Robot motion and control: recent developments
Gespeichert in:
| Format: | Tagungsbericht Buch |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
London
Springer
2006
|
| Schriftenreihe: | Lecture notes in control and information sciences
335 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext Inhaltsverzeichnis |
| Beschreibung: | Literaturangaben |
| Beschreibung: | XIV, 404 S. Ill., graph. Darst. |
| ISBN: | 184628404X 9781846284045 |
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| 300 | |a XIV, 404 S. |b Ill., graph. Darst. | ||
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| 490 | 1 | |a Lecture notes in control and information sciences |v 335 | |
| 500 | |a Literaturangaben | ||
| 650 | 4 | |a Robots |x Control systems |v Congresses | |
| 650 | 4 | |a Robots |x Motion |v Congresses | |
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Datensatz im Suchindex
| _version_ | 1804136097775616000 |
|---|---|
| adam_text | Contents
Part I Control and Trajectory Planning of Nonholonomic Systems
1 Trajectory Tracking for Nonholonomic Vehicles
Pascal Morin, Claude Samson 3
1.1 Introduction 3
1.2 Modeling of Vehicles Kinematics 4
1.2.1 Kinematics w.r.t. an Inertial Frame 4
1.2.2 Kinematics w.r.t. a Moving Frame G
1.2.3 Tracking Error Models 7
1.2.4 Linearized Systems 9
1.2.5 Transformations into Chained Systems 9
1.3 An Overview of Trajectory Tracking Problems 10
1.3.1 Output Feedback Control 11
1.3.2 Stabilization of Specific Trajectories 13
1.3.3 Practical Stabilization 17
1.4 Conclusion 20
References 21
2 Posture Stabilization of a Unicycle Mobile Robot Two
Control Approaches
Krzysztof Kozlowski, Jaroslaw Majchrzak, Maciej Michalek,
Dariusz Pazderski 25
2.1 Introduction 25
2.2 Kinematics 26
2.3 Posture Stabilization Two Control Approaches 27
2.3.1 Oscillatory based Time varying Control Law 27
2.3.2 Control Law Based on Vector Field Orientation Approach 37
2.4 Control Limitations 44
2.5 Simulation Results 45
2.5.1 TVO Stabilizer 45
2.5.2 VFO Controller 49
VIII Contents
2.6 Conclusions 51
References 53
3 Trajectory Tracking Control for Nonholonomic Mobile
Manipulators
Alicja Mazur, Krzysztof Arent 55
3.1 Introduction 55
3.2 Nonholonomic Constraints 56
3.2.1 Kinematics of the Nonholonomic Mobile Platform of
(2,0) Class 56
3.2.2 Kinematics of the Nonholonomic 3 pendulum 57
3.3 Mathematical Model of a Nonholonomic Mobile Manipulator 58
3.3.1 Dynamics of a Mobile Manipulator with a Nonholonomic
Platform 58
3.3.2 Dynamics of a Doubly Nonholonomic Mobile Manipulator 59
3.4 Control Problem Statement 60
3.5 Kinematic Control Algorithms 60
3.5.1 Kinematic Controller for the Mobile Platform Samson
Ait Abderrahim algorithm 60
3.5.2 Kinematic Controller for the 3 pendulum Jiang
Nijmeijer Algorithm 62
3.6 Dynamic Control Algorithms 64
3.6.1 Dynamic Controller for a Mobile Manipulator with
a Nonholonomic Platform 64
3.6.2 Dynamic Controller for a Doubly Nonholonomic Mobile
Manipulator 66
3.7 Simulation Study 67
3.8 Conclusions 68
References 70
4 Bases for Local Nonholonomic Motion Planning
Ignacy Dul§ba, Pawel Ludwikow 73
4.1 Introduction 73
4.2 Lie Algebraic Concepts and the gCBHD Formula for Driftless
Nonholonomic Systems 74
4.3 Evaluation of Bases in Space of Controls 76
4.4 Evaluation of Vector Fields Constrained with the Jacobi Identity . 78
4.5 Conclusions 80
References 82
5 On Drift Neutralization of Stratified Systems
Istvdn Harmati, Bdlint Kiss, Emese Szddeczky Kardoss 85
5.1 Introduction 85
5.2 The Robotic Rowboat Model 86
5.3 Background Material 87
5.4 Drift Neutralization in Stratified Framework 89
