Robot Motion and Control 2007:
Gespeichert in:
| Weitere Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London
Springer
2007
|
| Schriftenreihe: | Lecture Notes in Control and Information Sciences
360 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XX, 452 S. Ill., Tab., graph. Darst. |
| ISBN: | 9781846289736 1846289734 |
Internformat
MARC
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| 245 | 1 | 0 | |a Robot Motion and Control 2007 |c Krzysztof Kozłowski (ed.) |
| 264 | 1 | |a London |b Springer |c 2007 | |
| 300 | |a XX, 452 S. |b Ill., Tab., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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Datensatz im Suchindex
| _version_ | 1804136561205313536 |
|---|---|
| adam_text | Contents
Part I Control of Nonholonomic Systems
1 Modelling and Trajectory Generation of Lighter
Than Air Aerial Robots Invited Paper
Yasmina Bestaoui, Salim Hima 3
1.1 Introduction 3
1.2 Airship Modelling 4
1.2.1 Kinematics 4
1.2.2 Dynamics 6
1.3 Trajectory Generation 9
1.3.1 Trim Trajectories 10
1.3.2 Trim Trajectory Characterization 10
1.3.3 Trim Trajectories Calculation 12
1.4 Simulation Results 14
1.4.1 Straight Forward Trim Flight 15
1.4.2 Circular Trim Trajectories with Constant Altitude. 15
1.4.3 Helicoidal Trim Trajectories 17
1.4.4 Under Actuation at Low Velocity 18
1.4.5 Results for the Normalized Time 23
1.5 Conclusions 26
References 26
2 Control of 3 DOF Quadrotor Model
Tae Soo Kim, Karl Stol, Vojislav Kecman 29
2.1 Introduction 29
2.2 Modelling of Quadrotor 30
2.3 Experimental Setup 32
2.4 Control Design 32
2.4.1 Optimal Control (LQR) 32
VIII Contents
2.4.2 LQR with Gain Scheduling 33
2.4.3 Feedback Linearization 34
2.4.4 Sliding Mode Control 35
2.5 Simulations 35
2.6 Conclusions 37
References 37
3 Internal Model Control Based Adaptive Attitude
Tracking
Ahmed Al Gami, Ayman Kassem, Muhammad Shafiq, Rihan
Ahmed 39
3.1 Introduction 39
3.2 Spacecraft Model 40
3.3 Problem Statement 41
3.4 Controller Design 41
3.4.1 Plant Stabilization 41
3.4.2 PID Controller Design for the Stabilized Plant 43
3.5 Adaptive Controller Design 44
3.5.1 Internal Model Control System Operation 44
3.5.2 Simulation Results 46
3.6 Conclusion 47
References 47
4 Tracking control of Automated Guided Vehicles
Lotfi Beji, Azgal Abichou 49
4.1 Introduction 49
4.2 Modelling 50
4.3 Simulation results 54
4.4 Conclusions 55
References 55
5 VFO Control for Mobile Vehicles in the Presence of
Skid Phenomenon
Maciej Michalek 57
5.1 Introduction 57
5.2 Problem Formulation 58
5.2.1 Skid Phenomenon 59
5.3 VFO Controller 60
5.3.1 VFO Strategy Brief Recall 60
5.3.2 VFO Control with Skid Compensation 61
5.3.3 Skid Computation 64
5.4 Simulation Results 64
Contents IX
5.5 Concluding Remarks 66
References 66
Part II Vision Based Control
6 Vision Based Dynamic Velocity Field Generation for
Mobile Robots
W. Medina Melendez, L. Fermin, J. Cappelletto, C. Murrugarra,
G. Fernandez Lopez, J. C. Grieeo 69
6.1 Introduction 69
6.2 Problem Overview 70
6.3 Dynamic Velocity Field Generation 70
6.3.1 Vision System 70
6.3.2 Initial Velocity Field Generation 72
6.3.3 Dynamic Velocity Field Modification 74
6.4 Results 75
6.5 Conclusions and Future Work 78
References 78
7 Zoom Control to Compensate Camera Translation
within a Robot Egomotion Estimation Approach
Guillem Alenyd, Carme Torras 81
7.1 Introduction 81
7.2 Mapping Contour Deformations to Camera Motions 82
7.3 Generating Zoom Demands 84
7.4 Control and Egomotion Algorithm 85
7.5 Experimental Results 85
7.6 Conclusions and Future Work 87
References 88
8 Two Finger Grasping for Vision Assisted Object
Manipulation
Umar Khan, Thomas Nierobisch, Frank Hoffmann 89
8.1 Introduction 89
8.2 Visual Servoing with a Dynamic Set of SIFT Features 90
8.3 Grasp Point Selection 92
8.4 Experimental Results 95
8.5 Conclusion 97
References 98
X Contents
9 Trajectory Planning with Control Horizon Based on
Narrow Local Occupancy Grid Perception
Lluis Pacheco, Ningsu Luo 99
9.1 Introduction 99
9.2 Local Perception Horizon and Trajectory Planning 100
9.3 A Practical Approach to WMR with Monocular Image Data 101
9.3.1 Image Perception and Physical Constraints 102
9.3.2 Dynamic Models and Trajectory Control 103
9.4 Conclusions 105
References 106
Part III New Control Algorithms for Robot Manipulators
10 Control for a Three Joint Underactuated Planar
Manipulator — Interconnection and Damping
Assignment Passivity Based Control Approach
Masahide Ito, Naohiro Toda 109
10.1 Introduction 109
