Download or read book Hybrid Adaptive Switched Control for Robotic Manipulator Interacting with Arbitrary Surface Shapes Under Multi Sensory Guidance written by Danial Nakhaeinia and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial robots rapidly gained popularity as they can perform tasks quickly, repeatedly and accurately in static environments. However, in modern manufacturing, robots should also be able to safely interact with arbitrary objects and dynamically adapt their behavior to various situations. The large masses and rigid constructions of industrial robots prevent them from easily being re-tasked. In this context, this work proposes an immediate solution to make rigid manipulators compliant and able to efficiently handle object interactions, with only an add-on module (a custom designed instrumented compliant wrist) and an original control framework which can easily be ported to different manipulators. The proposed system utilizes both offline and online trajectory planning to achieve fully automated object interaction and surface following with or without contact where no prior knowledge of the objects is available. To minimize the complexity of the task, the problem is formulated into four interaction motion modes: free, proximity, contact and a blend of those. The free motion mode guides the robot towards the object of interest using information provided by a RGB-D sensor. The RGB-D sensor is used to collect raw 3D information on the environment and construct an approximate 3D model of an object of interest in the scene. In order to completely explore the object, a novel coverage path planning technique is proposed to generate a primary (offline) trajectory. However, RGB-D sensors provide only limited accuracy on the depth measurements and create blind spot when it reaches close to surfaces. Therefore, the offline trajectory is then further refined by applying the proximity motion mode and contact motion mode or a blend of them (blend motion mode) that allow the robot to dynamically interact with arbitrary objects and adapt to the surfaces it approaches or touches using live proximity and contact feedback from the compliant wrist. To achieve seamless and efficient integration of the sensory information and smoothly switch between different interaction modes, an original hybrid switching scheme is proposed that applies a supervisory (decision making) module and a mixture of hard and blend switches to support data fusion from multiple sensing sources by combining pairs of the main motion modes. Experimental results using a CRS-F3 manipulator demonstrate the feasibility and performance of the proposed method.
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Download or read book Interaction Control of Robot Manipulators written by Ciro Natale and published by Springer Science & Business Media. This book was released on 2003-01-08 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.
Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Download or read book Task Space Sensory Feedback Control of Robot Manipulators written by Chien Chern Cheah and published by Springer. This book was released on 2015-04-09 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
Download or read book Multisensory Integration for Adaptive Physical Human robot Interaction written by Isura Ranatunga and published by . This book was released on 2017 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: Automated systems have become increasingly prevalent in the 21st century. With their increased processing power, personal and home robotics has finally come within reach of the public. There are some challenges to be overcome for robots to finally work with and around humans. Some of these challenges include complex social interaction, safety, identifying human intent, unpredictable physical interaction, and uncertain dynamic environments. The focus of this research is safe, robust, and intuitive physical interaction with humans utilizing multiple sensor modalities. In this dissertation, a solution for adaptive physical human-robot interaction is proposed. The proposed framework consists of three parts. Dynamics compensation: adaptive dynamics compensation is proposed and extended to control complex, nonlinear, and constantly changing robotic systems. Adaptive force control: adaptive inverse control techniques are utilized to develop an admittance control system to compensate for changing task, sensor, and human conditions during interaction. Human motion study: Dynamic time warping is utilized as a method for movement characterization and dynamic movement primitives are used to develop a scalable and adaptable movement representation system. The proposed framework was inspired by the structure of the human motor cortex and somatosensory systems. An inner-loop control structure performs the function of the lower level fast dynamic compensation system while an outer-loop adaptive force controller enables task, sensor, and human specific control. This type of controller can adapt to the changing dynamics of the robot as well as compensate for the changing environmental sensing capacity and interaction scenario
Download or read book Integrated Multi modal and Sensorimotor Coordination for Enhanced Human Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Robot Manipulator Control Using Hybrid H Infinity Adaptive Controller Structures written by 譚漢雄 and published by Open Dissertation Press. This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures" by 譚漢雄, Hon-hung, Tam, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. DOI: 10.5353/th_b3121992 Subjects: Manipulators (Mechanism) Robots, Industrial
Download or read book Switching Adaptive Control of Robot Manipulators written by Mansour Kabganian and published by . This book was released on 1994 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Force and Motion Control of Robot Manipulators in Constrained Motion with Disturbances written by Yung-Sheng Chang and published by . This book was released on 2013 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this study is to design a controller to reject the disturbances caused by sensor noise and unmodeled effects during hybrid adaptive force and motion control of robot manipulators in constrained motion. A continuous robust integral of the sign of the error (RISE) feedback term is incorporated with adaptive force and motion control to yield asymptotic tracking results in the presence of disturbances and unknown system parameters and dry contact surface friction coefficient. The main reason to use the RISE method is that it can enhance disturbance rejection capabilities. It is assumed that the system parameters of the robot manipulator and the dry friction coefficient of contact surface are unknown. These unknown parameters can be updated by the adaptive update law. The suggested controller can guarantee semi-global asymptotic motion and force tracking results which are supported through Lyapunov-based stability analysis under the condition that the position and velocity of end-effector and the normal contact force between end-effector and contact surface are measurable. The contact surface of the environment is modeled by the set of m rigid and mutually independent hypersurfaces. The dynamic model of constrained robot manipulators is developed through an Euler-Lagrange formulation. Two degree of freedom (DOF) robot manipulator simulation results are given to illustrate the efficacy of the suggested controller.
Download or read book A Framework for Manual Guidance of a Robot Manipulator Using Adaptive Admittance Control for a Safe and Intuitive Physical Human Robot Interaction and Its Application to Accurate Path Tracking Tasks written by and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Robot manipulator Control Using Hybrid H infinity adaptive Controller Structures written by Hon-hung Tam and published by . This book was released on 1998 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Neuro adaptive Hybrid Position force Control of Robotic Manipulators written by S. M. Ziauddin and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Manipulator Adaptive Control written by Ng Tian Seng and published by LAP Lambert Academic Publishing. This book was released on 2014-05 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are widely implemented in modern heavy industries for the purpose of car assemblies, ship building, construction and aerospace. The technological advancement of these robots depend on research and development. This book covers many different controlling methods which is applied to the industrial robot manipulator. The most significant feature of the edition is the control of robot manipulator with unknown depth. The theoretical background for the study of the robot manipulator is expressed in the form of equations. Two different types of analysis for the robot had been conducted base on the gravity. In the context, various analysis of the adaptive control is used for the design of the robot controller. The controllers are implemented in real-time. The materials presented in the book is based on an experimental basis research. The experimental results are all illustrated in graphical form. The book provides an insight to readers the modern control techniques available, such as vision-based control of the robot. The book is useful for professionals, academics and engineers in the field of robotics and control engineering.
