the state on the assumption of zeromean Gaussian white plant and measurement noise. In the real situation, controls are applied to the original plant rather than the linearized model, so that the Linear Quadratic Gaussian (LQG) control combined with robustness recovery methods is tested on the plant. Due to difficulties in implementing a Kalman filter, a Maximum Likelihood Estimator (MLE) is proposed. A numerical example illustrates the approach.Ph. D.
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Qin, Jinna. "Commande hybride position/force robuste d’un robot manipulateur utilisé en usinageet/ou en soudage". Thesis, Paris, ENSAM, 2013. http://www.theses.fr/2013ENAM0058/document.
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La problématique traitée dans cette thèse concerne la commande de robots manipulateurs industriels légèrement flexibles utilisés pour la robotisation de procédés d'usinage et de soudage FSW. Le premier objectif est la modélisation des robots et des procédés. Les modèles développés concernant la cinématique et la dynamique de robots 6 axes à architecture série et à flexibilité localisées aux articulations. Les paramètres du modèle dynamique et les raideurs sont identifiés avec la méthode à erreur de sortie qui donne une bonne précision d'estimation. La norme relative du résidu du modèle après identification est de 3,2%. Le deuxième objectif est l'amélioration des performances de la robotisation des procédés. Un simulateur a été développé qui intègre le modèle dynamique du robot flexible, les modèles de procédés et le modèle du contrôleur de robot y compris les lois de commande en temps réel des axes et le générateur de trajectoires. Un observateur non-linéaire à grands gains est proposé pour estimer l'état complet du robot flexible ainsi que les efforts d'interaction. Ensuite, un compensateur basé sur l'observateur est proposé pour corriger les erreurs de positionnement en temps réel. La validation expérimentale sur un robot industriel Kuka, montre une très bonne estimation de l'état complet par l'observateur. Un soudage FSW précis grâce à la compensation en temps réel de la flexibilité du manipulateur a pu être effectué avec succèsThe problem addressed in this thesis concerns the control of industrial robot manipulators which are slightly flexible and used for machining and FSW processes. The first objective is to model the robots and processes. The developed models concern the kinematics and dynamics models of 6-axis robots with serial architecture and flexibility localized at joints. The dynamic model parameters and a part of the joint stiffnesses are identified with the approach of output error which gives a satisfy estimation accuracy. According to identification, the RMS residue of the model is 3.2%. The second objective is to improve the robotization performance of manufacturing processes. A simulator was developed that contains the dynamic model of the flexible robot, the process models and the model of the robot controller including control laws in real time of axes and the trajectory generator. A nonlinear high-gains observer is proposed to estimate the complete states of robot system as well as the operation wrenches. Then the observer-based compensator is proposed to correct the positioning errors in real time. The experimental validation of industrial robots shows a satisfactory estimating performance of the observer. A precise FSW welding owing to the real-time compensation for the flexibility of manipulator has been done successfully
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Dong, Yuan. "Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay". Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27126.
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In this thesis, a position control system for a single flexible-link flexible-joint (FLFJ) manipulator has been developed. It is presented in three parts: dynamic modeling and analysis, control system design, and experimental analysis of the designed control system. The assumed modes method and the Lagrange approach were combined to derive a dynamic model of the single FLFJ manipulator and then this model was linearized about zero deflection for both the flexible joint and the flexible link. The resulting linear dynamic model was used for the dynamic analysis and control system design. Equations of motion and their analytical solutions were derived for the single FLFJ manipulator at any rotation angle. The effects of the relative stiffness of the joint with respect to the link on the dynamic characteristics and open-loop responses of the single FLFJ manipulator were investigated based on the linear model. It was found that the higher order frequencies of the manipulator increased monotonically with the increments of the joint stiffness, while the lower order ones kept almost unchanged. This demonstrates that the higher order frequencies were more sensitive to the interaction between the flexible link and the flexible joint. A time-Delayed Feedback Signal (DFS) controller was applied to the single FLFJ manipulator and the effect of the time delay on the stability of the system was examined. (Abstract shortened by UMI.)
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Du, Zhenyu. "Position and force control of cooperating robots using inverse dynamics". Thesis, University of Bath, 2015. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721.
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Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controlled throughout the motion. The aim of this research is to develop an inverse dynamics model-based cooperative force and position control scheme for multiple robot manipulators. An extended definition of motion is proposed to include force demands based on a constrained Lagrangian dynamics and Lagrangian multipliers formulation. This allows the direct calculation of the inverse dynamics with both motion and force demands. A feedforward controller based on the proposed method is built to realise the cooperative control of two robots sharing a common load, with both motion and force demands. Furthermore, this thesis develops a method to design an optimal excitation trajectory for robot dynamic parameter estimation utilising the Schroeder Phased Harmonic Sequence. This method yields more precise and accurate inverse dynamics models, which result in better control. The proposed controller is then tested in an experimental set-up consisting of two robot manipulators and a common load. Results show that in general the proposed controller performs noticeably better position and force tracking, especially for higher speed motions, when compared to traditional hybrid position/force controllers.