10.2 IDA PBC for Underactuated Mechanical Systems 110
10.3 Control of a 2Ra Ru Planar Manipulator by IDA PBC 112
10.3.1 PH Representation of Dynamics 112
10.3.2 Applicability of IDA PBC and Derivation of
Control Law 113
10.4 Numerical Experiments 115
10.5 Conclusions 116
References 117
11 A New Control Algorithm for Manipulators with
Joint Flexibility
Piotr Sauer, Krzysztof Kozlowski 119
11.1 Introduction 119
11.2 A new Adaptive Control Algorithm 120
11.2.1 Mathematical Description of the System 120
11.2.2 The New Control Algorithm 121
11.3 Concluding Remarks 133
References 133
12 An Inverse Dynamics Based Discrete Time Sliding
Mode Controller for Robot Manipulators
Andrea Calanca, Luca M. Capisani, Antonella Ferrara, Lorenza
Magnani 137
Contents XI
12.1 Introduction 137
12.2 The Considered Dynamical Model 138
12.3 The Inverse Dynamics Method 139
12.4 A Discrete Time Sliding Mode Control Approach 139
12.5 An Alternative Discrete Time Sliding Mode Control
Approach 141
12.6 Experimental Verification 143
12.6.1 The Considered Industrial Robot 143
12.6.2 Experimental Results 144
12.7 Conclusions 145
References 145
13 Velocity Tracking Controller for Rigid Manipulators
Przemyslaw Herman, Krzysztof Kozlowski 147
13.1 Introduction 147
13.2 First order Equations of Motion Containing GVC 148
13.3 Velocity Tracking Controller Using GVC 149
13.4 Simulation results 153
13.5 Concluding Remarks 154
References 155
14 Fixed Point Transformations Based Approach in
Adaptive Control of Smooth Systems
Jozsef K. Tar, Imre J. Rudas,, Krzysztof R. Kozlowski 157
14.1 Introduction 157
14.2 Simple Iterative Approaches 159
14.3 Novel Iterative Approaches for SISO Systems 161
14.4 The Mathematical Model of the Cart Pendulum System
and Simulation Results 162
14.5 Conclusion 164
14.6 Acknowledgment 165
References 165
15 Driving Redundant Robots by a Dedicated
Clutch Based Actuator
Anani Ananiev, Thorsten Michel] elder, Ivan Kalaykov 167
15.1 Introduction 167
15.2 New Method of Actuating Hyper Redundant Robots 168
15.3 Modeling Magnetic Clutch Based Actuators 170
15.4 Controller Design, Simulation and Experiments 173
15.5 Conclusions 174
References 175
XII Contents
16 An Energy Based Approach Towards Modeling of
Mixed Reality Mechatronic Systems
Yong Ho Yoo 177
16.1 Introduction 177
16.2 Mixed Reality Bond Graphs 178
16.3 Distributed Mixed Reality Haptic Ball Manipulator 179
16.4 Conclusion 184
References 184
Part IV New Trends in Kinematics and Localization Methods
17 Navigation of Autonomous Mobile Robots Invited
Paper
J.Z. Sasiadek, Y. Lu, V. Polotski 187
17.1 Introduction 187
17.1.1 Mapping and Localization 187
17.1.2 Sensor Fusion 189
17.1.3 Collision Avoidance 189
17.1.4 Trajectory Tracking 189
17.2 Mobile Robot Navigation Through Gates 190
17.2.1 Problem Description 191
17.2.2 Gate Identification Procedure and Signature
Concept 192
17.2.3 Experimental Procedure 197
17.2.4 Control System 202
17.2.5 Results and Discussion 203
17.3 Conclusions 206
References 207
18 Kinematic Motion Patterns of Mobile Manipulators
Katarzyna Zadarnowska, Krzysztof Tchon 209
18.1 Introduction 209
18.2 Main Idea 210
18.3 Kinematic Motion Patterns 211
18.4 Examples 214
18.5 Conclusion 216
References 216
19 Generalized Kinematic Control of Redundant
Manipulators
Miroslaw Galicki 219
19.1 Introduction 219
Contents XIII
19.2 Kinematic Control of Redundant Manipulator 220
19.3 Tackling the Problem of Manipulator Singularity 223
19.4 Computer Example 224
19.5 Conclusions 225
References 226
20 Parametric Representation of the Environment of a
Mobile Robot for Measurement Update in a Particle
Filter
Tahir Yaqub, Jayantha Katupitiya 227
20.1 Introduction and Related Work 227
20.2 Preliminaries: Particle Filter 229
20.3 Feature Selection 230
20.3.1 Definition of Features and Other Parameters 230
20.3.2 Data Collection 231
20.3.3 Statistical Analysis and Bootstrap Feature Selection231
20.4 Multinomial Formulation 233
20.4.1 Extracting the Multinomial Parameters 233
20.4.2 Measurement Update 233
20.5 Experiments and Results 234
20.5.1 Setup and Scenarios for Data Collection 234
20.5.2 Model Extraction and Results Updates 234
20.6 Conclusion and Future Work 235
References 236
21 Simulation of a Mobile Robot with an LRF in a 2D
Environment and Map Building
Luka Teslic, Gregor Klancar, Igor Skrjanc 239
21.1 Introduction 239
21.2 Simulator 240
21.2.1 Robot Model 241
21.2.2 Environment Model 241
21.2.3 Laser Range Finder Model 241
21.3 Mapping Algorithm 243