Contents IX
5.4.1 MPA with Drift Neutralization for Noninvolutive SKSs... 89
5.4.2 Simulation Results on a Robotic Rowboat 92
5.5 Exact Reaching along Smooth Curves in the xy Plane 93
5.6 Conclusions 95
References 95
Part II Control and Mechanical Systems
6 Novel Adaptive Control of Partially Modeled Dynamic
Systems
Jozsef K. Tar, Imre J. Rudas, Agnes Szeghegyi, Krzysztof Kozlowski.... 99
6.1 Introduction 99
6.2 Formulation of the Control Task 101
6.3 Description of the System to Be Controlled 103
6.4 Simulation Results 104
6.5 Conclusions 105
6.6 Acknowledgment 109
References 109
7 Example Applications of Fuzzy Reasoning and Neural
Networks in Robot Control
Waldemar Wroblewshi 113
7.1 Introduction 113
7.2 Mathematical Models of the Manipulator and of the Neural
Network Observer 114
7.2.1 Manipulator Dynamics 114
7.2.2 Approximating Neural Networks 114
7.2.3 Neural Network Observer 115
7.3 Comparison of Alternative Controllers 116
7.3.1 Neural Controllers 116
7.3.2 Simulation Results 118
7.4 Wheeled Platform and its Control Scheme 119
7.4.1 Kinematics Model of the Mobile Robot 119
7.4.2 Control Scheme 120
7.5 Implementation of the Fuzzy Controller 121
7.5.1 Trajectory Tracking Controller 122
7.5.2 Simulation Results 125
7.6 Conclusions 125
References 127
8 Adaptive Control of Kinematically Redundant Manipulator
along a Prescribed Geometric Path
Miroslaw Galicki 129
8.1 Introduction 129
8.2 Formulation of the Control Problem 130
X Contents
8.3 Path Control of the Manipulator 132
8.4 A Numerical Example 134
8.5 Conclusions 136
References 138
9 Adaptive Visual Servo Control of Robot Manipulators via
Composite Camera Inputs
Tiirker §ahin, Erkan Zergerdglu 141
9.1 Introduction 141
9.2 Robot camera Model 142
9.2.1 Robot Dynamics 142
9.2.2 Composite Camera Model Development 143
9.3 Control Formulation and Design 144
9.4 Simulation Results 148
9.5 Conclusion 150
References 150
10 Flexible Robot Trajectory Tracking Control
Anthony Green, Jurek Z. Sasiadek 153
10.1 Introduction 153
10.2 Flexible Dynamics 154
10.3 Control Strategies 154
10.3.1 LQG with EKF or FLAEKF Control 154
10.3.2 Extended Kalman Filter 155
10.3.3 Fuzzy Logic Adaptive EKF 156
10.3.4 FLS Adaptive Vibration Suppression 158
10.4 Noriminimum Phase Response 159
10.5 Simulation Results 160
10.6 Summary and Conclusions 160
References 161
11 Modeling, Motion Planning and Control of the Drones
with Revolving Aerofoils: an Outline of the XSF Project*
Lotfi Beji, Azgal Abichou, Naoufel Azouz 165
11.1 Introduction 165
11.2 Configuration Description and Modeling 166
11.3 Aerodynamic Forces and Torques 167
11.4 Dynamics of Motion 169
11.4.1 Dynamic Motion of the Conventional X4 Flyer 171
11.5 Advanced Strategies of Control 171
11.5.1 Conventional Aerial Vehicle 171
11.5.2 Bidirectional X4 flyer 172
11.6 Motion Planning and Simulation Results 174
11.7 Conclusions 176
References 176
Contents XI
Part III Climbing and Walking Robots
12 Absolute Orientation Estimation for Observer based
Control of a Five link Walking Biped Robot
Vincent Lebastard, Yannick Aoustin, Franck Plestan 181
12.1 Introduction 181
12.2 Model of a Planar Five link Biped Robot, 183
12.2.1 General and Reduced Dynamic Models 183
12.2.2 Passive Impact Model 184
12.2.3 Nonlinear Model All over the Step 185
12.3 Design of the Controller 185
12.3.1 Strategy 185
12.3.2 Reference Motion for the Swing Phase 186
12.4 Observer Design 186
12.4.1 Analysis of Observability 186
12.4.2 High gain Observer 188
12.4.3 Step by step Observer 189
12.4.4 Loss of Observability and Observation Algorithm 190
