This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm ha...This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.展开更多
With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to prov...With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.展开更多
Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Man...Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Many research activities and applications have been carried out to implement effective and precise controlling of bilateral systems.This paper presents a 3D spresctroscope-based control technique for bilateral systems.The effectiveness of the available master side designs are evaluated against gesture-based techniques.Joystick control,Electromyography(EMG),Voice control,Haptic control,Exoskeleton control,Gesture and Brain Control Interface(BCI)are identified in the litreature as available bilateral inputs.In the present technnique,Leap Motion Controller(LMC)has been introduced(LMC)to extract the human hand gestures and their parameters.Then these parameters are convereted into respective joint sapce angles using the presented mathematical model.The mathematical models for fingertip mapping,inverse kinematics,dynamics and trajectory generation are implemented and studied.Wolfman Mathematica 10 and MATLAB simulation framework are used to validate the mathematical models,simulations and developed control algorithms.The developed system has sucesfully imitated the fingertip motion.In particular,the system has been able to imitate the figretip motion with a deviation of 6.7%in X axis,5.5%in Y axis and7.9%in Z axis with respect to the expected position.展开更多
文摘This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.
基金Sponsored by Russian Foundation of Basic Research (Grant No. 97-01-00432)
文摘With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.
文摘Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Many research activities and applications have been carried out to implement effective and precise controlling of bilateral systems.This paper presents a 3D spresctroscope-based control technique for bilateral systems.The effectiveness of the available master side designs are evaluated against gesture-based techniques.Joystick control,Electromyography(EMG),Voice control,Haptic control,Exoskeleton control,Gesture and Brain Control Interface(BCI)are identified in the litreature as available bilateral inputs.In the present technnique,Leap Motion Controller(LMC)has been introduced(LMC)to extract the human hand gestures and their parameters.Then these parameters are convereted into respective joint sapce angles using the presented mathematical model.The mathematical models for fingertip mapping,inverse kinematics,dynamics and trajectory generation are implemented and studied.Wolfman Mathematica 10 and MATLAB simulation framework are used to validate the mathematical models,simulations and developed control algorithms.The developed system has sucesfully imitated the fingertip motion.In particular,the system has been able to imitate the figretip motion with a deviation of 6.7%in X axis,5.5%in Y axis and7.9%in Z axis with respect to the expected position.