21.3.1 Integrating the Global Map with the Local Map. . . 243
21.4 Results 245
21.5 Conclusion 246
References 246
XIV Contents
Part V Trajectory Planning Issues for Nonholonomic
Systems
22 Lie Algebraic Approach to Nonholonomic Motion
Planning in Cluttered Environment
Pawel Ludwikow, Ignacy Dul§ba 249
22.1 Introduction 249
22.2 Preliminaries 251
22.3 The Algorithm 252
22.4 Simulation Results 255
22.5 Conclusions 257
References 257
23 Computationally Efficient Path Planning for Wheeled
Mobile Robots in Obstacle Dense Environments
Husnu Tiirker §ahin, Erkan Zergeroglu 259
23.1 Introduction 259
23.2 Kinematic Model and Problem Formulation 260
23.3 The Proposed Path Planner 261
23.3.1 Nonholonomic Steering Towards a Desired Target . 261
23.3.2 Obstacle Detection and Avoidance 262
23.3.3 Extension for Large U Blocks and Complicated
Tunnels 264
23.4 Simulation Results 264
23.5 Conclusions 267
References 267
24 Piecewise Constant Controls for Newtonian
Nonholonomic Motion Planning
Ignacy Dul§ba 269
24.1 Introduction 269
24.2 The Newton Algorithm 270
24.3 Simultion Results 274
24.4 Conclusions 277
References 277
25 Path Following for Nonholonomic Mobile
Manipulators
Alicja Mazur 279
25.1 Introduction 279
25.2 Mathematical Model of Nonholonomic Mobile
Manipulator of Type (nh, h) 280
Contents XV
25.2.1 Nonholonomic Constraints 280
25.2.2 Dynamics of Mobile Manipulator with
Nonholonomic Platform 280
25.3 Control Problem Statement 282
25.4 Path Following for the Platform 283
25.4.1 Kinematic Controller Pomet Algorithm 284
25.5 Path Following for the Manipulator 286
25.6 Dynamic Controller 287
25.7 Simulation Study 289
25.8 Conclusions 291
References 292
Part VI Rehabilitation Robotics
26 On Simulator Design of the Spherical Therapeutic
Robot Koala
Krzysztof Arent, Marek Wnuk 295
26.1 Introduction 295
26.2 Koala: Therapeutic Ball robot 296
26.3 Virtual Koala and Sensory Signals Modelling 298
26.4 Implementation Issues 300
26.5 Conclusions 301
References 302
27 Development of Rehabilitation Training Support
System using 3D Force Display Robot
Yoshifumi Morita, Akinori Hirose, Takashi Uno, Masaki Uchida,
Hiroyuki Ukai, Nobuyuki Matsui 303
27.1 Introduction 303
27.2 Rehabilitation Training Support System 304
27.3 3D Force Display Robot 305
27.4 Control Algorithms of Rehabilitation Training 306
27A.I Control Algorithm of Resistance Training 306
27.4.2 Control Algorithm Simulating Sanding Training .. . 307
27.4.3 Teaching/training Function Algorithm 308
27.5 Conclusions 310
References 310
28 Applying CORBA Technology for the Teleoperation
of Wheeeler
Michal Pytasz, Grzegorz Granosik 311
28.1 Introduction 311
XVI Contents
28.2 Presentation of Wheeeler 311
28.2.1 The Main Concept 312
28.2.2 Distributed Controllers 313
28.3 Client Server Communication 314
28.3.1 Short Review 314
28.3.2 CORBA Implementation 315
28.4 Simulation Time and Real Time Considerations 317
28.5 Further Developments 318
References 318
Part VII Humanoid Robots
29 Educational Walking Robots
Teresa Zielinska, Andrzej Chmielniak, Lukasz Janczyk 321
29.1 Introduction 321
29.2 Educational Walking Robots Mechanical Structures 322
29.2.1 Hexapod 322
29.2.2 Quadruped 323
29.3 New Control System 325
29.4 Experiments 326
29.5 Conclusions 327
References 328
30 Humanoid Binaural Sound Tracking Using Kalman
Filtering and HRTFs
Fakheredine Keyrouz, Klaus Diepold, Shady Keyrouz 329
30.1 Introduction 329
30.2 Previous Localization Technique 331
30.3 Enhanced Localization Algorithm 332
30.4 Kalman Filtering and ROI Extraction 334
30.5 Simulation and Experimental Results 335
30.5.1 Stationary Sound Sources 335
30.5.2 Moving Sound Sources 338
30.6 Conclusion 339
References 34O
31 Mechatronics of the Humanoid Robot ROMAN
Krzysztof Mianowski, Norbert Schmitz, Karsten Berns 341
31.1 Introduction 34I
31.2 The Humanoid Robot ROMAN 342
31.3 Design Concept and Construction 398
31.3.1 Upper Body 398
Contents XVII
31.3.2 Artificial Eyes 345
31.3.3 Neck 346
31.4 Robot Control Architecture 346
31.5 Conclusion and Outlook 348
References 348
Part VIII Applications of Robotic Systems
32 Assistive Feeding Device for Physically Handicapped
Using Feedback Control
Rahul Pandhi, Sumit Khurana 351
32.1 Introduction 351
32.2 Upper Arm Orthotic Mobile Mount 352
32.2.1 Slave Arm Unit 353
32.2.2 Master/Interface Unit 353
32.2.3 Transmission System 354
32.2.4 Control System 354
32.2.5 Advantages 355
32.3 Upper Arm Orthotic Stationary Mount 355
32.4 Power Assist in Human Worn Assistive Devices 356
32.5 Virtual Prototyping 357