12.5 Simulations 192
12.6 Conclusion 193
References 193
13 Biologically Inspired Motion Planning in Robotics
Teresa Zielinska, Chee Meng Chew 201
13.1 Introduction 201
13.2 Adaptive Motion Planning for a Multi legged Robot 202
13.2.1 Basic Relations 202
13.2.2 Motion Planning 203
13.2.3 Example 204
13.3 Biped Gait Pattern Generator 209
13.3.1 Model of Coupled Oscillators 210
13.3.2 Recursive Formula of Gait Generation Considering Joint
Feedback 214
13.4 Summary 215
References 216
14 Control of an Autonomous Climbing Robot
Carsten Hillenbrand, Jan Koch, Jens We.ttach, Karsten Berns 221
14.1 Introduction 221
14.2 Closed loop Control of the Vacuum System 222
14.2.1 Dynamic Model of the Adhesion System 222
14.2.2 Realization of the Control System 224
14.3 Drive and Navigation 225
14.3.1 Kinematic Model of the Omnidirectional Drive 226
14.3.2 Pose Measurement for Navigation 228
XII Contents
14.4 Experiments and Results 230
14.4.1 Validation of the Control System 230
14.5 Summary and Outlook 231
References 232
15 Computation of Optimum Consumption of Energy for
Anthropomorphic Robot Driven by Electric Motor
Houtman P. Siregar, Yuri G. Martynenko 233
15.1 Introduction 233
15.2 Equation of Motion for Inverted Pendulum 234
15.3 Exact Solution for Variational Problem 237
15.4 Equation of Motion for Multi link of the Walking Robot 239
15.5 Conclusions 241
References 241
Part IV Multi agent Systems and Localization Methods
16 Real Time Motion Planning and Control in the 2005
Cornell RoboCup System
Michael Sherback, Oliver Purwin, Raffaello D Andrea 245
16.1 Introduction 245
16.2 Decision 246
16.3 Description of the Vehicles 246
16.3.1 Kinematics 247
16.3.2 State Space Model 248
16.4 Translational State Estimation or Prediction 248
16.4.1 Conceptual Basis 249
16.4.2 Complications 249
16.4.3 Ball Occlusion Logic 250
16.5 Trajectory Generation 250
16.5.1 Simplification of Dynamics 250
16.5.2 Application of Bang bang Control 252
16.6 Obstacle Avoidance 252
16.7 Rotational Estimation and Control 253
16.7.1 Rotational Estimation 253
16.7.2 Rotational Control 254
16.8 Local Control 255
16.8.1 Reference Tracking Performance 256
16.8.2 Controller Bandwidth 256
16.8.3 Feedforward 257
16.9 Alternatives 258
16.9.1 Trajectory Generation 258
16.9.2 Neural networks applied to state estimation 258
16.9.3 MIMO approach to local control 258
16.9.4 Distributed behavior primitives 258
Contents XIII
16.10 Experiments 259
16.10.1 Complete System Loop 259
16.10.2 Local Control 260
16.10.3 Obstacle Avoidance 261
16.10.4 Movies 261
16.11 Conclusion 262
16.11.1 Acknowledgements 262
References 262
17 Transition Function Based Approach to Structuring Robot
Control Software
Cezary Zielinski 265
17.1 Motivation 265
17.2 Agents 267
17.3 State of a Single Agent 268
17.4 Behaviour of a Single Agent 272
17.5 Types of Systems 277
17.5.1 Deterministic versus Indeterministic Systems 277
17.5.2 Crisp versus Fuzzy Systems 278
17.5.3 Behavioural versus Deliberative Systems 281
17.6 Conclusions 283
References 284
18 Steps Toward Derandomizing RRTs
Stephen R. Lindemann, Steven M. LaValle 287
18.1 Introduction 287
18.2 Randomization in RRTs 288
18.3 A Spectrum of RRT like Planners 289
18.4 Implementation Details and Experimental Results 291
18.5 Conclusions and Future Work 293
References 293
19 Tracking Methods for Relative Localisation
Frank E. Schneider, Andreas Krauflling, Dennis Wildermuth 301
19.1 Introduction 301
19.2 Mathematical Background 302
19.2.1 Model 302
19.2.2 The Validation Gate 303
19.2.3 The Viterbi based Algorithm 304
19.2.4 The Kalman Filter Algorithm 306
