Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.最新文献_第3页

Fractional order adaptive control for systems of locally nonlinearizable nonlinearities 局部非线性非线性系统的分数阶自适应控制

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201449

J. Tar, A. Bencsik, K. Kozlowski

{"title":"Fractional order adaptive control for systems of locally nonlinearizable nonlinearities","authors":"J. Tar, A. Bencsik, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201449","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201449","url":null,"abstract":"In this paper electromagnetic servo valve controlled differential hydraulic cylinders are considered as paradigms of non-linear systems that have locally nonlinearizable nonlinearities. One of them is of hydrodynamic origin: the flow resistance of the system is proportional to the square root of certain pressure difference that has infinite derivative at zero. The other nonlinearity is caused by the discontinuous behavior of the friction and adhesion forces between the piston and the cylinder at zero piston velocity. Such a behavior is difficult to control by the traditional PID controllers. Furthermore, uncertainties and variation of the hydrodynamic parameters in general make it unrealistic to develop an accurate model for such systems. Brocker and Lemmen proposed two different control approaches for the differential hydraulic cylinders based on the disturbance rejection, and on the partial flatness principles, respectively. In each case it was necessary to measure the external disturbance force and its time-derivative as well as to know the exact model of the system. Later on Tar et al. proposed an alternative adaptive approach that does not require to measure the disturbance force and to know the exact parameters of the cylinder. This method rejected to use time-derivatives because of the presence of friction, and, as a consequence it resulted in a very hectic transient phase of learning. In this paper an alternative approach is presented that combines this approach with the use of calculated time-derivatives that are \"rejected\" by adoptively varying the order of the derivation applied. In this way the harsh initial transients can be evaded. The operation of the method is presented by simulations.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116743850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Calculation of robot parameters based on neural nets 基于神经网络的机器人参数计算

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201411

A. Lesewed, J. Kurek

引用次数: 3

The robot assistant system for surgeon in laparoscopic interventions 外科医生腹腔镜手术的机器人辅助系统

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201401

P. Sauer, K. Kozlowski, D. Pazderski, W. Waliszewski, Przemyslaw Jeziorek

引用次数: 2

Inverse optimal tracking control of an aerial blimp robot 空中飞艇机器人的逆最优跟踪控制

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201423

T. Fukao, T. Kanzawa, K. Osuka

引用次数: 16

GPS-based localization for a surveillance UGV in outdoor areas 一种基于gps的户外监视无人车定位方法

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201417

F. Capezio, A. Sgorbissa, R. Zaccaria

引用次数: 47

Snail surgeon: a new robotic system for minimally invasive surgery 蜗牛外科医生:用于微创手术的新型机器人系统

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201399

F. Cepolina, M. Zoppi

{"title":"Snail surgeon: a new robotic system for minimally invasive surgery","authors":"F. Cepolina, M. Zoppi","doi":"10.1109/ROMOCO.2005.201399","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201399","url":null,"abstract":"The paper discusses the architecture and the workspace of a special modular surgical robot designed for minimally invasive surgery (keyhole surgery). The surgeon can be asked to operate on an organ not directly reachable through any keyhole opened on the patient abdomen, e.g. due to the presence of other organs surrounding it. In this case, an alternative to complex and dangerous displacement operations of the surrounding organs inside the patient is the use of a highly dexterous robotic arm able to reach the operating region by moving around the organs. The paper proposes a mini robot composed of modules with different mobility connected in series through mechanical/power/control interfaces. The workspace and performances of the robot can be adapted to the particular surgical operation to be carried out by changing the composition of the chain (type and position of the modules). Data stored in a database allow the easy determination of the workspace and provide information about the velocity ellipsoids and the presence of singularities. With reference to the results of the preoperative exams and by means of the information stored in the database, the best robot architecture, for the surgical operation to be carried out, can be selected.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123293004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Design of a tracking controller-observer system for a mobile robot 移动机器人跟踪控制器-观测器系统的设计

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201406

E. Jarzębowska

引用次数: 1

Implementation of position-force control in MRROC++ MRROC++中位置-力控制的实现

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201433

Tomasz Winiarski, C. Zieliński

引用次数: 8

Methods based on ordered fuzzy numbers used in fuzzy control 基于有序模糊数的模糊控制方法

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201448

Piotr Prokopowicz

引用次数: 19

Evolving composite robot behaviour - a modular architecture 进化复合机器人行为——模块化架构

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI: 10.1109/ROMOCO.2005.201435

Tobias Larsen, S. Hansen

引用次数: 20