32.6 Conclusion 358
References 359
33 Design and Control of a Heating Pipe Duct
Inspection Mobile Robot
Piotr Dutkiewicz, Michai Kowalski, Barthmiej Krysiak,
Jarosiaw Majchrzak, Mateusz Michalski, Waldemar Wroblewski . . 361
33.1 Introduction 361
33.2 Chassis Structure 362
33.2.1 Supporting Frame and Suspension 363
33.2.2 Driving System 364
33.2.3 Steering system 364
33.3 Control System Concept and Implementation 364
33.4 On board Controller 367
33.5 Energy Distribution Module 369
33.6 Conclusion 370
References 370
XVIII Contents
34 Measurement and Navigation System of
the Inspection Robot RK 13
Piotr Dutkiewicz, Marcin Kielczewski, Dariusz Pazderski,
Waldemar Wroblewski 371
34.1 Introduction 371
34.2 Measurement and Control System Modules 372
34.2.1 Communication System Hardware Layer 372
34.2.2 Measurement System 373
34.2.3 Vision System for Inspection and Navigation 376
34.3 Localization of the Duct Inspection Robot with Use of
the Vision System 377
34.4 Conclusions 380
References 380
35 Architecture of Multi Segmented Inspection Robot
KAIRO II
C. Birkenhofer, K. Regenstein, J. M. Zollner, R. Dillmann 381
35.1 Introduction 381
35.2 System 382
35.2.1 Robot 383
35.2.2 Control Architecture: UCoM(Universal Controller
Module) 384
35.2.3 Hybrid Impedance Control 385
35.2.4 Sensors 386
35.3 Integration and Results 387
35.4 Conclusion 388
References 388
36 The Project of an Autonomous Robot Capable to
Cooperate in a Group
Tomasz Buratowski, Tadeusz Uhl, Grzegorz Chmaj 391
36.1 Introduction 391
36.2 The 2 wheeled Mobile Robot Description 392
36.2.1 The Basic Assumptions Related to Model
Kinematics 392
36.2.2 The Basic Assumptions Related to Path Planning . 392
36.3 Conclusions 398
References 398
Contents XIX
37 End Effector Sensors Role in Service Robots
Cezary Zieliriski, Tomasz Winiarski, Krzysztof Mianowski,
Andrzej Rydzewski, Wojciech Szynkiewicz 401
37.1 Introduction 401
37.2 Robot Controller 403
37.3 Position Force Control 405
37.4 The Gripper and Its Sensors 407
37.5 Effector Controller 408
37.6 Experiments 410
37.7 Conclusions 411
References 412
Part IX Multiagent Systems
38 Detecting Intruders in Complex Environments with
Limited Range Mobile Sensors
Andreas Rolling, Stefano Carpin 417
38.1 Introduction 417
38.2 Related Work 418
38.3 The Algorithm 419
38.3.1 Weighted Graph Clearing 420
38.3.2 Weighted Tree Clearing 420
38.4 Investigation of Performance 423
38.5 Discussion and Conclusion 423
References 424
39 High level Motion Control for Workspace Sharing
Mobile Robots
Elzbieta Roszkowska 427
39.1 Introduction 427
39.2 Problem Statement 427
39.3 Deterministic Finite State Automata 429
39.4 Discretization of Robot Motion Processes 429
39.5 DFSA Model of Distributed High Level Control 431
39.6 Coordination of Multiple Robot Motion 433
39.7 Deadlock Avoidance 434
39.8 Conclusion 435
References 435
XX Contents
40 Urban Traffic Control and Path Planning for
Vehicles in Game Theoretic Framework
Istvdn Harmati 437
40.1 Introduction 437
40.2 The Traffic Model 438
40.3 Urban Traffic Control 439
40.4 Path Planning Algorithms for Vehicles 441
40.5 Conclusions 443
References 443
41 A Low Cost High Precision Time Measurement
Infrastructure for Embedded Mobile Systems
Kemal Koker, Kai Steffen Hielscher, Reinhard German 445
41.1 Introduction and Overview 445
41.2 Architecture of the Application 446
41.2.1 Robocup F 180 Small Size League 446
41.3 Time Synchronisation with GPS 447
41.3.1 Existing Infrastructure 447
41.3.2 PPS API 448
41.3.3 Wireless Dissemination of Time Signal 448
41.4 Measurements 449
41.4.1 Results of First Test Run 449
41.4.2 Techniques for Improvement 450
41.5 Conclusion 451
References 451
|
| adam_txt |
Contents
Part I Control of Nonholonomic Systems
1 Modelling and Trajectory Generation of Lighter
Than Air Aerial Robots Invited Paper
Yasmina Bestaoui, Salim Hima 3
1.1 Introduction 3
1.2 Airship Modelling 4
1.2.1 Kinematics 4
1.2.2 Dynamics 6
1.3 Trajectory Generation 9
1.3.1 Trim Trajectories 10
1.3.2 Trim Trajectory Characterization 10
1.3.3 Trim Trajectories Calculation 12
1.4 Simulation Results 14
1.4.1 Straight Forward Trim Flight 15
1.4.2 Circular Trim Trajectories with Constant Altitude. 15
1.4.3 Helicoidal Trim Trajectories 17
1.4.4 Under Actuation at Low Velocity 18
1.4.5 Results for the Normalized Time 23
1.5 Conclusions 26
References 26
2 Control of 3 DOF Quadrotor Model
Tae Soo Kim, Karl Stol, Vojislav Kecman 29
2.1 Introduction 29
2.2 Modelling of Quadrotor 30
2.3 Experimental Setup 32
2.4 Control Design 32