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Stake, Derek. "HYBRID POSITION AND IMPEDANCE CONTROL OF A FORGING PROCESS". Cleveland State University / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=csu1367872396.
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Cohen, Moshe. "Application of an acceleration feedback algorithm to manipulator position control". Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63854.
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Wredenhagen, G. Finn (Gordon Finn). "Performance factors for fine end-point position control in robots". Thesis, McGill University, 1994. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=41788.
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This thesis is concerned with the factors that affect robot performance in positioning control. Specifically, we focus on the problem of fine end-point motion control of the robot end-effector about a nominal point where the linearized dynamics can be used. Performance is measured in the context of linear quadratic (LQ) theory.An LQ based task-space performance index for robots is proposed. Several existing robots are examined for various transient tasks using this index and for each an optimum operating location is found. A cheap control (i.e. large actuator energies) analysis is done. The limits to performance are determined (i.e. singular optimal control). An explicit solution to performance was determined and an examination of the computed-torque control law is done.
An LQ based piecewise linear control (PLC) law is derived that increases the LQ gain in a piecewise-constant manner as the system trajectory converges towards the origin. This law uses a succession of invariant sets of decreasing size and for each an associated LQ gain. The formulation gives rise to an iteration function whose solution is a fixed point. The development of the PLC law led to the unveiling of a number of key properties, namely that the solution to the algebraic Riccati equation is concave with respect to both the actuator weighting and the state weighting matrices. A time-varying extension of the PLC law and an overshoot control scheme are also derived.
Issues regarding state estimation problem are studied. Noise is introduced to account for model uncertainty. A transient and steady state Kalman filter analysis is done. Sensor issues are examined for robots. The Kalman filter is used to fuse joint sensor data, Cartesian position sensor data, and tachometer data to provide a single best estimate of the state and to eliminate position offsets due to model error.
Finally, the effects of unmodeled dynamics, model error, and non-linearities on performance are examined. A Kalman filter is used to eliminate bias positioning errors at the robot's end-effector. Performance-uncertainty curves are generated using a numerical convex optimization method when the system is subject to parametric uncertainty. Describing functions are used to examine the backlash non-linearity.
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Monteiro, Dionne Cavalcante. "Planejamento e rastreamento de trajetorias e controle de posição atraves de algoritmos geneticos e redes neurais artificiais". [s.n.], 2003. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260988.
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Orientador: Marconi Kolm MadridTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-10T09:28:57Z (GMT). No. of bitstreams: 1 Monteiro_DionneCavalcante_D.pdf: 1351119 bytes, checksum: e13d3adc10bf45c4ea22d6ef1b5a7117 (MD5) Previous issue date: 2003
Resumo: Neste trabalho os algoritmos genéticos e as redes neurais artificiais, técnicas de inteligência artificial, são empregadas para algumas das tarefas que podem ser realizadas por um braço de robô. Inicialmente os algoritmos genéticos são empregados para o controle de trajetória de um robô em um espaço de trabalho que possui a presença de um obstáculo. Operações como crossover e mutação são apresentadas, principalmente por estar-se tratando de trajetórias que são formadas por segmentos de retas. As redes neurais artificiais são testadas no controle direto de dois processos reais usados como paradigma: uma mesa XY e um pêndulo invertido acionado. Para tais processos, é utilizada uma estrutura bastante simplificada, onde a rede neural artificial fornece um ganho para o controlador proporcional que calcula o sinal de controle a ser aplicado. O erro do processo serve para treinar a rede neural sem ser considerado nenhum tipo de treinamento anterior, ou seja, todo o controle neural é executado em tempo real, além disso, uma função determina a taxa de aprendizagem do algoritmo back-propagation em função dos erro existentes nas malhas de controle dos processos. Como existem diversas variáveis para tais controladores neurais, foi também considerado que não existia a possibilidade de se definir o melhor controlador para um determinado processo. Para resolver tal problema, um algoritmo genético foi utilizado para designar qual o melhor controlador para um determinado espaço de trabalho no qual o número de neurônios das camadas de entrada e escondida, constantes de configuração do controlador, e a topologia da rede são otimizados dentro do espaço considerado pelo algoritmo. Todos os resultados importantes obtidos são mostrados, visando mostrar que as técnicas de inteligência artificial podem ser aplicadas à robótica com a vantagem de diminuir, principalmente, o tempo de planejamento de tarefas, tais como: planejamento de trajetória, rastreamento de trajetória, e projeto de controladores eficientes
Abstract: In this work genetic algorithms and artificial neural networks are used for robot arm tasks. Initially, the genetic algorithms are employed to control the trajectory of a robot arm in a limited workspace with an obstacle. Operations like crossover and mutation are presented to manipulate trajectories determined by line segments. Artificial neural networks are tested to control two realtime processes: a XY-Table and an inverted pendulum. For these processes, it is used a simple structured control where the neural network provides a gain to the proportional control, generating a control signal to the processes. The process error is used for training a neural network, without any kind of off-line training, i.e., the training of the neural network is in realtime. Also, a function determines the learning rate of the back-propagation algorithms as a function of the errors of the process control. Since the neural controller have multiple variables, it was not possible to define an optimal controller for the processes. To solve this problem, a genetic algorithm was used to determine the best neural controller in the workspace used, where the number of neurons in the input and hidden layers, constants to configure the neural controller and the network topology are optimized. The results obtained show that artificial intelligent techniques can be applied to robotics reducing the time of task planning, like: trajectory planning, track planning and the project of efficient controllers
Doutorado
Engenharia de Computação
Doutor em Engenharia Elétrica
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Obergfell, Klaus. "End-point position sensing and control of flexible multi-link manipulators". Diss., Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/18198.