19.2.5 Comparison of KFA and VBA 306
19.3 Crossing Targets 306
19.3.1 The Cluster Sorting Algorithm 307
19.3.2 A Switching Algorithm 309
19.3.3 Further Experiments 309
XIV Contents
19.4 Conclusions 311
References 312
20 Robot Localisation Methods Using the Laser Scanners
Leszek Podsgdkowski, Marek Idzikowski 315
20.1 Introduction to Robot Localisation Methods 315
20.2 Localisation Method Using Vector Description of Workspace 317
20.2.1 Sensor a Flat Laser Scanner 317
20.2.2 Navigation Module 317
20.2.3 Identification of the Workspace 320
20.2.4 Laboratory Tests 320
20.3 Localisation Method Using the Raster Map of the Workspace .... 321
20.3.1 The 3D Laser Rangefinder 321
20.3.2 Description of the PLIM Localisation Method 323
20.3.3 Simulations 326
20.3.4 Stationary Experiments 327
20.3.5 Experiments with Mobile Robot 327
20.4 Other Localisation Methods 329
20.5 Summary and Conclusions 331
References 332
Part V Applications of Robotic Systems
21 Complex Control Systems: Example Applications
Piotr Dutkiewicz 335
21.1 Introduction 335
21.2 Mechanical Systems 336
21.3 Design of Sensor and Control System 341
21.4 Vision System in Complex Control Systems 345
21.5 Concluding Remarks 349
References 349
22 Examples of Transillumination Techniques Used in
Medical Measurements and Imaging
Anna R. Cysewska Sobusiak, Grzegorz Wiczyriski 351
22.1 Introduction 351
22.2 Principle of Tissue Layers Transillumination 352
22.3 Noninvasive Sensing Techniques Used in Transmission Variants
of Photoplethysmography and Pulse Oximetry 354
22.4 Practical Usefulness of Tissue Illumination and Transillumination 356
22.5 Examples of Transillumination Used in Finger Tissue Imaging . . . 358
22.6 Concluding Remarks 362
References 362
Contents XV
23 Telerobotic Simulator in Minimally Invasive Surgery
Piotr Sauer, Krzysztof Kozlowski, Wojciech Waliszewski 365
23.1 Introduction 365
23.2 The Proposed Model of the Task 366
23.3 The Concept of the Multi level Control System 368
23.4 Programs: Surgeon and Operator 370
23.5 Conclusions 370
23.6 Acknowledgements 372
References 372
24 Human robot Interaction and Robot Control
Jodo Sequeira, Maria Isabel Ribeiro 375
24.1 Introduction 375
24.2 A Brief State of the Art on HRI 376
24.3 A Semiotic Perspective for HRI 377
24.4 An Architecture for HRI 379
24.5 Experimental Results 385
24.5.1 Mission 1 385
24.5.2 Mission 2 386
24.6 Conclusions 388
A Lipschitz Set valued Maps 388
B Contingent Cones 388
References 389
25 On Electrical Analogues of Mechanical Systems and their
Using in Analysis of Robot Dynamics
Edward Jezierski 391
25.1 Introduction 391
25.2 Review of Velocity Current Analogy 391
25.2.1 Basic Relationships 391
25.2.2 Weak Points of Velocity Current Analogy 393
25.3 Review of Velocity Voltage Analogy 395
25.3.1 Basic Assumptions 395
25.3.2 Equivalence of Basic Dynamic Elements 396
25.3.3 Parallel and Serial Connection of Elements 396
25.4 Impedance of Kinematic Chain of the Robot 398
25.5 Conclusion 403
References 404
|
| adam_txt |
Contents
Part I Control and Trajectory Planning of Nonholonomic Systems
1 Trajectory Tracking for Nonholonomic Vehicles
Pascal Morin, Claude Samson 3
1.1 Introduction 3
1.2 Modeling of Vehicles' Kinematics 4
1.2.1 Kinematics w.r.t. an Inertial Frame 4
1.2.2 Kinematics w.r.t. a Moving Frame G
1.2.3 Tracking Error Models 7
1.2.4 Linearized Systems 9
1.2.5 Transformations into Chained Systems 9
1.3 An Overview of Trajectory Tracking Problems 10
1.3.1 Output Feedback Control 11
1.3.2 Stabilization of Specific Trajectories 13
1.3.3 Practical Stabilization 17