2.4.1 Optimal Control (LQR) 32
VIII Contents
2.4.2 LQR with Gain Scheduling 33
2.4.3 Feedback Linearization 34
2.4.4 Sliding Mode Control 35
2.5 Simulations 35
2.6 Conclusions 37
References 37
3 Internal Model Control Based Adaptive Attitude
Tracking
Ahmed Al Gami, Ayman Kassem, Muhammad Shafiq, Rihan
Ahmed 39
3.1 Introduction 39
3.2 Spacecraft Model 40
3.3 Problem Statement 41
3.4 Controller Design 41
3.4.1 Plant Stabilization 41
3.4.2 PID Controller Design for the Stabilized Plant 43
3.5 Adaptive Controller Design 44
3.5.1 Internal Model Control System Operation 44
3.5.2 Simulation Results 46
3.6 Conclusion 47
References 47
4 Tracking control of Automated Guided Vehicles
Lotfi Beji, Azgal Abichou 49
4.1 Introduction 49
4.2 Modelling 50
4.3 Simulation results 54
4.4 Conclusions 55
References 55
5 VFO Control for Mobile Vehicles in the Presence of
Skid Phenomenon
Maciej Michalek 57
5.1 Introduction 57
5.2 Problem Formulation 58
5.2.1 Skid Phenomenon 59
5.3 VFO Controller 60
5.3.1 VFO Strategy Brief Recall 60
5.3.2 VFO Control with Skid Compensation 61
5.3.3 Skid Computation 64
5.4 Simulation Results 64
Contents IX
5.5 Concluding Remarks 66
References 66
Part II Vision Based Control
6 Vision Based Dynamic Velocity Field Generation for
Mobile Robots
W. Medina Melendez, L. Fermin, J. Cappelletto, C. Murrugarra,
G. Fernandez Lopez, J. C. Grieeo 69
6.1 Introduction 69
6.2 Problem Overview 70
6.3 Dynamic Velocity Field Generation 70
6.3.1 Vision System 70
6.3.2 Initial Velocity Field Generation 72
6.3.3 Dynamic Velocity Field Modification 74
6.4 Results 75
6.5 Conclusions and Future Work 78
References 78
7 Zoom Control to Compensate Camera Translation
within a Robot Egomotion Estimation Approach
Guillem Alenyd, Carme Torras 81
7.1 Introduction 81
7.2 Mapping Contour Deformations to Camera Motions 82
7.3 Generating Zoom Demands 84
7.4 Control and Egomotion Algorithm 85
7.5 Experimental Results 85
7.6 Conclusions and Future Work 87
References 88
8 Two Finger Grasping for Vision Assisted Object
Manipulation
Umar Khan, Thomas Nierobisch, Frank Hoffmann 89
8.1 Introduction 89
8.2 Visual Servoing with a Dynamic Set of SIFT Features 90
8.3 Grasp Point Selection 92
8.4 Experimental Results 95
8.5 Conclusion 97
References 98
X Contents
9 Trajectory Planning with Control Horizon Based on
Narrow Local Occupancy Grid Perception
Lluis Pacheco, Ningsu Luo 99
9.1 Introduction 99
9.2 Local Perception Horizon and Trajectory Planning 100
9.3 A Practical Approach to WMR with Monocular Image Data 101
9.3.1 Image Perception and Physical Constraints 102
9.3.2 Dynamic Models and Trajectory Control 103
9.4 Conclusions 105
References 106
Part III New Control Algorithms for Robot Manipulators
10 Control for a Three Joint Underactuated Planar
Manipulator — Interconnection and Damping
Assignment Passivity Based Control Approach
Masahide Ito, Naohiro Toda 109
10.1 Introduction 109
10.2 IDA PBC for Underactuated Mechanical Systems 110
10.3 Control of a 2Ra Ru Planar Manipulator by IDA PBC 112
10.3.1 PH Representation of Dynamics 112
10.3.2 Applicability of IDA PBC and Derivation of
Control Law 113
10.4 Numerical Experiments 115
10.5 Conclusions 116
References 117
11 A New Control Algorithm for Manipulators with
Joint Flexibility
Piotr Sauer, Krzysztof Kozlowski 119
11.1 Introduction 119
11.2 A new Adaptive Control Algorithm 120
11.2.1 Mathematical Description of the System 120
11.2.2 The New Control Algorithm 121
11.3 Concluding Remarks 133
References 133
12 An Inverse Dynamics Based Discrete Time Sliding
Mode Controller for Robot Manipulators
Andrea Calanca, Luca M. Capisani, Antonella Ferrara, Lorenza
Magnani 137
Contents XI
12.1 Introduction 137
12.2 The Considered Dynamical Model 138
12.3 The Inverse Dynamics Method 139
12.4 A Discrete Time Sliding Mode Control Approach 139
12.5 An Alternative Discrete Time Sliding Mode Control
Approach 141
12.6 Experimental Verification 143
12.6.1 The Considered Industrial Robot 143
12.6.2 Experimental Results 144
12.7 Conclusions 145
References 145
13 Velocity Tracking Controller for Rigid Manipulators
Przemyslaw Herman, Krzysztof Kozlowski 147
13.1 Introduction 147
13.2 First order Equations of Motion Containing GVC 148
13.3 Velocity Tracking Controller Using GVC 149
13.4 Simulation results 153
13.5 Concluding Remarks 154
References 155
14 Fixed Point Transformations Based Approach in
Adaptive Control of Smooth Systems
Jozsef K. Tar, Imre J. Rudas,, Krzysztof R. Kozlowski 157
14.1 Introduction 157