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Wu, Gang. "Adaptive position and force control of hydraulic robots, theory, simulation and experiments". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq23554.pdf.
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Sharafian, Ardakani Ehsan [Verfasser]. "Cooperative Motion and Position Control of a Swarm of Mobile Robots / Ehsan Sharafian Ardakani". Düren : Shaker, 2020. http://d-nb.info/1217163999/34.
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Shelley, Brett. "Inverse position solutions, workspace, and resolved rate control of all possible 3-DOF parallel planar manipulators". Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178042286.
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Cavalcanti, santos João. "Model Predictive Tracking Control of Cable-Driven Parallel Robots : From Concept to Real-Time Validation". Thesis, Montpellier, 2020. http://www.theses.fr/2020MONTS017.
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Cette thèse traite de la commande pour le suivi de position des Robots Parallèles à Câbles (RPCs) dans le cadre du projet Hephaestus (projet européen H2020). L'objectif principal de ce projet est de développer une solution robotique pour l'installation de modules de panneaux vitrés sur les façades de bâtiments. Une exigence primordiale est que le RPC fonctionne en toute sécurité à proximité des contraintes du modèle mathématique du système. Il a été observé que les stratégies de l'état de l'art de commande ne répondent pas à cette exigence car elles ne sont pas en mesure de considérer les contraintes du système comme faisant partie intégrante du contrôleur principal.La commande prédictive étant l'une des rares stratégies de commande capable de gérer explicitement les contraintes du système, cette thèse se concentre sur la conception et l'analyse de schémas de commande prédictive pour la poursuite de trajectoire des RPC. Deux approches sont donc proposées : une commande prédictive linéaire (CPL) et une commande prédictive non linéaire (CPNL).La CPL proposée est basée sur une approximation linéaire du modèle dynamique des RPCs. Les tests expérimentaux ont prouvé que la CPL peut fonctionner en toute sécurité près des contraintes du système. Cette capacité est validée en appliquant une trajectoire désirée qui ne peut être effectuée sans violer les limites de tensions des câbles. Dans ce cas, la CPL proposée est capable d'effectuer un suivi de trajectoire le mieux possible tout en satisfaisant les limites de tensions dans les câbles. En revanche, les schémas existants ne sont pas capables de répondre convenablement dans de telles conditions. La comparaison de comportement entre la CPL linéaire proposée et une commande de l'état de l'art permet de conclure que la capacité à fonctionner à proximité des contraintes du système représente un résultat important lié à la sécurité de fonctionnement des RPC.Néanmoins, il a été noté que la CPL peut être sensible à des non-linéarités significatives. La précision de suivi en position peut notamment se dégrader le long de trajectoires présentant des vitesses relativement élevées. En conséquence, une CPNL capable de prendre en compte les non-linéarités du système est proposée. Contrairement à son homologue linéaire, la stabilité du système en boucle fermée résultant a pu être analysée. Des détails sur sa mise en œuvre numérique sont présentés et l'amélioration des performances est validée par des simulations.Outre la conception de commandes prédictives, cette thèse présente également des contributions liées au modèle cinématique des RPC et à la commande des tensions des câbles. Un algorithme de résolution du modèle géométrique direct prenant en compte la cinématique des poulies est proposé. Une expression explicite de la cinématique a permis la mise en œuvre d'une solution numérique basée sur une méthode de moindres carrés non linéaire. Ses capacités de convergence ont été évaluées expérimentalement et numériquement.Les algorithmes et schémas de commande proposés dans cette thèse ont été implémentés dans un logiciel industriel, ce qui démontre l'applicabilité potentielle des solutions proposées dans des applications commercialesThis thesis addresses the position tracking control of Cable-Driven Parallel Robot (CDPR) within the framework of the European H2020 project named Hephaestus. The main goal of this project is to develop a robotic solution for the installation of curtain wall modules on building facades. An essential requirement is that the CDPR should safely operate close to the system constraints. It was observed that state-of-the-art control schemes do not cope with this requirement. The control strategies used in the design of such schemes are not able to consider system constraints as an integral part of the main controller.Since Model Predictive Control (MPC) is one of the few control strategies able to explicitly handle the system constraints, this thesis is focused on the design and analysis of MPC schemes for position tracking of CDPRs. Two approaches are then proposed: a linear MPC and a nonlinear MPC (NMPC).The proposed linear MPC is based on a linear approximation of the CDPR dynamic model. The Experimental tests proved that the linear MPC may safely operate close to system constraints. This capability is validated by applying a desired trajectory that cannot be performed without violating the cable tension limits. In this case, the proposed linear MPC scheme is able to perform a trajectory tracking as best as possible while satisfying the cable tension bounds. Conversely, state-of-the-art control schemes are not able to suitably respond under such conditions. Comparing the behavior obtained with the proposed linear MPC and a state-of-the-art control scheme, one may conclude that the capability to operate close to the system constraints represents an important result related to the safety of the operation of CDPRs.Nevertheless, it was noted that the proposed linear MPC may be sensitive to increased nonlinearities. The precision of positioning tracking may be deteriorated for trajectories presenting relatively high velocities. Accordingly, an NMPC able to consider the system nonlinearities is proposed. In contrast to its linear counterpart, the stability of the resulting closed-loop system could be analyzed. Details on its numerical implementation are presented and the improved performance is validated through simulations.In addition to the design of MPC control schemes, this thesis also presents contributions related to the kinematic model of CDPRs and the control of cable tensions. A Forward Kinematic (FK) algorithm considering the pulley kinematics is proposed. An explicit expression for the differential kinematics enabled the implementation of a numerical solution of the nonlinear least-squares system representing the FK problem. Its convergence capabilities are evaluated experimentally and numerically.It is worth noting that the algorithms and control schemes proposed in this thesis were implemented in an industrial software, which demonstrates the applicability of the proposed solutions in commercial applications
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Sood, Gaurav. "Simulation and control of a hip actuated robotic model for the study of human standing posture". Thesis, McGill University, 2007. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99794.