1.4 Conclusion 20
References 21
2 Posture Stabilization of a Unicycle Mobile Robot Two
Control Approaches
Krzysztof Kozlowski, Jaroslaw Majchrzak, Maciej Michalek,
Dariusz Pazderski 25
2.1 Introduction 25
2.2 Kinematics 26
2.3 Posture Stabilization Two Control Approaches 27
2.3.1 Oscillatory based Time varying Control Law 27
2.3.2 Control Law Based on Vector Field Orientation Approach 37
2.4 Control Limitations 44
2.5 Simulation Results 45
2.5.1 TVO Stabilizer 45
2.5.2 VFO Controller 49
VIII Contents
2.6 Conclusions 51
References 53
3 Trajectory Tracking Control for Nonholonomic Mobile
Manipulators
Alicja Mazur, Krzysztof Arent 55
3.1 Introduction 55
3.2 Nonholonomic Constraints 56
3.2.1 Kinematics of the Nonholonomic Mobile Platform of
(2,0) Class 56
3.2.2 Kinematics of the Nonholonomic 3 pendulum 57
3.3 Mathematical Model of a Nonholonomic Mobile Manipulator 58
3.3.1 Dynamics of a Mobile Manipulator with a Nonholonomic
Platform 58
3.3.2 Dynamics of a Doubly Nonholonomic Mobile Manipulator 59
3.4 Control Problem Statement 60
3.5 Kinematic Control Algorithms 60
3.5.1 Kinematic Controller for the Mobile Platform Samson
Ait Abderrahim algorithm 60
3.5.2 Kinematic Controller for the 3 pendulum Jiang
Nijmeijer Algorithm 62
3.6 Dynamic Control Algorithms 64
3.6.1 Dynamic Controller for a Mobile Manipulator with
a Nonholonomic Platform 64
3.6.2 Dynamic Controller for a Doubly Nonholonomic Mobile
Manipulator 66
3.7 Simulation Study 67
3.8 Conclusions 68
References 70
4 Bases for Local Nonholonomic Motion Planning
Ignacy Dul§ba, Pawel Ludwikow 73
4.1 Introduction 73
4.2 Lie Algebraic Concepts and the gCBHD Formula for Driftless
Nonholonomic Systems 74
4.3 Evaluation of Bases in Space of Controls 76
4.4 Evaluation of Vector Fields Constrained with the Jacobi Identity . 78
4.5 Conclusions 80
References 82
5 On Drift Neutralization of Stratified Systems
Istvdn Harmati, Bdlint Kiss, Emese Szddeczky Kardoss 85
5.1 Introduction 85
5.2 The Robotic Rowboat Model 86
5.3 Background Material 87
5.4 Drift Neutralization in Stratified Framework 89
Contents IX
5.4.1 MPA with Drift Neutralization for Noninvolutive SKSs. 89
5.4.2 Simulation Results on a Robotic Rowboat 92
5.5 Exact Reaching along Smooth Curves in the xy Plane 93
5.6 Conclusions 95
References 95
Part II Control and Mechanical Systems
6 Novel Adaptive Control of Partially Modeled Dynamic
Systems
Jozsef K. Tar, Imre J. Rudas, Agnes Szeghegyi, Krzysztof Kozlowski. 99
6.1 Introduction 99
6.2 Formulation of the Control Task 101
6.3 Description of the System to Be Controlled 103
6.4 Simulation Results 104
6.5 Conclusions 105
6.6 Acknowledgment 109
References 109
7 Example Applications of Fuzzy Reasoning and Neural
Networks in Robot Control
Waldemar Wroblewshi 113
7.1 Introduction 113
7.2 Mathematical Models of the Manipulator and of the Neural
Network Observer 114
7.2.1 Manipulator Dynamics 114
7.2.2 Approximating Neural Networks 114
7.2.3 Neural Network Observer 115
7.3 Comparison of Alternative Controllers 116
7.3.1 Neural Controllers 116
7.3.2 Simulation Results 118
7.4 Wheeled Platform and its Control Scheme 119
7.4.1 Kinematics Model of the Mobile Robot 119
7.4.2 Control Scheme 120
7.5 Implementation of the Fuzzy Controller 121
7.5.1 Trajectory Tracking Controller 122
7.5.2 Simulation Results 125
7.6 Conclusions 125
References 127
8 Adaptive Control of Kinematically Redundant Manipulator
along a Prescribed Geometric Path
Miroslaw Galicki 129
8.1 Introduction 129
8.2 Formulation of the Control Problem 130
X Contents
8.3 Path Control of the Manipulator 132