14.2 Simple Iterative Approaches 159
14.3 Novel Iterative Approaches for SISO Systems 161
14.4 The Mathematical Model of the Cart Pendulum System
and Simulation Results 162
14.5 Conclusion 164
14.6 Acknowledgment 165
References 165
15 Driving Redundant Robots by a Dedicated
Clutch Based Actuator
Anani Ananiev, Thorsten Michel]'elder, Ivan Kalaykov 167
15.1 Introduction 167
15.2 New Method of Actuating Hyper Redundant Robots 168
15.3 Modeling Magnetic Clutch Based Actuators 170
15.4 Controller Design, Simulation and Experiments 173
15.5 Conclusions 174
References 175
XII Contents
16 An Energy Based Approach Towards Modeling of
Mixed Reality Mechatronic Systems
Yong Ho Yoo 177
16.1 Introduction 177
16.2 Mixed Reality Bond Graphs 178
16.3 Distributed Mixed Reality Haptic Ball Manipulator 179
16.4 Conclusion 184
References 184
Part IV New Trends in Kinematics and Localization Methods
17 Navigation of Autonomous Mobile Robots Invited
Paper
J.Z. Sasiadek, Y. Lu, V. Polotski 187
17.1 Introduction 187
17.1.1 Mapping and Localization 187
17.1.2 Sensor Fusion 189
17.1.3 Collision Avoidance 189
17.1.4 Trajectory Tracking 189
17.2 Mobile Robot Navigation Through Gates 190
17.2.1 Problem Description 191
17.2.2 Gate Identification Procedure and Signature
Concept 192
17.2.3 Experimental Procedure 197
17.2.4 Control System 202
17.2.5 Results and Discussion 203
17.3 Conclusions 206
References 207
18 Kinematic Motion Patterns of Mobile Manipulators
Katarzyna Zadarnowska, Krzysztof Tchon 209
18.1 Introduction 209
18.2 Main Idea 210
18.3 Kinematic Motion Patterns 211
18.4 Examples 214
18.5 Conclusion 216
References 216
19 Generalized Kinematic Control of Redundant
Manipulators
Miroslaw Galicki 219
19.1 Introduction 219
Contents XIII
19.2 Kinematic Control of Redundant Manipulator 220
19.3 Tackling the Problem of Manipulator Singularity 223
19.4 Computer Example 224
19.5 Conclusions 225
References 226
20 Parametric Representation of the Environment of a
Mobile Robot for Measurement Update in a Particle
Filter
Tahir Yaqub, Jayantha Katupitiya 227
20.1 Introduction and Related Work 227
20.2 Preliminaries: Particle Filter 229
20.3 Feature Selection 230
20.3.1 Definition of Features and Other Parameters 230
20.3.2 Data Collection 231
20.3.3 Statistical Analysis and Bootstrap Feature Selection231
20.4 Multinomial Formulation 233
20.4.1 Extracting the Multinomial Parameters 233
20.4.2 Measurement Update 233
20.5 Experiments and Results 234
20.5.1 Setup and Scenarios for Data Collection 234
20.5.2 Model Extraction and Results Updates 234
20.6 Conclusion and Future Work 235
References 236
21 Simulation of a Mobile Robot with an LRF in a 2D
Environment and Map Building
Luka Teslic, Gregor Klancar, Igor Skrjanc 239
21.1 Introduction 239
21.2 Simulator 240
21.2.1 Robot Model 241
21.2.2 Environment Model 241
21.2.3 Laser Range Finder Model 241
21.3 Mapping Algorithm 243
21.3.1 Integrating the Global Map with the Local Map. . . 243
21.4 Results 245
21.5 Conclusion 246
References 246
XIV Contents
Part V Trajectory Planning Issues for Nonholonomic
Systems
22 Lie Algebraic Approach to Nonholonomic Motion
Planning in Cluttered Environment
Pawel Ludwikow, Ignacy Dul§ba 249
22.1 Introduction 249
22.2 Preliminaries 251
22.3 The Algorithm 252
22.4 Simulation Results 255
22.5 Conclusions 257
References 257
23 Computationally Efficient Path Planning for Wheeled
Mobile Robots in Obstacle Dense Environments
Husnu Tiirker §ahin, Erkan Zergeroglu 259
23.1 Introduction 259
23.2 Kinematic Model and Problem Formulation 260
23.3 The Proposed Path Planner 261
23.3.1 Nonholonomic Steering Towards a Desired Target . 261
23.3.2 Obstacle Detection and Avoidance 262
23.3.3 Extension for Large U Blocks and Complicated
Tunnels 264
23.4 Simulation Results 264
23.5 Conclusions 267
References 267
24 Piecewise Constant Controls for Newtonian
Nonholonomic Motion Planning
Ignacy Dul§ba 269
24.1 Introduction 269
24.2 The Newton Algorithm 270
24.3 Simultion Results 274
24.4 Conclusions 277
References 277
25 Path Following for Nonholonomic Mobile
Manipulators
Alicja Mazur 279
25.1 Introduction 279
25.2 Mathematical Model of Nonholonomic Mobile
Manipulator of Type (nh, h) 280
Contents XV
25.2.1 Nonholonomic Constraints 280
25.2.2 Dynamics of Mobile Manipulator with
Nonholonomic Platform 280
25.3 Control Problem Statement 282
25.4 Path Following for the Platform 283
25.4.1 Kinematic Controller Pomet Algorithm 284
25.5 Path Following for the Manipulator 286
25.6 Dynamic Controller 287