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Human stance in quiet mode, relies on feedback from eyes, skin, muscles and the inner ear and the control produced is a combination of strategies which enable a person to stay standing. This thesis presents the simulation and control of a hip actuated robotic model of human standing posture.The first part of the thesis is devoted to recalling basic elements of the human balance system and to describe the balance strategies it uses to maintain an upright stance. Of the strategies presented, we consider the hip strategy which motivated the formulation of a hip actuated robot. An investigation into the control of nonlinear underactuated robots by linear controllers is done to verify the range and efficiency of the controlled system.
The second part of the thesis includes the investigation of two simplified models of the robot. Results using linear state feedback control are presented. The two models used are compared to clarify the use of one over the other.
We found that for linear controls, the size of the region of convergence decreased underactuated systems of increasing complexity. For our four degrees of freedom robot, the region of convergence is of 2.3 degrees for the actuated joints and of 1 degree for the unactuated joints. Our system is Lyapunov stable when the fully simplified model is assumed.
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Sa, Inkyu. "Shared autonomy for close-quarters navigation and control of a VTOL platform". Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/77431/4/Inkyu_Sa_Thesis.pdf.
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This thesis presents an approach for a vertical infrastructure inspection using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structure such as light and power distribution poles is a difficult task. There are challenges involved with developing such an inspection system, such as flying in close proximity to a target while maintaining a fixed stand-off distance from it.
The contributions of this thesis fall into three main areas. Firstly, an approach to vehicle dynamic modeling is evaluated in simulation and experiments. Secondly, EKF-based state estimators are demonstrated, as well as estimator-free approaches such as image based visual servoing (IBVS) validated with motion capture ground truth data. Thirdly, an integrated pole inspection system comprising a VTOL platform with human-in-the-loop control, (shared autonomy) is demonstrated. These contributions are comprehensively explained through a series of published papers.
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Li, Songwei. "The Design and Implementation of an Effective Vision-Based Leader-Follower Tracking Algorithm Using PI Camera". Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc862851/.
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The thesis implements a vision-based leader-follower tracking algorithm on a ground robot system. One camera is the only sensor installed the leader-follower system and is mounted on the follower. One sphere is the only feature installed on the leader. The camera identifies the sphere in the openCV Library and calculates the relative position between the follower and leader using the area and position of the sphere in the camera frame. A P controller for the follower and a P controller for the camera heading are built. The vision-based leader-follower tracking algorithm is verified according to the simulation and implementation.
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Marchi, Tommaso. "Position and singularity analysis of a class of n-RRR planar parallel robots". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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Parallel robots with configurable platform are a class of parallel robots in which the end-effector is a closed-loop flexible chain of rigid links. We have developed a 5-RRR planar mechanism that features a flexible 5-bar chain as end-effector. The angles between adjacent sides of this chain can be controlled through the actuated revolute joints attached to the base of the mechanism. This thesis consists in the geometrical design of n-RRR planar parallel robots and in the study of the Direct Kinematics for 4-, 5- and 6-RRR mechanisms using Bilateration, a method that greatly reduces the computational time for the kinematic analysis. The next step is the singularity analysis for the n-RRR robot architectures; finally, in the last part of this thesis we present the results from experimental tests that have been performed on a 5-RRR robot prototype.
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Malzahn, Jörn [Verfasser], Torsten [Akademischer Betreuer] Bertram y Burkhard [Gutachter] Corves. "Modeling and control of multi-elastic-link robots under gravity : from oscillation damping and position control to physical interaction / Jörn Malzahn. Betreuer: Torsten Bertram. Gutachter: Burkhard Corves". Dortmund : Universitätsbibliothek Dortmund, 2014. http://nbn-resolving.de/urn:nbn:de:101:1-201605191591.
