Relevant bibliographies by topics / Position controlled robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Position controlled robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Position controlled robot"

1

Yi, Seung-Joon, Byoung-Tak Zhang, Dennis Hong, and Daniel D. Lee. "Whole-Body Balancing Walk Controller for Position Controlled Humanoid Robots." International Journal of Humanoid Robotics 13, no. 01 (March 2016): 1650011. http://dx.doi.org/10.1142/s0219843616500110.

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Bipedal humanoid robots are intrinsically unstable against unforeseen perturbations. Conventional zero moment point (ZMP)-based locomotion algorithms can reject perturbations by incorporating sensory feedback, but they are less effective than the dynamic full body behaviors humans exhibit when pushed. Recently, a number of biomechanically motivated push recovery behaviors have been proposed that can handle larger perturbations. However, these methods are based upon simplified and transparent dynamics of the robot, which makes it suboptimal to implement on common humanoid robots with local position-based controllers. To address this issue, we propose a hierarchical control architecture. Three low-level push recovery controllers are implemented for position controlled humanoid robots that replicate human recovery behaviors. These low-level controllers are integrated with a ZMP-based walk controller that is capable of generating reactive step motions. The high-level controller constructs empirical decision boundaries to choose the appropriate behavior based upon trajectory information gathered during experimental trials. Our approach is evaluated in physically realistic simulations and on a commercially available small humanoid robot.
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Engelbrecht, Duanne, Nico Steyn, and Karim Djouani. "Adaptive Virtual Impedance Control of a Mobile Multi-Robot System." Robotics 10, no. 1 (January 21, 2021): 19. http://dx.doi.org/10.3390/robotics10010019.

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The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environments without being restricted by the safety cages or barriers that often accompany them. Collaborative robots can be used for various applications such as machine tending, packaging, process tasks and pick and place. This paper proposes an improvement of the current virtual impedance algorithm by developing an adaptive virtual impedance controlled mobile multi-robot system focused on dynamic obstacle avoidance with a controlled planar movement. The study includes the development of a mobile multi-robot platform whereby each robot plans a path individually without a supervisor. The proposed system would implement a two-layered hierarchy for robot path planning. The higher layer generates a trajectory from the current position to the desired position, and the lower layer develops a real-time strategy to follow the generated trajectory while avoiding static and dynamic obstacles. The key contribution of this paper is the adaptive virtual impedance controller for a multi-robot system that will maintain movement stability and improve the motion behaviour in a dynamic environment.
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Kamaludin, Muhamad, and Wahyu Sapto Aji. "Manuver Robot Manual Menggunakan PID pada Robot Manual KRAI 2018." Buletin Ilmiah Sarjana Teknik Elektro 1, no. 3 (December 30, 2019): 91. http://dx.doi.org/10.12928/biste.v1i3.978.

