119,507 research outputs found
Control strategy for a dual-arm maneuverable space robot
A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot
Dynamic Modelling and Adaptive Traction Control for Mobile Robots
Mobile robots have received a great deal of research in recent years. A
significant amount of research has been published in many aspects related to
mobile robots. Most of the research is devoted to design and develop some
control techniques for robot motion and path planning. A large number of
researchers have used kinematic models to develop motion control strategy for
mobile robots. Their argument and assumption that these models are valid if the
robot has low speed, low acceleration and light load. However, dynamic
modelling of mobile robots is very important as they are designed to travel at
higher speed and perform heavy duty work. This paper presents and discusses a
new approach to develop a dynamic model and control strategy for wheeled mobile
robot which I modelled as a rigid body that roles on two wheels and a castor.
The motion control strategy consists of two levels. The first level is dealing
with the dynamic of the system and denoted as Low level controller. The second
level is developed to take care of path planning and trajectory generation
A passivity approach to controller-observer design for robots
Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper the authors propose a design strategy that utilizes the passivity concept in order to develop combined controller-observer systems for robot motion control using position measurements only. To this end, first a desired energy function for the closed-loop system is introduced, and next the controller-observer combination is constructed such that the closed-loop system matches this energy function, whereas damping is included in the controller- observer system to assure asymptotic stability of the closed-loop system. A key point in this design strategy is a fine tuning of the controller and observer structure to each other, which provides solutions to the output-feedback robot control problem that are conceptually simple and easily implementable in industrial robot applications. Experimental tests on a two-DOF manipulator system illustrate that the proposed controller-observer systems enable the achievement of higher performance levels compared to the frequently used practice of numerical position differentiation for obtaining a velocity estimat
Experiments in cooperative human multi-robot navigation
In this paper, we consider the problem of a
group of autonomous mobile robots and a human moving
coordinately in a real-world implementation. The group
moves throughout a dynamic and unstructured environment.
The key problem to be solved is the inclusion of a human in a
real multi-robot system and consequently the multiple robot
motion coordination. We present a set of performance metrics
(system efficiency and percentage of time in formation) and a
novel flexible formation definition whereby a formation
control strategy both in simulation and in real-world
experiments of a human multi-robot system is presented. The
formation control proposed is stable and effective by means of
its uniform dispersion, cohesion and flexibility
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