25.7 Simulation Study 289
25.8 Conclusions 291
References 292
Part VI Rehabilitation Robotics
26 On Simulator Design of the Spherical Therapeutic
Robot Koala
Krzysztof Arent, Marek Wnuk 295
26.1 Introduction 295
26.2 Koala: Therapeutic Ball robot 296
26.3 Virtual Koala and Sensory Signals Modelling 298
26.4 Implementation Issues 300
26.5 Conclusions 301
References 302
27 Development of Rehabilitation Training Support
System using 3D Force Display Robot
Yoshifumi Morita, Akinori Hirose, Takashi Uno, Masaki Uchida,
Hiroyuki Ukai, Nobuyuki Matsui 303
27.1 Introduction 303
27.2 Rehabilitation Training Support System 304
27.3 3D Force Display Robot 305
27.4 Control Algorithms of Rehabilitation Training 306
27A.I Control Algorithm of Resistance Training 306
27.4.2 Control Algorithm Simulating Sanding Training . . 307
27.4.3 Teaching/training Function Algorithm 308
27.5 Conclusions 310
References 310
28 Applying CORBA Technology for the Teleoperation
of Wheeeler
Michal Pytasz, Grzegorz Granosik 311
28.1 Introduction 311
XVI Contents
28.2 Presentation of Wheeeler 311
28.2.1 The Main Concept 312
28.2.2 Distributed Controllers 313
28.3 Client Server Communication 314
28.3.1 Short Review 314
28.3.2 CORBA Implementation 315
28.4 Simulation Time and Real Time Considerations 317
28.5 Further Developments 318
References 318
Part VII Humanoid Robots
29 Educational Walking Robots
Teresa Zielinska, Andrzej Chmielniak, Lukasz Janczyk 321
29.1 Introduction 321
29.2 Educational Walking Robots Mechanical Structures 322
29.2.1 Hexapod 322
29.2.2 Quadruped 323
29.3 New Control System 325
29.4 Experiments 326
29.5 Conclusions 327
References 328
30 Humanoid Binaural Sound Tracking Using Kalman
Filtering and HRTFs
Fakheredine Keyrouz, Klaus Diepold, Shady Keyrouz 329
30.1 Introduction 329
30.2 Previous Localization Technique 331
30.3 Enhanced Localization Algorithm 332
30.4 Kalman Filtering and ROI Extraction 334
30.5 Simulation and Experimental Results 335
30.5.1 Stationary Sound Sources 335
30.5.2 Moving Sound Sources 338
30.6 Conclusion 339
References 34O
31 Mechatronics of the Humanoid Robot ROMAN
Krzysztof Mianowski, Norbert Schmitz, Karsten Berns 341
31.1 Introduction 34I
31.2 The Humanoid Robot ROMAN 342
31.3 Design Concept and Construction 398
31.3.1 Upper Body 398
Contents XVII
31.3.2 Artificial Eyes 345
31.3.3 Neck 346
31.4 Robot Control Architecture 346
31.5 Conclusion and Outlook 348
References 348
Part VIII Applications of Robotic Systems
32 Assistive Feeding Device for Physically Handicapped
Using Feedback Control
Rahul Pandhi, Sumit Khurana 351
32.1 Introduction 351
32.2 Upper Arm Orthotic Mobile Mount 352
32.2.1 Slave Arm Unit 353
32.2.2 Master/Interface Unit 353
32.2.3 Transmission System 354
32.2.4 Control System 354
32.2.5 Advantages 355
32.3 Upper Arm Orthotic Stationary Mount 355
32.4 Power Assist in Human Worn Assistive Devices 356
32.5 Virtual Prototyping 357
32.6 Conclusion 358
References 359
33 Design and Control of a Heating Pipe Duct
Inspection Mobile Robot
Piotr Dutkiewicz, Michai Kowalski, Barthmiej Krysiak,
Jarosiaw Majchrzak, Mateusz Michalski, Waldemar Wroblewski . . 361
33.1 Introduction 361
33.2 Chassis Structure 362
33.2.1 Supporting Frame and Suspension 363
33.2.2 Driving System 364
33.2.3 Steering system 364
33.3 Control System Concept and Implementation 364
33.4 On board Controller 367
33.5 Energy Distribution Module 369
33.6 Conclusion 370
References 370
XVIII Contents
34 Measurement and Navigation System of
the Inspection Robot RK 13
Piotr Dutkiewicz, Marcin Kielczewski, Dariusz Pazderski,
Waldemar Wroblewski 371
34.1 Introduction 371
34.2 Measurement and Control System Modules 372
34.2.1 Communication System Hardware Layer 372
34.2.2 Measurement System 373
34.2.3 Vision System for Inspection and Navigation 376
34.3 Localization of the Duct Inspection Robot with Use of
the Vision System 377
34.4 Conclusions 380
References 380
35 Architecture of Multi Segmented Inspection Robot
KAIRO II
C. Birkenhofer, K. Regenstein, J. M. Zollner, R. Dillmann 381
35.1 Introduction 381
35.2 System 382
35.2.1 Robot 383
35.2.2 Control Architecture: UCoM(Universal Controller
Module) 384
35.2.3 Hybrid Impedance Control 385
35.2.4 Sensors 386
35.3 Integration and Results 387
35.4 Conclusion 388
References 388
36 The Project of an Autonomous Robot Capable to
Cooperate in a Group
Tomasz Buratowski, Tadeusz Uhl, Grzegorz Chmaj 391
36.1 Introduction 391
36.2 The 2 wheeled Mobile Robot Description 392
36.2.1 The Basic Assumptions Related to Model