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Kontes robot ABU Indonesia mengusung tema ABU Robocon 2018 yaitu Bola Berkah. Dalam tema yang diusung, salah satu robot yang digunakan adalah robot manual yang berfungsi mengambil dan memberikan bola berkah kepada robot otomatis. Robot manual mengalami kesulitan dalam bergerak lurus ketika mengambil dan menyerahkan bola kepada robot otomatis. Ketika berada pada posisi pengambilan dan posisi penyerahan bola, robot yang menggunakan roda omniwheel tidak berada pada posisinya karena terdapat kelembaman. Penerapan Pengendali PID (Proporsional-Integral-Derivatif) yang mendapatkan nilai koreksi dari sensor Rotary Encoder merupakan salah satu solusi yang tepat untuk diimplementasikan pada robot manual. Dengan menggunakan Metode trial and error, PID yang dikembangkan dapat membuat pergerakan robot manual menjadi lebih efisien dan lebih mudah saat dikendalikan oleh operator. Robot Manual menggunakan mikrokontroler Arduino-Due. Hasil pengujian penerapan pada sistem menghasilkan akurasi gerak lurus robot sebesar 60 %, ketepatan posisi mencapai 88 % dengan menggunakan 50% kecepatan putar motor dan akurasi ketepatan posisi mencapai 75% dengan menggunakan 100% kecepatan putar motor.The ABU Indonesia robot contest carries the ABU Robocon 2018 theme, Blessing Ball. In the theme, one of the robots used is a manual robot that functions to take and give a blessing ball to the automatic robot. Manual robots have difficulty in moving straight when taking and handing the ball to an automated robot. When in the taking position and the ball handover position, the robot that uses the Omni wheel is not in position because there is inertia. The application of PID (Proportional-Integral-Derivative) controller which gets the correction value from the Rotary Encoder sensor is one of the right solutions to be implemented in manual robots. By using the trial and error method, the developed PID can make manual robot movements more efficient and easier when controlled by the operator. Manual Robot uses an Arduino-Due microcontroller. The results of testing the application of the system produce an accuracy of 60% straight robot motion, position accuracy reaches 88% using 50% motor rotational speed and accuracy of positioning accuracy reaches 75% using 100% motor rotational speed.
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Colbaugh, R., and K. Glass. "Decentralized adaptive compliance control of robot manipulators." Robotica 13, no. 5 (September 1995): 485–98. http://dx.doi.org/10.1017/s0263574700018324.

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SummaryThis paper presents two adaptive schemes for controlling the end-effector compliance of robot manipulators. Each controller possesses a decentralized structure, in which the control input for each configuration degree-offreedom (DOF) is computed based on information concerning only that DOF. The first scheme is developed using an adaptive impedance control approach and consists of two subsystems: a simple “filter” which modifies the end-effector position trajectory based on the sensed contact force and the desired dynamic relationship between the position and force, and an adaptive controller that produces the joint torques required to track this modified trajectory. The second compliant motion control strategy is an adaptive admittance controller for position-controlled manipulators. In this scheme a desired contact force is specified and then position setpoints for the “inner-loop” position controller are generated which ensure that this desired force is achieved. The proposed controllers are extremely simple computationally, do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment, and are implemented in decentralized form.
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Sekaj, Ivan, Ladislav Cíferský, and Milan Hvozdík. "Neuro-Evolution of Mobile Robot Controller." MENDEL 25, no. 1 (June 24, 2019): 39–42. http://dx.doi.org/10.13164/mendel.2019.1.039.

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We present a neuro-evolution design for control of a mobile robot in 2D simulation environment. The mobile robot is moving in unknown environment with obstacles from the start position to the goal position. The trajectory of the robot is controlled by a neural network – based controller which inputs are information from several laser beam sensors. The learning of the neural network controller is based on an evolutionary approach, which is provided by genetic algorithm.
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Trilokinath, Upadhyay Anand, and Santhosh Kumar Singh. "Enhanced Automaton Monitoring Method on Satellite Receiving Position." Indonesian Journal of Electrical Engineering and Computer Science 9, no. 2 (February 1, 2018): 289. http://dx.doi.org/10.11591/ijeecs.v9.i2.pp289-293.

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Security is an essential need of system and it is one of center innovation of remote controlled system. Robot checking arrangement of sea remote detecting satellite getting station incorporates robot, distributed computing system and remote terminals. Robot procures continuous picture of controlled system and works it; distributed computing system fabricate visual choice subsystem to recognize the objective utilizing wavelet change calculation, neural system calculation and learning database of components video of particular natural; utilizing remote terminal manager watches the controlled system through its scene test system and control robot to work it remotely. Utilizing innovation of the pseudo-irregular number secret word, innovation of shared verification to counteract cloning site, innovation of change between the picture of controlled system and its status code and innovation of transformation between operation codes and operation guidelines, the security quality of the robot observing system is enhanced incredibly.
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Del Prete, Andrea, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, and Francesco Nori. "Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors." International Journal of Humanoid Robotics 13, no. 01 (March 2016): 1550044. http://dx.doi.org/10.1142/s0219843615500449.

