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Добірка наукової літератури з теми "POSITION CONTROL OF ROBOT"

Автор: Grafiati
Опубліковано: 11 вересня 2023

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Статті в журналах з теми "POSITION CONTROL OF ROBOT"

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Zhang, Liang, Yaguang Zhu, Feifei Zhang, and Shuangjie Zhou. "Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction." Journal of Robotics 2020 (September 25, 2020): 1–9. http://dx.doi.org/10.1155/2020/8896396.

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Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain. These robots need to constantly adjust the position-posture of its body to move stalely and flexibly. However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground. Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper. Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment. First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis. Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out. Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification. Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end. A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.
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Pană, Cristina, Cristian Vladu, Daniela Pătraşcu-Pană, Florina Besnea (Petcu), Çtefan Cismaru, Andrei Trăşculescu, Ionuţ Reşceanu, and Nicu Bîzdoacă. "Position control for hybrid infinite-continuous hyper-redundant robot." MATEC Web of Conferences 343 (2021): 08009. http://dx.doi.org/10.1051/matecconf/202134308009.

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This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.
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Park, Hwi-Geun, and Hyun-Sik Kim. "Mechanism Development and Position Control of Smart Buoy Robot." Journal of Ocean Engineering and Technology 35, no. 4 (August 31, 2021): 305–12. http://dx.doi.org/10.26748/ksoe.2021.043.

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There is a gradual increase in the need for energy charging in marine environments because of energy limitations experienced by electric ships and marine robots. Buoys are considered potential energy charging systems, but there are several challenges, which include the need to maintain a fixed position and avoid hazards, dock with ships and robots in order to charge them, be robust to actions by birds, ships, and robots. To solve these problems, this study proposes a smart buoy robot that has multiple thrusters, multiple docking and charging parts, a bird spike, a radar reflector, a light, a camera, and an anchor, and its mechanism is developed. To verify the performance of the smart buoy robot, the position control under disturbance due to wave currents and functional tests such as docking, charging, lighting, and anchoring are performed. Experimental results show that the smart buoy robot can operate under disturbances and is functionally effective. Therefore, the smart buoy robot is suitable as an energy charging system and has potential in realistic applications.
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Su, Liying, Lei Shi, and Yueqing Yu. "Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback." Journal of Robotics 2009 (2009): 1–8. http://dx.doi.org/10.1155/2009/214154.

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This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.
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Handayani, A. S., N. L. Husni, A. B. Insani, E. Prihatini, C. R. Sitompul, S. Nurmaini, and I. Yani. "Robot Position Control using Android." Journal of Physics: Conference Series 1198, no. 5 (April 2019): 052002. http://dx.doi.org/10.1088/1742-6596/1198/5/052002.

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Nugraha, Sapta. "Sistem Kendali Navigasi Robot Manual." JTEV (Jurnal Teknik Elektro dan Vokasional) 5, no. 1.1 (September 25, 2019): 91. http://dx.doi.org/10.24036/jtev.v5i1.1.106153.

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The purpose of this study is to control the robot's navigation manually and determine the coordinate position and movement patterns of the manual robot. This study uses GPS to determine the position of coordinates and patterns of manual robot movements. Manual robot navigation control systems use wireless joysticks and use of omni wheels on manual robot mechanics to maneuver movements in all directions. The control device uses the Serial Peripheral Interface (SPI) communication by utilizing the nRF24L01 communication device on the 2.4 GHz RF band. The results showed that the position and pattern of manual robot navigation movements can be known based on the coordinate points on the route taken. In addition, wireless joysticks can control manual robots to maneuver the movements of manual robots in all directions.
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Kazerooni, H. "Compliance Control and Stability Analysis of Cooperating Robot manipulators." Robotica 7, no. 3 (July 1989): 191–98. http://dx.doi.org/10.1017/s0263574700006044.

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SUMMARYThe work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.
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Li, Zhaolu, Ning Xu, Xiaoli Zhang, Xiafu Peng, and Yumin Song. "Motion Control Method of Bionic Robot Dog Based on Vision and Navigation Information." Applied Sciences 13, no. 6 (March 13, 2023): 3664. http://dx.doi.org/10.3390/app13063664.

