Robot Motion and Control 2007

✍ Scribed by Krzysztof R. Kozlowski

• Publisher: Springer
• Year: 2007
• Tongue: English
• Leaves: 444
• Series: Lecture Notes in Control and Information Sciences
• Edition: 1st Edition.
• Category: Library

✦ Synopsis

Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field.

✦ Table of Contents

Contents......Page 7
Introduction......Page 21
Kinematics......Page 22
Dynamics......Page 24
Trajectory Generation......Page 27
Trim Trajectory Characterization......Page 28
Trim Trajectories Calculation......Page 30
Simulation Results......Page 32
Circular Trim Trajectories with Constant Altitude......Page 33
Helicoidal Trim Trajectories......Page 35
Under-Actuation at Low Velocity......Page 36
Results for the Normalized Time......Page 41
References......Page 44
Introduction......Page 47
Modelling of Quadrotor......Page 48
Optimal Control (LQR)......Page 50
LQR with Gain Scheduling......Page 51
Feedback Linearization......Page 52
Simulations......Page 53
References......Page 55
Introduction......Page 57
Spacecraft Model......Page 58
Plant Stabilization......Page 59
PID Controller Design for the Stabilized Plant......Page 61
Internal Model Control – System Operation......Page 62
Simulation Results......Page 64
References......Page 65
Introduction......Page 67
Modelling......Page 68
Simulation Results......Page 72
References......Page 73
Introduction......Page 75
Problem Formulation......Page 76
Skid Phenomenon......Page 77
VFO Strategy – Brief Recall......Page 78
VFO Control with Skid Compensation......Page 79
Simulation Results......Page 82
References......Page 84
Introduction......Page 85
Vision System......Page 86
Initial Velocity Field Generation......Page 88
Dynamic Velocity Field Modification......Page 90
Results......Page 91
References......Page 94
Introduction......Page 96
Mapping Contour Deformations to Camera Motions......Page 97
Generating Zoom Demands......Page 99
Experimental Results......Page 100
Conclusions and Future Work......Page 102
References......Page 103
Introduction......Page 104
Visual Servoing with a Dynamic Set of SIFT Features......Page 105
Grasp Point Selection......Page 107
Experimental Results......Page 110
Conclusion......Page 112
References......Page 113
Introduction......Page 114
Local Perception Horizon and Trajectory Planning......Page 115
A Practical Approach to WMR with Monocular Image Data......Page 116
Image Perception and Physical Constraints......Page 117
Dynamic Models and Trajectory Control......Page 118
Conclusions......Page 120
References......Page 121
Introduction......Page 122
IDA-PBC for Underactuated Mechanical Systems......Page 123
PH Representation of Dynamics......Page 125
Applicability of IDA-PBC and Derivation of Control Law......Page 126
Numerical Experiments......Page 128
Conclusions......Page 129
References......Page 130
Introduction......Page 131
Mathematical Description of the System......Page 132
The New Control Algorithm......Page 133
References......Page 145
Introduction......Page 148
The Considered Dynamical Model......Page 149
A Discrete-Time Sliding Mode Control Approach......Page 150
An Alternative Discrete-Time Sliding Mode Control Approach......Page 152
The Considered Industrial Rob ot......Page 154
Experimental Results......Page 155
References......Page 156
Introduction......Page 158
First-Order Equations of Motion Containing GVC......Page 159
Velocity Tracking Controller Using GVC......Page 160
Simulation Results......Page 164
Concluding Remarks......Page 165
References......Page 166
Introduction......Page 167
Simple Iterative Approaches......Page 169
Novel Iterative Approaches for SISO Systems......Page 171
The Mathematical Model of the Cart – Pendulum System and Simulation Results......Page 172
Conclusion......Page 174
References......Page 175
Introduction......Page 177
New Method of Actuating Hyper-Redundant Robots......Page 178
Modeling Magnetic Clutch-Based Actuators......Page 180
Controller Design, Simulation and Experiments......Page 183
Conclusions......Page 184
References......Page 185
Introduction......Page 187
Mixed Reality Bond Graphs......Page 188
Distributed Mixed Reality Haptic Ball Manipulator......Page 189
References......Page 194
Mapping and Localization......Page 195
Trajectory Tracking......Page 197
Mobile Robot Navigation Through Gates......Page 198
Problem Description......Page 199
Gate Identification Procedure and Signature Concept......Page 200
Experimental Procedure......Page 205
Control System......Page 210
Results and Discussion......Page 211
Conclusions......Page 214
References......Page 215
Introduction......Page 217
Main Idea......Page 218
Kinematic Motion Patterns......Page 219
Examples......Page 222
References......Page 224
Introduction......Page 226
Kinematic Control of Redundant Manipulator......Page 227
Tackling the Problem of Manipulator Singularity......Page 230
Computer Example......Page 231
Conclusions......Page 232
References......Page 233
Introduction and Related Work......Page 234
Preliminaries: Particle Filter......Page 236
Definition of Features and Other Parameters......Page 237