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This paper presents a complete framework (estimation, identification and control) for the implementation of joint-torque control on the humanoid robot HRP-2. While torque control has already been implemented on a few humanoid robots, this is one of the first implementations of torque control on a robot that was originally built to be position controlled (iCub [F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete and D. Pucci, iCub whole-body control through force regulation on rigid non-coplanar contacts, Frontiers in Robotics and AI 2 (2015).] and Asimo [O. Khatib, P. Thaulad and J. Park, Torque-position transformer for task control of position controlled robots, 2008 IEEE Int. Conf. Robotics and Automation, May 2008, pp. 1729–1734.] being the first two, to the best of our knowledge). The challenge comes from both the hardware, which does not include joint-torque sensors and presents large friction due to the high-ratio gear boxes, and the software interface, which only accepts desired joint-angle commands (no motor current/voltage control). The contribution of the paper is to provide a complete methodology that is very likely to be reproduced as most robots are designed to provide only position control capabilities. Additionally, the method is validated by exhaustive experiments on one leg of the robot, including a comparison with the original position controller. We tested the torque controller in both motion control and cartesian force control. The torque control can track better a reference trajectory while using lower values for the feedback gains (up to 25%). Moreover, we verified the quality of the identified motor models by analyzing the contribution of the feedforward terms of our torque controller, which dominate the feedback terms.
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Le, Luc Tien. "Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots with Joint Torque Measurements." Journal of Computer Science and Cybernetics 35, no. 1 (March 18, 2019): 85–103. http://dx.doi.org/10.15625/1813-9663/35/1/13147.

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The friction and ripple effects from motor and drive cause a major problem for the robot position accuracy, especially for robots with high gear ratio and for high-speed applications. In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer. This friction observer can increase the performance of the controlled robot system both in terms of the position accuracy and the dynamic behavior. The friction observer needs no friction model and its output corresponds to the low-pass filtered friction torque. Due to the link torque feedback the friction observer can compensate for both friction moment and external moment effects acting on the link. So it can be used not only for position control but also for interaction control, e.g., torque control or impedance control which have low control bandwidth and therefore are sensitive to ripple effects from motor and drive. In addition, its parameter design and parameter optimization are independent of the controller design so that it can be used for friction compensation in conjunction with different controllers designed for flexible joint robots. Furthermore, a passivity analysis is done for this observer-based friction compensation in consideration of Coulomb, viscose and Stribeck friction effects, which is independent of the regulation controller. In combining this friction observer with the state feedback controller \cite{Albu-Schaeffer2}, global asymptotic stability of the controlled system can be shown by using Lyapunov based convergence analysis. Experimental results with robots of the German Aerospace Center (DLR) validate the practical efficiency of the approach.
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Suryowinoto, Andy, and Martian Wijayanto. "The prototype of A Forklift Robot Based on AGV System and Android Wireless Controlled for Stacked Shelves." International Journal of Artificial Intelligence & Robotics (IJAIR) 2, no. 1 (July 1, 2020): 1. http://dx.doi.org/10.25139/ijair.v2i1.2621.