8.4 A Numerical Example 134
8.5 Conclusions 136
References 138
9 Adaptive Visual Servo Control of Robot Manipulators via
Composite Camera Inputs
Tiirker §ahin, Erkan Zergerdglu 141
9.1 Introduction 141
9.2 Robot camera Model 142
9.2.1 Robot Dynamics 142
9.2.2 Composite Camera Model Development 143
9.3 Control Formulation and Design 144
9.4 Simulation Results 148
9.5 Conclusion 150
References 150
10 Flexible Robot Trajectory Tracking Control
Anthony Green, Jurek Z. Sasiadek 153
10.1 Introduction 153
10.2 Flexible Dynamics 154
10.3 Control Strategies 154
10.3.1 LQG with EKF or FLAEKF Control 154
10.3.2 Extended Kalman Filter 155
10.3.3 Fuzzy Logic Adaptive EKF 156
10.3.4 FLS Adaptive Vibration Suppression 158
10.4 Noriminimum Phase Response 159
10.5 Simulation Results 160
10.6 Summary and Conclusions 160
References 161
11 Modeling, Motion Planning and Control of the Drones
with Revolving Aerofoils: an Outline of the XSF Project*
Lotfi Beji, Azgal Abichou, Naoufel Azouz 165
11.1 Introduction 165
11.2 Configuration Description and Modeling 166
11.3 Aerodynamic Forces and Torques 167
11.4 Dynamics of Motion 169
11.4.1 Dynamic Motion of the Conventional X4 Flyer 171
11.5 Advanced Strategies of Control 171
11.5.1 Conventional Aerial Vehicle 171
11.5.2 Bidirectional X4 flyer 172
11.6 Motion Planning and Simulation Results 174
11.7 Conclusions 176
References 176
Contents XI
Part III Climbing and Walking Robots
12 Absolute Orientation Estimation for Observer based
Control of a Five link Walking Biped Robot
Vincent Lebastard, Yannick Aoustin, Franck Plestan 181
12.1 Introduction 181
12.2 Model of a Planar Five link Biped Robot, 183
12.2.1 General and Reduced Dynamic Models 183
12.2.2 Passive Impact Model 184
12.2.3 Nonlinear Model All over the Step 185
12.3 Design of the Controller 185
12.3.1 Strategy 185
12.3.2 Reference Motion for the Swing Phase 186
12.4 Observer Design 186
12.4.1 Analysis of Observability 186
12.4.2 High gain Observer 188
12.4.3 Step by step Observer 189
12.4.4 Loss of Observability and Observation Algorithm 190
12.5 Simulations 192
12.6 Conclusion 193
References 193
13 Biologically Inspired Motion Planning in Robotics
Teresa Zielinska, Chee Meng Chew 201
13.1 Introduction 201
13.2 Adaptive Motion Planning for a Multi legged Robot 202
13.2.1 Basic Relations 202
13.2.2 Motion Planning 203
13.2.3 Example 204
13.3 Biped Gait Pattern Generator 209
13.3.1 Model of Coupled Oscillators 210
13.3.2 Recursive Formula of Gait Generation Considering Joint
Feedback 214
13.4 Summary 215
References 216
14 Control of an Autonomous Climbing Robot
Carsten Hillenbrand, Jan Koch, Jens We.ttach, Karsten Berns 221
14.1 Introduction 221
14.2 Closed loop Control of the Vacuum System 222
14.2.1 Dynamic Model of the Adhesion System 222
14.2.2 Realization of the Control System 224
14.3 Drive and Navigation 225
14.3.1 Kinematic Model of the Omnidirectional Drive 226
14.3.2 Pose Measurement for Navigation 228
XII Contents
14.4 Experiments and Results 230
14.4.1 Validation of the Control System 230
14.5 Summary and Outlook 231
References 232
15 Computation of Optimum Consumption of Energy for
Anthropomorphic Robot Driven by Electric Motor
Houtman P. Siregar, Yuri G. Martynenko 233
15.1 Introduction 233
15.2 Equation of Motion for Inverted Pendulum 234
15.3 Exact Solution for Variational Problem 237
15.4 Equation of Motion for Multi link of the Walking Robot 239
15.5 Conclusions 241
References 241
Part IV Multi agent Systems and Localization Methods
16 Real Time Motion Planning and Control in the 2005
Cornell RoboCup System