Statistical Analysis and Bootstrap Feature Selection......Page 238
Measurement Update......Page 240
Model Extraction and Results Updates......Page 241
Conclusion and Future Work......Page 242
References......Page 243
Introduction......Page 245
Simulator......Page 246
Laser Range-Finder Model......Page 247
Integrating the Global Map with the Local Map......Page 249
Results......Page 251
References......Page 252
Introduction......Page 253
Preliminaries......Page 255
The Algorithm......Page 256
Simulation Results......Page 259
References......Page 261
Introduction......Page 263
Kinematic Model and Problem Formulation......Page 264
Nonholonomic Steering Towards a Desired Target......Page 265
Obstacle Detection and Avoidance......Page 266
Simulation Results......Page 268
References......Page 271
Introduction......Page 273
The Newton Algorithm......Page 274
Simultion Results......Page 278
References......Page 281
Introduction......Page 282
Dynamics of Mobile Manipulator with Nonholonomic Platform......Page 283
Control Problem Statement......Page 285
Path Following for the Platform......Page 286
Kinematic Controller – Pomet Algorithm......Page 287
ath Following for the Manipulator......Page 289
Dynamic Controller......Page 290
Simulation Study......Page 292
Conclusions......Page 294
References......Page 295
Introduction......Page 296
Koala: Therapeutic Ball- obot......Page 297
Virtual Koala and Sensory Signals Modelling......Page 299
Implementation Issues......Page 301
Conclusions......Page 302
References......Page 303
Introduction......Page 304
Rehabilitation Training Support System......Page 305
3D Force Display Robot......Page 306
Control Algorithm of Resistance Training......Page 307
Control Algorithm Simulating Sanding Training......Page 308
Teaching/ raining Function Algorithm......Page 309
References......Page 311
Presentation of Wheeeler......Page 312
The Main Concept......Page 313
Distributed Controllers......Page 314
Short Review......Page 315
CORBA Implementation......Page 316
Simulation Time and Real Time Considerations......Page 318
References......Page 319
Introduction......Page 320
Hexapod......Page 321
Quadruped......Page 322
New Control System......Page 324
Experiments......Page 325
Conclusions......Page 326
References......Page 327
Introduction......Page 328
Previous Localization Technique......Page 330
Enhanced Localization Algorithm......Page 331
Kalman Filtering and ROI Extraction......Page 333
Stationary Sound Sources......Page 334
Moving Sound Sources......Page 337
Conclusion......Page 338
References......Page 339
Introduction......Page 340
The Humanoid Robot ROMAN......Page 341
Upper Body......Page 342
Artificial Eyes......Page 344
Robot Control Architecture......Page 345
References......Page 347
Introduction......Page 348
Upper Arm Orthotic – Mobile Mount......Page 349
Master/Interface Unit......Page 350
Control System......Page 351
Upper Arm Orthotic – Stationary Mount......Page 352
Power-Assist in Human Worn Assistive Devices......Page 353
Virtual Prototyping......Page 354
Conclusion......Page 355
References......Page 356
Introduction......Page 357
Chassis Structure......Page 358
Supporting Frame and Suspension......Page 359
Control System Concept and Implementation......Page 360
On-Board Controller......Page 363
Energy Distribution Module......Page 365
References......Page 366
Introduction......Page 367
Communication System – Hardware Layer......Page 368
Measurement System......Page 369
Vision System for Inspection and Navigation......Page 372
Localization of the Duct Inspection Robot with Use of the Vision System......Page 373
References......Page 376
Introduction......Page 377
System......Page 378
Robot......Page 379
Control Architecture: UCoM(Universal Controller Module)......Page 380
Hybrid Impedance Control......Page 381
Sensors......Page 382
Integration and Results......Page 383
References......Page 384
Introduction......Page 386
The Basic Assumptions Related to Path Planning......Page 387
References......Page 393
Introduction......Page 395
Robot Controller......Page 397
Position-Force Control......Page 399
The Gripper and Its Sensors......Page 401
Effector Controller......Page 402
Experiments......Page 404
Conclusions......Page 405
References......Page 406
Introduction......Page 408
Related Work......Page 409
The Algorithm......Page 410
Weighted Tree Clearing......Page 411
Discussion and Conclusion......Page 414
References......Page 415
Problem Statement......Page 417
Discretization of Robot Motion Processes......Page 419
DFSA Model of Distributed High-Level Control......Page 421
Coordination of Multiple Robot Motion......Page 423
Deadlock Avoidance......Page 424
References......Page 425
Introduction......Page 427
The Traffic Model......Page 428
Urban Traffic Control......Page 429
Path Planning Algorithms for Vehicles......Page 431
References......Page 433
Introduction and Overview......Page 435
Robocup F-180 Small Size League......Page 436
Existing Infrastructure......Page 437
Wireless Dissemination of Time Signal......Page 438
Results of First Test Run......Page 439
Techniques for Improvement......Page 440
References......Page 441
zz......Page 443