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Анотація:
With the progress and development of AI technology and industrial automation technology, AI robot dogs are widely used in engineering practice to replace human beings in high-precision and tedious industrial operations. Bionic robots easily produce control errors due to the influence of spatial disturbance factors in the process of pose determination. It is necessary to calibrate robots accurately to improve the positioning control accuracy of bionic robots. Therefore, a robust control algorithm for bionic robots based on binocular vision navigation is proposed. An optical CCD binocular vision dynamic tracking system is used to measure the end position and pose parameters of a bionic robot, and the kinematics model of the controlled object is established. Taking the degree of freedom parameter of the robot’s rotating joint as the control constraint parameter, a hierarchical subdimensional space motion planning model of the robot is established. The binocular vision tracking method is used to realize the adaptive correction of the position and posture of the bionic robot and achieve robust control. The simulation results show that the fitting error of the robot’s end position and pose parameters is low, and the dynamic tracking performance is good when the method is used for the position positioning of control of the bionic robot.
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Massoud, A. T., and H. A. ElMaraghy. "AN IMPEDANCE CONTROL APPROACH FOR FLEXIBLE JOINTS ROBOT MANIPULATORS." Transactions of the Canadian Society for Mechanical Engineering 19, no. 3 (September 1995): 212–26. http://dx.doi.org/10.1139/tcsme-1995-0010.

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A nonlinear feedback impedance control approach is presented to control the position and/or force of flexible joints robot manipulators interacting with a compliant environment. A feedback linearizable fourth order model of the flexible joint robots interacting with that environment is constructed. In this model, the control input is related directly to the link position vector and its derivatives. A desired target Cartesian impedance is then specified for the end point of the flexible joints robot. A nonlinear feedback control law is derived to linearize the system and to impose the target impedance for the end point of the robot in the Cartesian space. The same controller is used when the robot is free (unconstrained) and when it interacts with an environment. Also, the input to the system, in both unconstrained and constrained motions, is the end point position and its derivatives. When in free motion, the robot will track the desired end-point position, but while in constrained motion, the desired end point position is used to obtain a desired force according to the specified impedance. An experimental two-link flexible joint robot manipulator, constrained by a straight wall, is used to evaluate the impedance control algorithm.
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10

Song, Zhifeng. "Sliding control method of marine ecological protection robot." Thermal Science 25, no. 6 Part A (2021): 4043–50. http://dx.doi.org/10.2298/tsci2106043s.

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Анотація:
In order to solve the problem of low control accuracy of the marine ecological protection robot in the route planning process during positioning, a new sliding control method is proposed. First, obtain the position information of the marine ecological protection robot, use the dynamic information measurement method to process the dynamic information, and extract the position tracking information. According to the needs of dynamic positioning and target path tracking, combined with the robot sliding control method, the global positioning of the marine ecological protection robot is designed. Experiments show that this method has high positioning accuracy for marine ecological protection robots, small positioning errors, good obstacle avoidance performance and strong dynamic positioning control capabilities.
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Дисертації з теми "POSITION CONTROL OF ROBOT"

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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 FEM
The 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, and 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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Книги з теми "POSITION CONTROL OF ROBOT"

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Center, Langley Research, ed. Robot position sensor fault tolerance. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1997.

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2

1936-, Aggarwal J. K., and United States. National Aeronautics and Space Administration., eds. Positional estimation techniques for an autonomous mobile robot: Final report. Austin, Tex: Computer and Vision Research Center, University of Texas at Austin, 1990.

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3

Zhen-Lei, Zhou, and United States. National Aeronautics and Space Administration., eds. Learning-based position control of a closed-kinematic chain robot end-effector. Washington, DC: Catholic University of America, Dept. of Electrical Engineering, 1990.

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4

Jer-Nan, Juang, and Langley Research Center, eds. Experimental robot position sensor fault tolerance using accelerometers and joint torque sensors. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1997.

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5

Lamon, Pierre. 3D-position tracking and control for all-terrain robots. Berlin: Springer, 2008.

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3D-position tracking and control for all-terrain robots. Berlin: Springer, 2008.

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7

Mutambara, Arthur G. O. A framework for a supervisory expert system for robotic manipulators with joint-position limits and joint-rate limits. [Cleveland, Ohio]: National Aeronautics and Space Administration, Lewis Research Center, 1998.

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Lamon, Pierre. 3D-Position Tracking and Control for All-Terrain Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-78287-2.

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Stirniman, Robert. U.S. market for position sensors, 1986-1991 (and interface electronics). [United States]: Motor Tech Trends, 1986.

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10

E, Cook George, and United States. National Aeronautics and Space Administration. Scientific and Technical Information Division., eds. A generalized method for automatic downhand and wirefeed control of a welding robot and positioner. [Washington, DC]: National Aeronautics and Space Administration, Scientific and Technical Information Division, 1988.