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Malzahn, Jörn Verfasser], Torsten [Akademischer Betreuer] [Bertram y Burkhard [Gutachter] Corves. "Modeling and control of multi-elastic-link robots under gravity : from oscillation damping and position control to physical interaction / Jörn Malzahn. Betreuer: Torsten Bertram. Gutachter: Burkhard Corves". Dortmund : Universitätsbibliothek Dortmund, 2014. http://d-nb.info/1100692517/34.
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Moberg, Stig. "On Modeling and Control of Flexible Manipulators". Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10463.
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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.
This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.
The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.
The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.
Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.
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Li, Ying. "Analyse dynamique des systèmes multicorps flexibles et contrôle des robots déformables". Châtenay-Malabry, Ecole centrale de Paris, 1995. http://www.theses.fr/1995ECAP0464.
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Cette thèse comporte trois parties. La premiere partie est consacrée au développement des équations dynamiques des systèmes multicorps flexibles. En vue d'établir les équations d'un tel système, deux approches principales sont mises en oeuvre. Ces approches peuvent être appelées approche en coordonnées cartesiennes et approche en coordonnées articulaires. La seconde partie concerne la linéarisation du système équations dynamiques non linéaire ainsi établi. Nous proposons une procédure simple pour réaliser recursivement cette linéarisation en utilisant l'approche en coordonnées articulaires. L'avantage de cette procédure tient à la possibilité d'un traitement systématique des variables de mouvement rigides et flexibles dans une notation unifiée qui permet le développement d'opérateurs formels dérivation conçus spécifiquement pour cette tâche. La méthode simplifié à la fois la formulation théorique et la programmation et permet un calcul plus rapide. La troisieme partie traite de l'utilisation des résultats précédents en vue du contrôle dynamique. En ce qui concerne le contrôle en position. Quelques resultats préliminaires sur le contrôle de la trajectoire de l'effecteur d'un robot multibras sont présentes, mettant en oeuvre une loi généralisée de contrôle découpe. Les performances du contrôleur sont évaluées. Les résultats de la simulation présentent une bonne convergence vers la trajectoire présente. En ce qui concerne le contrôle en force. Le problème du contrôle simultané en force et position pour un robot, avec contact entre l'effecteur et l'environnement rigide est analyse. Des contrôleurs en position et en force peuvent être definis
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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter". Doctoral thesis, Universitätsbibliothek Chemnitz, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-197679.
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Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziertThis work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments
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Abiakel, Elio. "Development of an undergraduate laboratory course in control systems". Columbus, Ohio : Ohio State University, 2003. http://rave.ohiolink.edu/etdc/view?acc%5fnum=osu1079732873.
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Thesis (M.S.)--Ohio State University, 2003. Thesis (Ph. D.)--Ohio State University, 2003.Advisor: Stephen Yurkovich, Dept. of Electrical Engineering. Title from first page of PDF file. Document formatted into pages; contains p.; also contains graphics (some col.). Includes abstract and vita. Includes bibliographical references (leaf 187).
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Xin, Ming. "Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot". Ohio University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249.
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Mohy, El Dine Kamal. "Control of robotic mobile manipulators : application to civil engineering". Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC015/document.
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Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches de ponçage, telles que le désamiantage, sont toujours effectuées par des opérateurs humains utilisant des outils électriques et hydrauliques classiques. Cependant, avec la diminution du coût relatif des machines par rapport au travail humain et les réglementations sanitaires strictes applicables à des travaux aussi risqués, les robots deviennent progressivement des alternatives crédibles pour automatiser ces tâches et remplacer les humains.Dans cette thèse, des nouvelles approches de contrôle de ponçage de surface sont élaborées. Le premier contrôleur est un contrôleur hybride position-force avec poignet conforme. Il est composé de 3 boucles de commande, force, position et admittance. La commutation entre les commandes pourrait créer des discontinuités, ce qui a été résolu en proposant une commande de transition. Dans ce contrôleur, la force de choc est réduite par la commande de transition proposée entre les modes espace libre et contact. Le second contrôleur est basé sur un modèle de ponçage développé et un contrôleur hybride adaptatif position-vitesse-force. Les contrôleurs sont validés expérimentalement sur un bras robotique à 7 degrés de liberté équipé d'une caméra et d'un capteur de force-couple. Les résultats expérimentaux montrent de bonnes performances et les contrôleurs sont prometteurs. De plus, une nouvelle approche pour contrôler la stabilité des manipulateurs mobiles en temps réel est présentée. Le contrôleur est basé sur le « zero moment point », il a été testé dans des simulations et il a été capable de maintenir activement la stabilité de basculement du manipulateur mobile tout en se déplaçant. En outre, les incertitudes liées à la modélisation et aux capteurs sont prises en compte dans les contrôleurs mentionnés où des observateurs sont proposés.Les détails du développement et de l'évaluation des différents contrôleurs proposés sont présentés, leurs mérites et leurs limites sont discutés et des travaux futurs sont suggérésDespite the advancements in industrial automation, robotic solutions are not yet commonly used in the civil engineering sector. More specifically, grinding tasks such as asbestos removal, are still performed by human operators using conventional electrical and hydraulic tools. However, with the decrease in the relative cost of machinery with respect to human labor and with the strict health regulations on such risky jobs, robots are progressively becoming credible alternatives to automate these tasks and replace humans.In this thesis, novel surface grinding control approaches are elaborated. The first controller is based on hybrid position-force controller with compliant wrist and a smooth switching strategy. In this controller, the impact force is reduced by the proposed smooth switching between free space and contact modes. The second controller is based on a developed grinding model and an adaptive hybrid position-velocity-force controller. The controllers are validated experimentally on a 7-degrees-of-freedom robotic arm equipped with a camera and a force-torque sensor. The experimental results show good performances and the controllers are promising. Additionally, a new approach for controlling the stability of mobile manipulators in real time is presented. The controller is based on zero moment point, it is tested in simulations and it was able to actively maintain the tip-over stability of the mobile manipulator while moving. Moreover, the modeling and sensors uncertainties are taken into account in the mentioned controllers where observers are proposed. The details of the development and evaluation of the several proposed controllers are presented, their merits and limitations are discussed and future works are suggested
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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter". Doctoral thesis, Universitätsverlag der Technischen Universität Chemnitz, 2014. https://monarch.qucosa.de/id/qucosa%3A20403.