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The paper aims to build a prototype of an automatic forklift robot that can collect and place goods in the stacking shelves, that are monitored remotely using an Android-based device. The method used is AGV (Automated Guided Vehicle) on this forklift robot prototype to adjust its positions, by following a line that preset trajectory for stacking shelf positions, where this forklift robot can collect and place goods. The robot navigation system uses a photodiode for the line follower system, and for storage of goods, it uses the proximity sensors detecting the presence of goods on miniature stacking goods and decide where it can store a good or not on that designated cell of the stacking shelf. The miniature of stacking shelves is two by three cells. The control of the robot has two input controllers. One is on a robot itself. The other was on handheld based on Android operating systems, which control remotely using the wireless system with Bluetooth protocol. The results of the discussion on paper, the forklift robot could manage the task given as the predefined line to a followed parameter of stacking shelves with two by three-stack configuration for collect and place goods into their positions, the average time for the robot to collecting and placing goods on stacking from standing still position to stacking shelf then back to the robot origin position. It resulted in the shortest processing time around 43 seconds and the longest time around 45,3 seconds from the start position to stacking shelf position.
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Fuse, Yotaro, and Masataka Tokumaru. "Navigation Model for a Robot as a Human Group Member to Adapt to Changing Conditions of Personal Space." Journal of Advanced Computational Intelligence and Intelligent Informatics 24, no. 5 (September 20, 2020): 621–29. http://dx.doi.org/10.20965/jaciii.2020.p0621.

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In the present paper, we propose a robotic model to help determine a robot’s position under the changing conditions of human personal space in a human-robot group. Recently, several attempts have been made to develop personal robots suitable for human communities. Determining a robot’s position is important not only to avoid collisions with humans but also to maintain a socially acceptable distance from them. Interpersonal space maintained by persons in a community depends on the particular context and situations. Therefore, robots need to determine their own positions while considering the positions of other persons and evaluating the changes made in their personal space. To address this problem, we proposed a robot navigation model and examined whether the experiment participants could distinguish the robot’s trajectory from the human’s trajectory in the experimental scenario. We prepared a scenario in which robots in a group needed to keep an appropriate distance in a three-dimensional space. The experiment participants provided their impressions on robot movements while watching the records representing the scenario. The results indicate that (1) a robot using the proposed model is able to follow the other group members and (2) the experiment participants were not sure whether the trajectories of the robots were controlled by humans and by the proposed model. Therefore, we conclude that the proposed model generates suitable trajectories in robot groups.
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Dissertations / Theses on the topic "Position controlled robot"

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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter." Doctoral thesis, Universitätsbibliothek Chemnitz, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-197679.

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Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert
This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments
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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter." Doctoral thesis, Universitätsverlag der Technischen Universität Chemnitz, 2014. https://monarch.qucosa.de/id/qucosa%3A20403.

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Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert.
This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments.
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Monteiro, Dionne Cavalcante. "Planejamento e rastreamento de trajetorias e controle de posição atraves de algoritmos geneticos e redes neurais artificiais." [s.n.], 2003. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260988.