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Частини книг з теми "POSITION CONTROL OF ROBOT"

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Siciliano, Bruno, and Luigi Villani. "Advanced Force and Position Control." In Robot Force Control, 89–112. Boston, MA: Springer US, 1999. http://dx.doi.org/10.1007/978-1-4615-4431-9_5.

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Tamas, Levente, Gheorghe Lazea, Andras Majdik, Mircea Popa, and Istvan Szoke. "Position Estimation Techniques for Mobile Robots." In Robot Motion and Control 2009, 319–28. London: Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-985-5_29.

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Siciliano, Bruno. "Parallel Force/Position Control of Robot Manipulators." In Robotics Research, 78–89. London: Springer London, 1996. http://dx.doi.org/10.1007/978-1-4471-1021-7_9.

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Rönnau, Arne, Thilo Kerscher, and Rüdiger Dillmann. "Dynamic Position/Force Controller of a Four Degree-of-Freedom Robotic Leg." In Robot Motion and Control 2011, 117–26. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-2343-9_9.

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Maiti, Roshni, Kaushik Das Sharma, and Gautam Sarkar. "Angular Position Control of Two Link Robot Manipulator." In Studies in Systems, Decision and Control, 181–98. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-97102-1_6.

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Tetik, Halil, Rohit Kalla, Gokhan Kiper, and Sandipan Bandyopadhyay. "Position Kinematics of a 3-RRS Parallel Manipulator." In ROMANSY 21 - Robot Design, Dynamics and Control, 65–72. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_8.

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Murray, A. P., and F. Pierrot. "N-Position Synthesis of Parallel Planar RPR Platforms." In Advances in Robot Kinematics: Analysis and Control, 69–78. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_7.

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Nonami, Kenzo, Ranjit Kumar Barai, Addie Irawan, and Mohd Razali Daud. "Position-Based Robust Locomotion Control of Hexapod Robot." In Intelligent Systems, Control and Automation: Science and Engineering, 105–39. Tokyo: Springer Japan, 2013. http://dx.doi.org/10.1007/978-4-431-54349-7_5.

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Deng, Wenbin, Hyuk-Jin Lee, and Jeh-Won Lee. "Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators." In ROMANSY 18 Robot Design, Dynamics and Control, 57–64. Vienna: Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_6.

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Yamamoto, Ko, Ryo Yanase, and Yoshihiko Nakamura. "Maximal Output Admissible Set of Foot Position Control in Humanoid Walking." In ROMANSY 23 - Robot Design, Dynamics and Control, 43–51. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_6.

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Тези доповідей конференцій з теми "POSITION CONTROL OF ROBOT"

1

Ryu, Ji-Chul, Kaustubh Pathak, and Sunil K. Agarwal. "Control of a Passive Mobility Assistive Robot." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14701.

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Анотація:
In this paper, a control methodology for a mobility assistive robot is presented. There are various types of robots that can help the disabled. Among these, mobile robots can help to guide a subject from one place to the other. Broadly, the mobile guidance robots can be classified into active and passive type. From a user's safety point of view, passive mobility assistive robots are more desirable than the active robots. In this paper, a two-wheeled differentially driven mobile robot with a castor wheel is considered as the assistive robot. The robot is made to have passive mobility characteristics by a specific choice of control law which creates damper-like resistive forces on the wheels. The paper describes the dynamic model, the suggested control laws to achieve a passive behavior, and experiments on a mobile robot facility at the University of Delaware. From a starting position, the assistive device guides the user to the goal in two phases. In the first phase, the user is guided to reach a goal position while pushing the robot through a handle attached to it. At the end of this first phase, the robot may not have the desired orientation. In the second phase, it is assumed that the user does not apply any further pushing force while the robot corrects the heading angle. A control algorithm is suggested for each phase. In the second phase, the desired heading angle is achieved at the cost of deviation from the final position. This excursion from the goal position is minimized by the controller. This control scheme is first verified in computer simulation. Then, it is implemented on a laboratory system and the experimental results are presented.
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2

Khatib, Oussama, Peter Thaulad, Taizo Yoshikawa, and Jaeheung Park. "Torque-position transformer for task control of position controlled robots." In 2008 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2008. http://dx.doi.org/10.1109/robot.2008.4543450.

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3

Tsuno, Takaya, Tatsuhiro Morimoto, Hirokazu Matsui, Ken’ichi Yano, Toyohisa Mizuochi, Toshihiko Arima, and Shigeru Fukui. "Position Correcting Control System for the Vacuum Cleaning Robot Considering Hose Repulsion." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-11176.