Texto completoResumen
Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt.
Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern.
In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden.
Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt.
Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert.This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments.
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Page, Solenne. "Commande d'un déambulateur robotisé par la caractérisation posturale". Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS221.
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Le maintien de la mobilité des personnes âgées est un point essentiel pour leur permettre de rester autonome. Cette thèse propose de nouvelles approches et solutions pour trois types d'aides pour les personnes utilisant un déambulateur : l'aide à la prévention des chutes, l'aide au diagnostic et suivi des pathologies associées à la mobilité et l'assistance robotisée aux déplacements. Dans le cadre de la prévention des chutes, cette thèse présente un algorithme de détection des déséquilibres, la majorité des études existantes se portant sur la détection des chutes. Il permet une détection d'un déséquilibre en 600 ms et a été testé avec des sujets sains. Concernant l'aide au diagnostic et au suivi des pathologies associées à la mobilité, cette thèse présente un outil d'analyse de la marche portatif et de prix relativement faible (capteur de type kinect). La précision de notre solution est supérieure à celle des solutions de la littérature n'utilisant pas de marqueurs. Notre algorithme permet une analyse de la marche en temps réel. Des expériences impliquant des sujets jeunes et âgés ont été mises en place pour valider notre solution. L'assistance robotisée aux déplacements a été étudiée à travers le développement du prototype RoAM (Robot d'Assistance à la Mobilité) et de sa commande pour la déambulation. Trois commandes ont été testées avec des sujets sains sur un parcours écologique : une commande basée sur la position (développée dans cette thèse), une commande en admittance et une commande combinant les deux premières. Tous les sujets ont réussi à terminer le parcours avec les trois commandes. La fusion des commandes en effort et en position semble la plus prometteuseMobility is a key factor for maintaining the autonomy of the elderly. This thesis proposes new approaches and solutions for three kinds of assistance in the field of smart walkers: fall prevention assistance; diagnosis and medical follow-up assistance; and mobility assistance. Towards preventing falls, this thesis presents an algorithm for detecting when balance is being lost (available literature mainly focuses on detecting falls, after it occured). Experiments involving healthy subjects show that our algorithm detects losses of balance within 600 ms. Towards assisting diagnosis and medical follow-up, this thesis proposes a portative and affordable device (kinect-like sensor) that offers a relevant tradeoff between portativity, affordability and precision (better precision than the existing literature on markerless diagnosis). Our solution achieves better precision than the existing literature on markerless diagnosis. Our algorithm enables real-time walking analysis. This solution is validated through experiences involving healthy and pathological elderly participants. Towards robotic assistance for mobility, this thesis presents a new prototype, which we called RoAM (Robot for Assisting Mobility), and approaches for controlling it. Experiments on an ecological path included three modes of control: one based on user position (developped in this thesis), another one on interaction forces, and the last one combining the two previous modes. All participants could complete the experiments with all the three modes. We also show that the most promising track seems to consist of a fusion of a force-based control with a position-based control
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Majors, Michael David. "Iterative robot control". Thesis, University of Cambridge, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.625008.
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Benali, Khairidine. "Commande d'un système robotisé de type torse humanoïde pour le transport de colis de taille variable". Thesis, Normandie, 2019. http://www.theses.fr/2019NORMLH22.