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Orientador: Marconi Kolm Madrid
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-10T09:28:57Z (GMT). No. of bitstreams: 1 Monteiro_DionneCavalcante_D.pdf: 1351119 bytes, checksum: e13d3adc10bf45c4ea22d6ef1b5a7117 (MD5) Previous issue date: 2003
Resumo: Neste trabalho os algoritmos genéticos e as redes neurais artificiais, técnicas de inteligência artificial, são empregadas para algumas das tarefas que podem ser realizadas por um braço de robô. Inicialmente os algoritmos genéticos são empregados para o controle de trajetória de um robô em um espaço de trabalho que possui a presença de um obstáculo. Operações como crossover e mutação são apresentadas, principalmente por estar-se tratando de trajetórias que são formadas por segmentos de retas. As redes neurais artificiais são testadas no controle direto de dois processos reais usados como paradigma: uma mesa XY e um pêndulo invertido acionado. Para tais processos, é utilizada uma estrutura bastante simplificada, onde a rede neural artificial fornece um ganho para o controlador proporcional que calcula o sinal de controle a ser aplicado. O erro do processo serve para treinar a rede neural sem ser considerado nenhum tipo de treinamento anterior, ou seja, todo o controle neural é executado em tempo real, além disso, uma função determina a taxa de aprendizagem do algoritmo back-propagation em função dos erro existentes nas malhas de controle dos processos. Como existem diversas variáveis para tais controladores neurais, foi também considerado que não existia a possibilidade de se definir o melhor controlador para um determinado processo. Para resolver tal problema, um algoritmo genético foi utilizado para designar qual o melhor controlador para um determinado espaço de trabalho no qual o número de neurônios das camadas de entrada e escondida, constantes de configuração do controlador, e a topologia da rede são otimizados dentro do espaço considerado pelo algoritmo. Todos os resultados importantes obtidos são mostrados, visando mostrar que as técnicas de inteligência artificial podem ser aplicadas à robótica com a vantagem de diminuir, principalmente, o tempo de planejamento de tarefas, tais como: planejamento de trajetória, rastreamento de trajetória, e projeto de controladores eficientes
Abstract: In this work genetic algorithms and artificial neural networks are used for robot arm tasks. Initially, the genetic algorithms are employed to control the trajectory of a robot arm in a limited workspace with an obstacle. Operations like crossover and mutation are presented to manipulate trajectories determined by line segments. Artificial neural networks are tested to control two realtime processes: a XY-Table and an inverted pendulum. For these processes, it is used a simple structured control where the neural network provides a gain to the proportional control, generating a control signal to the processes. The process error is used for training a neural network, without any kind of off-line training, i.e., the training of the neural network is in realtime. Also, a function determines the learning rate of the back-propagation algorithms as a function of the errors of the process control. Since the neural controller have multiple variables, it was not possible to define an optimal controller for the processes. To solve this problem, a genetic algorithm was used to determine the best neural controller in the workspace used, where the number of neurons in the input and hidden layers, constants to configure the neural controller and the network topology are optimized. The results obtained show that artificial intelligent techniques can be applied to robotics reducing the time of task planning, like: trajectory planning, track planning and the project of efficient controllers
Doutorado
Engenharia de Computação
Doutor em Engenharia Elétrica
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4

Burke, Michael Glen. "Visual servo control for a human-following robot." Thesis, Stellenbosch : University of Stellenbosch, 2011. http://hdl.handle.net/10019.1/6813.

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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011.
ENGLISH ABSTRACT: This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into imagebased visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better targetfollowing performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human’s orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this.
AFRIKAANSE OPSOMMING: Die ontwerp van ’n visiestelsel en beheer-komponente van ’n enkel-kamera robot vir die volging van mense word hier aangebied. Die gebruik van visuele terugvoer in die beheerlus word visie-gebaseerde of visuele servobeheer genoem. Visuele servobeheer tegnieke kan tipies onderskei word tussen beeld-gebaseerde servobeheer en posisie-gebaseerde visuele servobeheer. Altwee benaderings word hier bespreek. Die posisie-gebaseerde benadering word aanbeveel vir die volging van mense. Die posisie-gebaseerde servobeheertegniek bestaan uit drie duidelike fases: teiken herkenning, teiken oriëntasie bepaling en die beheerder berekeninge. Benaderings tot elk van hierdie fases word hier in detail bespreek. Dan word ’n volledige funksionele stelsel aangebied wat hierdie fases saamvoeg sodat mense gevolg kan word. Meer tradisionele benaderings tot die volging van mense gebruik tipies ’n beheerder wat die platvorm direk laat navigeer na die teikens, maar hier word geargumenteer dat beter werkverrigting verkry kan word deur ’n beheerder wat die teiken oriëntasie inligting ook gebruik. ’n Suiwer rigting-gebaseerde beheerder, wat beide oriëntasie en translasie foute minimeer, is onderhewig aan verskeie beperkings. Hier word egter aangetoon dat ’n hibriede, aanwinsskedulerende kombinasie van die twee tradisionele beheerders beter teikenvolging werkverrigting bied as die onderliggende twee tegnieke. In die geval van die volging van mense vereis die insluiting van teiken oriëntasie inligting dat ’n definisie van die persoon se oriëntasie beskikbaar is en dat dit geskat kan word. ’n Oriëntasie maatstaf vir mense word hier aangebied en dit word eksperimenteel getoon dat dit geskik is om ’n platvorm met wiele te beheer. Die resultate van die volging van mense wat die voorgestelde hibriede, aanwins-skedulerende beheerder gebruik, met hierdie maatstaf, word ter ondersteuning aangebied.
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Xin, Ming. "Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot." Ohio University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249.