Kinematics 392
36.2.2 The Basic Assumptions Related to Path Planning . 392
36.3 Conclusions 398
References 398
Contents XIX
37 End Effector Sensors' Role in Service Robots
Cezary Zieliriski, Tomasz Winiarski, Krzysztof Mianowski,
Andrzej Rydzewski, Wojciech Szynkiewicz 401
37.1 Introduction 401
37.2 Robot Controller 403
37.3 Position Force Control 405
37.4 The Gripper and Its Sensors 407
37.5 Effector Controller 408
37.6 Experiments 410
37.7 Conclusions 411
References 412
Part IX Multiagent Systems
38 Detecting Intruders in Complex Environments with
Limited Range Mobile Sensors
Andreas Rolling, Stefano Carpin 417
38.1 Introduction 417
38.2 Related Work 418
38.3 The Algorithm 419
38.3.1 Weighted Graph Clearing 420
38.3.2 Weighted Tree Clearing 420
38.4 Investigation of Performance 423
38.5 Discussion and Conclusion 423
References 424
39 High level Motion Control for Workspace Sharing
Mobile Robots
Elzbieta Roszkowska 427
39.1 Introduction 427
39.2 Problem Statement 427
39.3 Deterministic Finite State Automata 429
39.4 Discretization of Robot Motion Processes 429
39.5 DFSA Model of Distributed High Level Control 431
39.6 Coordination of Multiple Robot Motion 433
39.7 Deadlock Avoidance 434
39.8 Conclusion 435
References 435
XX Contents
40 Urban Traffic Control and Path Planning for
Vehicles in Game Theoretic Framework
Istvdn Harmati 437
40.1 Introduction 437
40.2 The Traffic Model 438
40.3 Urban Traffic Control 439
40.4 Path Planning Algorithms for Vehicles 441
40.5 Conclusions 443
References 443
41 A Low Cost High Precision Time Measurement
Infrastructure for Embedded Mobile Systems
Kemal Koker, Kai Steffen Hielscher, Reinhard German 445
41.1 Introduction and Overview 445
41.2 Architecture of the Application 446
41.2.1 Robocup F 180 Small Size League 446
41.3 Time Synchronisation with GPS 447
41.3.1 Existing Infrastructure 447
41.3.2 PPS API 448
41.3.3 Wireless Dissemination of Time Signal 448
41.4 Measurements 449
41.4.1 Results of First Test Run 449
41.4.2 Techniques for Improvement 450
41.5 Conclusion 451
References 451 |
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| genre_facet | Konferenzschrift |
| id | DE-604.BV022473136 |
| illustrated | Illustrated |
| index_date | 2024-07-02T17:45:25Z |
| indexdate | 2024-07-09T20:58:21Z |
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| isbn | 9781846289736 1846289734 |
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| spelling | Robot Motion and Control 2007 Krzysztof Kozłowski (ed.) London Springer 2007 XX, 452 S. Ill., Tab., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture Notes in Control and Information Sciences 360 Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Lageregelung (DE-588)4034076-4 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf (DE-588)1071861417 Konferenzschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Lageregelung (DE-588)4034076-4 s Bahnsteuerung (DE-588)4042803-5 s Industrieroboter (DE-588)4026861-5 s DE-604 Kozłowski, Krzysztof 1951- (DE-588)118035371 edt Lecture Notes in Control and Information Sciences 360 (DE-604)BV005848579 360 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015680586&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Robot Motion and Control 2007 Lecture Notes in Control and Information Sciences Bahnsteuerung (DE-588)4042803-5 gnd Lageregelung (DE-588)4034076-4 gnd Industrieroboter (DE-588)4026861-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4042803-5 (DE-588)4034076-4 (DE-588)4026861-5 (DE-588)4191911-7 (DE-588)1071861417 |
| title | Robot Motion and Control 2007 |
| title_auth | Robot Motion and Control 2007 |
| title_exact_search | Robot Motion and Control 2007 |
| title_exact_search_txtP | Robot Motion and Control 2007 |
| title_full | Robot Motion and Control 2007 Krzysztof Kozłowski (ed.) |
| title_fullStr | Robot Motion and Control 2007 Krzysztof Kozłowski (ed.) |
| title_full_unstemmed | Robot Motion and Control 2007 Krzysztof Kozłowski (ed.) |
| title_short | Robot Motion and Control 2007 |
| title_sort | robot motion and control 2007 |
| topic | Bahnsteuerung (DE-588)4042803-5 gnd Lageregelung (DE-588)4034076-4 gnd Industrieroboter (DE-588)4026861-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Bahnsteuerung Lageregelung Industrieroboter Mobiler Roboter Konferenzschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015680586&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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