Michael Sherback, Oliver Purwin, Raffaello D'Andrea 245
16.1 Introduction 245
16.2 Decision 246
16.3 Description of the Vehicles 246
16.3.1 Kinematics 247
16.3.2 State Space Model 248
16.4 Translational State Estimation or Prediction 248
16.4.1 Conceptual Basis 249
16.4.2 Complications 249
16.4.3 Ball Occlusion Logic 250
16.5 Trajectory Generation 250
16.5.1 Simplification of Dynamics 250
16.5.2 Application of Bang bang Control 252
16.6 Obstacle Avoidance 252
16.7 Rotational Estimation and Control 253
16.7.1 Rotational Estimation 253
16.7.2 Rotational Control 254
16.8 Local Control 255
16.8.1 Reference Tracking Performance 256
16.8.2 Controller Bandwidth 256
16.8.3 Feedforward 257
16.9 Alternatives 258
16.9.1 Trajectory Generation 258
16.9.2 Neural networks applied to state estimation 258
16.9.3 MIMO approach to local control 258
16.9.4 Distributed behavior primitives 258
Contents XIII
16.10 Experiments 259
16.10.1 Complete System Loop 259
16.10.2 Local Control 260
16.10.3 Obstacle Avoidance 261
16.10.4 Movies 261
16.11 Conclusion 262
16.11.1 Acknowledgements 262
References 262
17 Transition Function Based Approach to Structuring Robot
Control Software
Cezary Zielinski 265
17.1 Motivation 265
17.2 Agents 267
17.3 State of a Single Agent 268
17.4 Behaviour of a Single Agent 272
17.5 Types of Systems 277
17.5.1 Deterministic versus Indeterministic Systems 277
17.5.2 Crisp versus Fuzzy Systems 278
17.5.3 Behavioural versus Deliberative Systems 281
17.6 Conclusions 283
References 284
18 Steps Toward Derandomizing RRTs
Stephen R. Lindemann, Steven M. LaValle 287
18.1 Introduction 287
18.2 Randomization in RRTs 288
18.3 A Spectrum of RRT like Planners 289
18.4 Implementation Details and Experimental Results 291
18.5 Conclusions and Future Work 293
References 293
19 Tracking Methods for Relative Localisation
Frank E. Schneider, Andreas Krauflling, Dennis Wildermuth 301
19.1 Introduction 301
19.2 Mathematical Background 302
19.2.1 Model 302
19.2.2 The Validation Gate 303
19.2.3 The Viterbi based Algorithm 304
19.2.4 The Kalman Filter Algorithm 306
19.2.5 Comparison of KFA and VBA 306
19.3 Crossing Targets 306
19.3.1 The Cluster Sorting Algorithm 307
19.3.2 A Switching Algorithm 309
19.3.3 Further Experiments 309
XIV Contents
19.4 Conclusions 311
References 312
20 Robot Localisation Methods Using the Laser Scanners
Leszek Podsgdkowski, Marek Idzikowski 315
20.1 Introduction to Robot Localisation Methods 315
20.2 Localisation Method Using Vector Description of Workspace 317
20.2.1 Sensor a Flat Laser Scanner 317
20.2.2 Navigation Module 317
20.2.3 Identification of the Workspace 320
20.2.4 Laboratory Tests 320
20.3 Localisation Method Using the Raster Map of the Workspace . 321
20.3.1 The 3D Laser Rangefinder 321
20.3.2 Description of the PLIM Localisation Method 323
20.3.3 Simulations 326
20.3.4 Stationary Experiments 327
20.3.5 Experiments with Mobile Robot 327
20.4 Other Localisation Methods 329
20.5 Summary and Conclusions 331
References 332
Part V Applications of Robotic Systems
21 Complex Control Systems: Example Applications
Piotr Dutkiewicz 335
21.1 Introduction 335
21.2 Mechanical Systems 336
21.3 Design of Sensor and Control System 341
21.4 Vision System in Complex Control Systems 345
21.5 Concluding Remarks 349
References 349
22 Examples of Transillumination Techniques Used in
Medical Measurements and Imaging
Anna R. Cysewska Sobusiak, Grzegorz Wiczyriski 351
22.1 Introduction 351
22.2 Principle of Tissue Layers Transillumination 352
22.3 Noninvasive Sensing Techniques Used in Transmission Variants