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Tsai, Tai-Huan, and 蔡岱桓. "Design of Position Controller for Delta Robot Applying Adaptive Sliding Mode Control." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/k3mhuy.

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碩士
國立臺灣師範大學
機電工程學系
105
In this study, we design an adaptive sliding mode position controller, which is applying on the three-phase DC brushless motor and using in the Delta robot arms. We remove the uncertainty and the external disturbances of a robot arm in the controller design, and proposed robust and the stability adaptive sliding mode (ASMC) control method. In this study, we choose sliding mode control (SMC) as our major controller, which has good robust appearance. There is an (sign function)sgn(.) in the sliding mode control, it is using to let the system status get on the sliding surface. But the function would let the changing between the -0 and +0 on the sliding surface. And there would have some chattering, because the changing sliding gain. So in our study, we change the function into (saturation function)sat(.) to remove the chattering in the sliding mode. But there are still have some steady state error, so we used the adaptive control to estimate the system’s load torque to remove the steady state error. The position control we proposed can made the three-phase DC brushless motor get on our target position. The error between the target position and the motor’s position is near to zero, because we remove the chattering and the steady state error. We use the Lyapunove function to prove our controller design in the system was stability. In the study, we us the positive inverse kinematics to calculate the motor moving angle in the robot arm. In the experiment result, communicate between the three-phase DC brushless motor and the computer is set up by the C# language. We design an UI interface working in the windows 10 system to control the robot arm. There are the relatively, absolute positon control, motor’s speed setting and the communication method in the UI interface. Let the robot arm move to our target position.
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Leu, Jih-Yung, and 呂日勇. "Hybrid Position / Force Control of a Robot Manipulator with a Neural-Network-Based Learning Controller." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/19428777366647291121.

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Shyu, Chung-Kai, and 徐仲愷. "An Application of Intelligent Controller with Improvement of Robot Position Control for Peg-In-Hole Insertion." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/27965757128934490543.

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碩士
大同大學
機械工程研究所
90
In the peg-in-hole insertion, robot controller using the vision sensor for feedback can effectively eliminate the position error due to the model inaccuracy, but the process of the adjustment is time-consuming. To improve this problem, an intelligent control strategy for accurate position control of the vision robot has been proposed. The intelligent controller is mainly composed of two artificial neural networks (ANNs). One ANN is applied in the feedforward loop to compensate major position model error. The other ANN is used in the feedback path to correct the minor error based on the adjustment of contact force. The experimental results show that at best the peg can be inserted into the hole in one step.
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Chen, Chun-Sheng, and 陳俊昇. "Development of a Multi-axis Force Sensor and a Force-Position Hybrid Controller for Dynamic Gait Generation in a Hexapod Robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/5r5kxu.