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Dans les entrepôts logistiques, les moyens robotiques sont de plus en plus fréquemment utilisés pour réduire les temps non productifs, déplacer des charges lourdes, limiter les risques d'erreurs pendant les opérations de préparation de commandes (picking, de/palettisation,...), faire des inventaires (drones,...) et améliorer les conditions de travail des opérateurs humains. Bien que l'homme reste incontournable pour les tâches de préparation de commande à cause de son adresse et de son aptitude à s'adapter à des tâches toujours différentes, l'augmentation de la productivité est souvent synonyme d'augmentation de la pénibilité au travail (troubles musculo-squelettiques,...). Les travaux de recherche présentés dans cette thèse sont une contribution à la robotisation des opérations de dé/palettisation pour des colis de taille variable qui exigent une grande polyvalence du système de préhension. La solution innovante que nous proposons consiste à utiliser un torse humanoïde équipé de deux bras manipulateurs munis de préhenseurs adaptés à la saisie d'objets de taille et de masse différentes. La principale contribution porte sur la conception d'une loi de commande hybride Force/Position-Position avec commutations, estimation du glissement de l'objet, prise en compte de la compliance et correction de la force de serrage pendant la manipulation. Cette solution suppose d'assurer la collaboration entre les deux bras manipulateurs et de s'adapter à l'environnement matériel et humain (cobotique)In logistics warehouses, automation in the sense of robotization is frequently being employed to cut down production times by efficiently managing the processes of picking heavy loads, place, pack and palletize, while reducing the risks and errors to improve the working conditions of human operators along the way. The flexibility of human is fundamental for order preparation owing to adaptive skills for task variation, but at the same time increasing productivity is complemented with fatigue (musculoskeletal disorders). In this context the research presented in this thesis is a contribution in the robotization of palletization operations requiring exceptional versatility of manipulation and gripping. We have proposed an innovative solution of utilizing a humanoid torso equipped with two manipulator arms with adaptive grippers to grasp and hold the objects of variable size and mass. The main contribution of research is the development of a hybrid Force / Position-Position control law with commutation and estimation of the object surface slip, while taking into account the compliance and correction of the clamping force during handling. The execution of the control involves the collaboration of the two arms for coordinated manipulation and adaptation to the material and the human environment (cobotics)
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Dunkin, William Mack. "Ultrasonic position reference systems for an autonomous sentry robot and a robot manipulator arm". Thesis, Monterey, California. Naval Postgraduate School, 1985. http://hdl.handle.net/10945/21596.
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Wang, Zongyao. "Distributed robot flocking control". Thesis, University of Essex, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.499765.
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hsu, chia-teng y 許家騰. "Hybrid Position/Force control of Robot Manipulator Using Position Command". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/38523255522857267600.
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碩士國立臺灣科技大學
纖維及高分子工程系
90
The force control is very an important course in recent industrial robots. The Robot actuators are usually used at the position mode. This article applied the algorism “Hybrid position / force control theorem” and control a 2-dof direct drive SCARA robot base on the position mode of the actuators. In order to omit the manipulator''s dynamic model, the actuators of the manipulators are set to the position control mode. The control scheme modifies the position command for force control against constraint environment surface.The end effectors against constraint environment surface will generate feedback force. Finally, we will show results of simulation and experiment by using PI controller.
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Liao, Chen-Kai y 廖振凱. "Improvement of Position Control for Vision Robot". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/71290776103688056464.
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碩士大同工學院
機械工程學系
84
Robot controllers using the vision sensor for feedback can effectively elimenate the position error due to the model inaccuracy, but the process of the adjustment is time-consuming. To improve this problem, an intelligent vision-control strategy for robot position control has been proposed. First, a fuzzy controller is used to correct the position error due to the model inaccuracy. Then,a neural network is trained to learn the model error and used in combination with the fuzzy controller. To test the performance of the proposed strategy, the peg-in- hole insertion has been carried out. The experiment results show that the method is capable of inserting the peg-in-hole task accurately and quickly, and is robust to the position and orientation changes of the robot base and the camera.
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Yang, Ruei-Lin y 楊瑞麟. "Adaptive Robot Force Control with Position Servos". Thesis, 1997. http://ndltd.ncl.edu.tw/handle/61810867309433208912.
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碩士大同工學院
機械工程學系
85
To do force control with position servos manipulator has problemsfor providing proper input commands for the robot system to exertproper contact force. One is to convert the required forces into motion commands of the end-effector. It is related to the stiffness of robot arm, and the relative stiffness between the robot arm and environments. To solve these problems, we propose an adaptive fuzzy force control system that could learn the environment stiffness based on the robot stiffness model. The experimental results show that for different environments and different poses of the robot arm, the proposed control systemcan achieve the desired behaviors after learning.
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Lu, Zhen-Zhong y 呂振忠. "Robot Force/Position Control Using Sliding Mode Theory". Thesis, 1998. http://ndltd.ncl.edu.tw/handle/30538603380527651604.
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碩士國立交通大學
電機與控制工程學系
86
The role of robots is getting important in engineering. Industrial robots have gained a very wide popularity as essential components for the realization of automated manufacturing systems. Lots jobs assigned to robot demand a dynamic interaction , so called constrained motion, with the environment. To effectively operate a robotic manipulator, the interacting force between the robot and the environment should be accommodated rather than rejected. A robust force/position controller of a robotics manipulator without estimating the environment stiffness is proposed in this thesis. The constrained behavior has been analyzed to make some suitable assumptions of environment model and contact conditions. The presented control scheme without reaching phase is able to achieve excellent position and force with unknown environment stiffness. This controller is laconic and easy to implement. Simulation results are included to demonstrate the success of the proposed controller.
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Chen, Jing-Wen y 陳敬文. "Position and Impedance Control Based Humanoid Robot System". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/33944861769023611431.