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Анотація:
Abstract In our daily life, we live by using many resources such as electricity and gas energy, metal products such as automobiles. When imported iron ore or coal from overseas is transported by a conveyor, it drops from the conveyor due to vibration and strong wind during transportation. At present, people are doing cleaning directly using a vacuum car in the place where the track loader cannot enter. When a person performs cleaning work using a vacuum car, accidents such as getting caught in the mouth of a hose or a conveyor might. To cope with this problem, a vacuum robot that performs cleaning work on behalf of people are developed in previous work. However, since the hose for sucking iron ore and coal is hard, these robots cannot move freely. In this research, we developed a vacuum cleaning robot that can transport a hard and heavy hose with a small and light weighted robot. The developed vacuum cleaning robot independently controls the driving part and the suction part, whereby the robot can control the position of the suction port while suppressing the repulsive force of the hose.
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4

Dobrovodsky, K. "Quaternion position representation in robot kinematic structures." In International Conference on Control '94. IEE, 1994. http://dx.doi.org/10.1049/cp:19940193.

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Nurlaili, Ridha, Indra Adji Sulistijono, and Anhar Risnumawan. "Mobile Robot Position Control Using Computer Vision." In 2019 International Electronics Symposium (IES). IEEE, 2019. http://dx.doi.org/10.1109/elecsym.2019.8901619.

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Bayoume, Mustafa Osman, M. Abd El-Geliel, and Sohair F. Rezeka. "Supervisory position control for wheeled mobile robot." In 2016 20th International Conference on System Theory, Control and Computing (ICSTCC). IEEE, 2016. http://dx.doi.org/10.1109/icstcc.2016.7790670.

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Padhy, P. K., Takeshi Sasaki, Sousuke Nakamura, and Hideki Hashimoto. "Modeling and position control of mobile robot." In 2010 11th IEEE International Workshop on Advanced Motion Control (AMC). IEEE, 2010. http://dx.doi.org/10.1109/amc.2010.5464018.

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Filaretov, Vladimir F., and Alexandr V. Zuev. "Adaptive force/position control of robot manipulators." In 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2008. http://dx.doi.org/10.1109/aim.2008.4601641.

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Shi, Wang, and Wang Yao-nan. "Robot position control based on Hamiltonian system." In 2013 Chinese Automation Congress (CAC). IEEE, 2013. http://dx.doi.org/10.1109/cac.2013.6775830.

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Ildar Farkhatdinov and Jee-Hwan Ryu. "Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot." In 2007 International Conference on Control, Automation and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iccas.2007.4406773.

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Звіти організацій з теми "POSITION CONTROL OF ROBOT"

1

Nasr, Chaiban. Neural Networks For Robot Control. Fort Belvoir, VA: Defense Technical Information Center, April 2001. http://dx.doi.org/10.21236/ada387882.

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2

Williamson, Matthew M. Exploiting Natural Dynamics in Robot Control. Fort Belvoir, VA: Defense Technical Information Center, January 1998. http://dx.doi.org/10.21236/ada457056.

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3

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.

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4

George Danko. Integrated Robot-Human Control in Mining Operations. Office of Scientific and Technical Information (OSTI), September 2007. http://dx.doi.org/10.2172/988569.

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5

George Danko. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS. Office of Scientific and Technical Information (OSTI), April 2005. http://dx.doi.org/10.2172/882518.

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6

George Danko. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS. Office of Scientific and Technical Information (OSTI), April 2006. http://dx.doi.org/10.2172/882519.

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Falco, Joe, Jeremy Marvel, Rick Norcross, and Karl Van Wyk. Benchmarking Robot Force Control Capabilities: Experimental Results. National Institute of Standards and Technology, January 2016. http://dx.doi.org/10.6028/nist.ir.8097.

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8

Blackburn, Michael R., and Hoa G. Nguyen. Autonomous Visual Control of a Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, November 1994. http://dx.doi.org/10.21236/ada422533.

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9

Starr, G. Sensor-driven robot control and mobility: Final report. Office of Scientific and Technical Information (OSTI), May 1989. http://dx.doi.org/10.2172/5912296.

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Arkin, Ronald C., Frank Dellaert, and Joan Devassy. Envisioning: Mental Rotation-based Semi-reactive Robot Control. Fort Belvoir, VA: Defense Technical Information Center, January 2012. http://dx.doi.org/10.21236/ada563085.

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