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碩士
國立臺灣大學
機械工程學研究所
105
This research is dedicated to improve performance of self-made multi-axis force/torque sensor embedded on hip actuator of hexapod robot and apply it to control dynamic gaits of robot. By utilizing finite element analysis to help us understanding mechanism under force/torque sensor stress/strain behavior, new force/torque sensor design produces larger strain signal under same load than last version. Strain gauges temperature drift problem is solved and measured signal is larger by changing quarter bridge to half bridge design. A novel motor housing method is applied to stop direct connection between self-made sensor and motor, making sure that electrical voltage potential of motor would not influence the measuring signal of half bridge. It also decrease possibility of reny screws’ fracture. Overall, these improvements reduce the calibration error of force/torque sensor from 10N maximum to 2N. Hence, measurement values of self-made force/torque sensor can be used as feedback signal to control dynamic gaits of robot. In simulation, HybridR-SLIP model is proposed, which use PR-SLIP model as foundation, adding ground reaction force feedback to achieve force control. Hip trajectory and ground reaction force profile in R-SLIP model are used as position control target and force control target. After calculating torque requirements in each controller, hybrid controller sums up position and force control results to control hip DoF of the model. Given a deviation in initial touchdown condition, force and position hybrid control making model converging to passive dynamics of target fixed points faster is verified in simulation. Design and manufacturing Hexapod FROHex, which is more rigid than TWIX, reduces the influence of strain signal of force/torque sensor when deformation of robot is occurred. Results of fixed points in R-SLIP model are used to induce passive dynamics of FROHex. It exists about 100N difference between FROHex and R-SLIP model in high touchdown speed angle fixed point targets. Through force and position hybrid control, measuring force profiles are closer to those of R-SLIP model. Because of smaller difference between dynamics of robot and real passive dynamics of circular legs, electrical consumption are reduced under hybrid control strategy. In simulation, HybridR-SLIP shows greater converge ability in transient state. In experiments, force feedback control strategy induced passive dynamics in force profile. Force and position hybrid control is verified to improve dynamics of robot in both way.
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Schroeder, Kyle Anthony. "On the use of generalized force data for kinematically controlled manipulators." Thesis, 2010. http://hdl.handle.net/2152/ETD-UT-2010-12-2150.

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The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely. Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time. Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.
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Book chapters on the topic "Position controlled robot"

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Liu, Y., H. Handroos, O. Alkkiomäki, V. Kyrki, and H. Kälviäinen. "Development of a Hybrid Position/Force Controlled Hydraulic parallel Robot for Impact Treatment." In Service Robotics and Mechatronics, 61–67. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-694-6_11.

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Osumi, Hisashi, Tamio Arai, Naomi Yoshida, Yusi Shen, Hajime Asama, Hayato Kaetsu, and Isao Endo. "Cooperative System between a Position-controlled Robot and a Crane with Three Wires." In Distributed Autonomous Robotic Systems, 347–58. Tokyo: Springer Japan, 1994. http://dx.doi.org/10.1007/978-4-431-68275-2_31.

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Artemiadis, Panagiotis K., and Kostas J. Kyriakopoulos. "EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons." In Experimental Robotics, 241–50. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_29.

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Osumi, Hisashi. "Cooperative Strategy for Multiple Position-Controlled Mobile Robots." In Distributed Autonomous Robotic Systems 2, 374–85. Tokyo: Springer Japan, 1996. http://dx.doi.org/10.1007/978-4-431-66942-5_33.

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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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Jurado Realpe, JR, Salih Abdelaziz, and Philippe Poignet. "Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control." In Advances in Robot Kinematics 2020, 349–58. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50975-0_43.

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Thomsen, Mette Ramsgaard, Martin Tamke, Aurelie Mosse, Jakob Sieder-Semlitsch, Hanae Bradshaw, Emil Fabritius Buchwald, and Maria Mosshammer. "Imprimer La Lumiere – 3D Printing Bioluminescence for Architectural Materiality." In Proceedings of the 2021 DigitalFUTURES, 305–15. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-5983-6_28.

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Abstract‘Imprimer la Lumière’ examines the making of a bioluminescent micro architecture. The project positions itself inside a sustainability agenda. By exploring the use of light-emitting bacteria as a material for architecture it asks what are the concepts, methods and technologies needed for designing with living materials. The project devises new means by which to design with the luminescent vibrio fischeri bacteria in a 3D printing manufacturing process based on extrusion principles. By combining the study of these living organisms and their appropriation through advanced robot-controlled 3D printing technologies, we establish a conceptual, material and technological framework for a bio-controlled bacteria growth and 3D extrusion process and a printable material based on agarose and gelatine.
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Doulgeri, Z., and D. Biskas. "A Stable and Robust Fuzzy Controller for the Position Control of Robots." In Computational Intelligence in Systems and Control Design and Applications, 105–14. Dordrecht: Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-010-9040-7_10.