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碩士國立臺灣大學
機械工程學研究所
98
Since the impedance based control law is similar to the control method that a human uses for motion and locomotion, this thesis attempts to study PID position and impedance control for physical environment and humanoid robot interaction and construct the bottom layer control algorithm for the robot limbs. Firstly, we validate the PID position control on one degree of freedom (D.O.F.) test platform. Moreover, the platform is actuated by a new mechanical/control actuator: SASA (Sensorless Adaptive Stiffness Actuator). SASA consists of differential and released mechanism. In normal operation, control of SASA is as the general servo actuator but the preload of SASA is limited by sensing spring adjustment. While sensing spring detects the unexpected reaction force and deflects under the threshold, which will trigger the released mechanism, the transmission torque will be immediately cut off and only light weight mechanism collides with the environment or human. The experimental results show that the SASA reduces the static interaction force and dynamic collision, which is measured by head injury criterion (HIC). The motion speed of test platform is controlled by an adaptive impedance generator. This generator can set speed and speed range of the test platform to increase operation efficiency and keep the safety characteristics. In addition, integral gain is added to eliminate the steady state error but this controller is not good for safety. The reaction torque observer reduces the ripple of torque and smoothes the output of velocity. The derivative gain decreases overshoot and resonance when the mechanism is low damping system, such as low reduction gear ratio. Afterwards, we design a humanoid robot with 32 D.O.F. which are actuated by direct current (DC) brushless motors with Harmonic Drives. Since the material of robot structure is aluminum and it uses sheet metal working, the robot is quite light and firm. The communication of the robot based on CAN Open is better and faster than RS232. Moreover, 6-axis force sensor and gyro sensor is mounted on the feet and trunk, respectively. In control algorithm, this thesis focuses on PID position and impedance control for the robot’s leg. The control algorithm comprises PID position and impedance control. PID position control is simpler modeling and greater efficiency than impedance control. Therefore, when the leg no contacts the environment, PID position control is suitable for control the leg. We combine Genetic algorithm and Nelder Mead simplex method (GA and NM) to determine controller parameters of PID position control. On the other hand, impedance control is implemented to intensively protect the leg and environment when the leg contacts the ground. Since PID position control and impedance control methods have some complementary property, we combine the two methods and switch the control law according the priority of position tracking and stiffness demand. To verify the control algorithm, we construct one leg physical model and fix the waist of the leg in the ground. The simulation results show that we can determine the good PID parameters for position tracking under PID position control according to the GA and NM method. In addition, when the leg contacts the ground, the interaction force under the impedance control is smaller than PID position control and impedance gain is easier determination than PID position control. Finally, we design walking pattern combined the control algorithm to static walking simulation. When the single support phase, swing leg and support leg is controlled by PID position control and impedance control, respectively. The simulation results show that swing leg can well track the joint trajectories and support leg can maintain the needed stiffness with environment and decrease the output torque which is induced by following error. In the future, we combine the control algorithm and ZMP based stabilization controller to guarantee dynamic walking stable.
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Lin, Chan-Li y 林展立. "Application of Neural Network in Robot Position Control". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/98915269969406558186.
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李孟昌. "Intelligent Position Control of Single-Link Flexible Robot Arm". Thesis, 2001. http://ndltd.ncl.edu.tw/handle/93940666797052237719.
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碩士元智大學
電機工程研究所
89
Abstract This thesis proposes an intelligent optimal control system for a single-link flexible robot arm driven by a permanent magnet (PM) synchronous servomotor. First, a PM synchronous servomotor is implemented to drive a single-link flexible robot arm forming a nonlinear motor-mechanism coupling system. Then, the dynamic model of a flexible robot arm with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. The states of the nonlinear system, which comprises the bending and torsion vibration, are assumed to be unavailable for measurement in this thesis. Moreover, a robust sliding-mode neural-network control (RSMNNC) system is proposed to control the motor-mechanism coupling system for periodic motion. However, the prior knowledge of the controlled plant are required in the proposed RSMNNC system. In addition, an intelligent optimal control system is designed to control the motor-mechanism coupling system to improve the shortcoming of the RSMNNC system. In the intelligent optimal control system, a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Furthermore, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena in the control efforts. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. The effectiveness of the proposed control schemes is verified by both the simulated and experimental results.
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Lin, Wei-Hsiu y 林唯修. "Development and Position Control of Six-Axis robot arm". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/25124278215569373443.
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碩士國立臺灣科技大學
高分子系
97
As the progress, people have developed numerous types of robots to meet different demands. Nothing more than speed, precision, and the workspace are the main functions we will stress on robots. This paper aims at building up a high-speed and high-precision robot arm. We design joint components basing on the target functions. By estimating the required torque, we choose the suitable motors and harmonic drivers. Deriving the kinematics and differential kinematics formula of the robot to control the robot arm, and change the posture of the robot arm. Then, using tracking plan, we can move robot arm smoothly through the continuous path. By statics, we estimate the torque that each joint driver need to export to maintain the balance state, when the robot arm stays in specific posture. Finally, through position control experiment to prove the functions we design.