of Photoplethysmography and Pulse Oximetry 354
22.4 Practical Usefulness of Tissue Illumination and Transillumination 356
22.5 Examples of Transillumination Used in Finger Tissue Imaging . . . 358
22.6 Concluding Remarks 362
References 362
Contents XV
23 Telerobotic Simulator in Minimally Invasive Surgery
Piotr Sauer, Krzysztof Kozlowski, Wojciech Waliszewski 365
23.1 Introduction 365
23.2 The Proposed Model of the Task 366
23.3 The Concept of the Multi level Control System 368
23.4 Programs: Surgeon and Operator 370
23.5 Conclusions 370
23.6 Acknowledgements 372
References 372
24 Human robot Interaction and Robot Control
Jodo Sequeira, Maria Isabel Ribeiro 375
24.1 Introduction 375
24.2 A Brief State of the Art on HRI 376
24.3 A Semiotic Perspective for HRI 377
24.4 An Architecture for HRI 379
24.5 Experimental Results 385
24.5.1 Mission 1 385
24.5.2 Mission 2 386
24.6 Conclusions 388
A Lipschitz Set valued Maps 388
B Contingent Cones 388
References 389
25 On Electrical Analogues of Mechanical Systems and their
Using in Analysis of Robot Dynamics
Edward Jezierski 391
25.1 Introduction 391
25.2 Review of Velocity Current Analogy 391
25.2.1 Basic Relationships 391
25.2.2 Weak Points of Velocity Current Analogy 393
25.3 Review of Velocity Voltage Analogy 395
25.3.1 Basic Assumptions 395
25.3.2 Equivalence of Basic Dynamic Elements 396
25.3.3 Parallel and Serial Connection of Elements 396
25.4 Impedance of Kinematic Chain of the Robot 398
25.5 Conclusion 403
References 404 |
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| spelling | Robot motion and control recent developments London Springer 2006 XIV, 404 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences 335 Literaturangaben Robots Control systems Congresses Robots Motion Congresses Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf (DE-588)1071861417 Konferenzschrift gnd-content Autonomer Roboter (DE-588)4304075-5 s Bahnplanung (DE-588)4267628-9 s DE-604 Kozłowski, Krzysztof 1951- Sonstige (DE-588)118035371 oth RoMoCo 4 2004 Puszczykowo Sonstige (DE-588)10146322-4 oth Lecture notes in control and information sciences 335 (DE-604)BV005848579 335 text/html http://deposit.dnb.de/cgi-bin/dokserv?id=2777292&prov=M&dok_var=1&dok_ext=htm Inhaltstext HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015339201&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Robot motion and control recent developments Lecture notes in control and information sciences Robots Control systems Congresses Robots Motion Congresses Autonomer Roboter (DE-588)4304075-5 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4304075-5 (DE-588)4267628-9 (DE-588)1071861417 |
| title | Robot motion and control recent developments |
| title_auth | Robot motion and control recent developments |
| title_exact_search | Robot motion and control recent developments |
| title_exact_search_txtP | Robot motion and control recent developments |
| title_full | Robot motion and control recent developments |
| title_fullStr | Robot motion and control recent developments |
| title_full_unstemmed | Robot motion and control recent developments |
| title_short | Robot motion and control |
| title_sort | robot motion and control recent developments |
| title_sub | recent developments |
| topic | Robots Control systems Congresses Robots Motion Congresses Autonomer Roboter (DE-588)4304075-5 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Robots Control systems Congresses Robots Motion Congresses Autonomer Roboter Bahnplanung Konferenzschrift |
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