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Cvejn, Jan, and Jiří Tvrdík. "Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller." In Advances in Intelligent Systems and Computing, 100–109. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-57264-2_10.

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Baghli, F. Z., and L. El Bakkali. "Design and Simulation of Robot Manipulator Position Control System Based on Adaptive Fuzzy PID Controller." In Robotics and Mechatronics, 243–50. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-22368-1_24.

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Conference papers on the topic "Position controlled robot"

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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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Yong, Boojoong, and Gregory P. Starr. "Application of Preview Control to Contour-Following Using a Force-Controlled Industrial Robot." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0139.

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Abstract It is often useful in automation tasks to make a robot manipulator follow along a workpiece surface while maintaining contact. With a typical position-controlled industrial robot, the contact force must be sensed and used to control the robot. The tracking speed and force regulation of this type of system can be improved using preview control, that is, the use of measured surface position information a fixed distance ahead of the point of contact. To realize preview control, a discrete-time state-space model of the robot and environment was identified. A wrist force sensor provides a measurement of the contact force. The complete controller consists of both feedback and feedforward preview controllers. Stability is determined solely by the feedback controller. A Kalman filter was used to produce optimal state estimates. Experimental evaluation of the surface-following system using preview control showed substantial improvement when compared to a linear controller.
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Shao, Zilong, Gang Zheng, Denis Efimov, and Wilfrid Perruquetti. "Modelling and control for position-controlled Modular Robot Manipulators." In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2015. http://dx.doi.org/10.1109/iros.2015.7353834.

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Kajita, Shuuji, Futoshi Asano, Mitsuharu Moriswa, Kanako Miura, Kenji Kaneko, Fumio Kanehiro, and Kazuhito Yokoi. "Vertical vibration suppression for a position controlled biped robot." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6630789.

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Ortiz, Alexis, and Juan Ibarra. "Walk stability control for position-controlled servo actuated humanoid robot." In 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE). IEEE, 2019. http://dx.doi.org/10.1109/iceee.2019.8884580.

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Winkler, Alexander, and Jozef Suchy. "Identification and controller design for the inverted pendulum actuated by a position controlled robot." In 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR). IEEE, 2013. http://dx.doi.org/10.1109/mmar.2013.6669916.

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Hill, Joshua, and Farbod Fahimi. "Active Disturbance Rejection for Bipedal Walk of a Humanoid Robot Using the Motions of the Arms." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-62270.

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A control system for the walking of a redundant biped robot in the swing phase is considered. The biped is a humanoid with 6DOF per leg and 3DOF per arm. The controller will be based on a full kinematic model of the robot to depict a more accurate behavior of the robot. The arms of the robot are used to compensate for disturbances the robot may experience during walking. Instead of controlling the robots ZMP, keeping it within the support polygon, all six foot support reaction components are controlled. First, a “shoe” with force sensors detect the forces and moments on the foot for feedback. The feedback from the joint servos provide position and velocity information. The support reaction and the joint position/velocities are fedback to a sliding mode controller, which makes adjustments to the arm links’ acceleration to compensate the shift in the reaction components. Simulations show the comparison of the ZMP shift when disturbances are applied with and without controlling the reaction forces to prove the effectiveness of the approach.
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Wang, Chi-Lun, Mingguo Zhao, and Rongge Zhang. "State Estimation for a Position-Controlled Biped Humanoid Robot Using Simple Models." In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2018. http://dx.doi.org/10.1109/robio.2018.8665095.

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Lange, Friedrich, Claudius Jehle, Michael Suppa, and Gerd Hirzinger. "Revised force control using a compliant sensor with a position controlled robot." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6224630.

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Jung, Seul. "Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment." In 2020 20th International Conference on Control, Automation and Systems (ICCAS). IEEE, 2020. http://dx.doi.org/10.23919/iccas50221.2020.9268417.

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