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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)最新文献

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Fuzzy methods of driving genetic algorithms 驱动遗传算法的模糊方法
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240582
Krzysztof Pytel, G. Kluka, A. Szymonik
{"title":"Fuzzy methods of driving genetic algorithms","authors":"Krzysztof Pytel, G. Kluka, A. Szymonik","doi":"10.1109/ROMOCO.2004.240582","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240582","url":null,"abstract":"This article presents two concepts of modified genetic algorithms, they employ a fuzzy logic controller to set a trend individuals' evolution. In the algorithms we use a fuzzy logic controller, evaluating each individual as a parent for the next population. The fuzzy logic controller evaluates all individuals using fitness functions for earlier populations, which help's to keep the knowledge collected in the prior populations. The controller modifies the probability of selection to parents' pool, or probability of mutation, so in the fuzzy controlled genetic algorithms, a number of better quality individuals are larger then in the elementary genetic algorithms. We use the traveling salesman problem (TSP) as illustrations.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123525965","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
Open control problems in underwater robotics 水下机器人的开放控制问题
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240650
G. Antonelli
{"title":"Open control problems in underwater robotics","authors":"G. Antonelli","doi":"10.1109/ROMOCO.2004.240650","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240650","url":null,"abstract":"This paper presents a review of the control problems encountered in underwater robotics. It also discusses some future researches regarding the subject.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"51 Pt 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126232684","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: 4
Bases comparison in control space of nonholonomic systems 非完整系统控制空间中的基比较
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240577
I. Dulęba
{"title":"Bases comparison in control space of nonholonomic systems","authors":"I. Dulęba","doi":"10.1109/ROMOCO.2004.240577","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240577","url":null,"abstract":"In this paper, bases in the space of controls are evaluated for driftless nonholonomic systems. As a tool of the evaluation, the pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula is used. It appears that harmonic, Fourier basis is the best among the two other tested bases: polynomial (Legendre) basis and the simplest wavelet basis - the Haar basis. An impact of bases on motion planning for nonholonomic robots is explained.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128911615","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: 1
Friction model for low velocities: proprieties and applications 低速摩擦模型:特性和应用
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240971
L. Márton
{"title":"Friction model for low velocities: proprieties and applications","authors":"L. Márton","doi":"10.1109/ROMOCO.2004.240971","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240971","url":null,"abstract":"The paper presents a novel friction model to describe the friction phenomena at low velocities. The proprieties of the introduced model are discussed in detail. It was shown that the off line identification of the model parameters can easily be performed using standard parameter identification techniques and the proposed model predicts the limit cycle phenomena that occurs due to friction phenomena at low velocities. The model is linear in parameters so it can easily be applied in adaptive friction compensation algorithms for positioning systems and robotic manipulators. Simulation results are provided to illustrate the applicability of the proposed model.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124161901","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
Agents that live in robots: how are successful applications built? 机器人中的代理:成功的应用程序是如何构建的?
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240904
Grzegorz Wieczerzak, K. Kozlowski
{"title":"Agents that live in robots: how are successful applications built?","authors":"Grzegorz Wieczerzak, K. Kozlowski","doi":"10.1109/ROMOCO.2004.240904","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240904","url":null,"abstract":"Agent technology has today a wide spectrum of possible applications. It is easy to notice many examples of agents in different branches: economics, management, manufacturing, telecommunication, robotics, and entertainment to list a few. However, this technology is not mature enough yet to give precise predictions about success or failure of an agent-based project. This paper tries to demonstrate the current state of the agent technology. We describe important features of existing multi-agent paradigms to start some discussion on their suitability and applicability in robotic applications.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114177129","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
Observer-based control of a biped robot 基于观测器的双足机器人控制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240641
V. Lebastard, Y. Aoustin, F. Plestan
{"title":"Observer-based control of a biped robot","authors":"V. Lebastard, Y. Aoustin, F. Plestan","doi":"10.1109/ROMOCO.2004.240641","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240641","url":null,"abstract":"The problems under interest are the stabilization in single support of the vertical posture and the walking control of a three-link biped, via controllers and nonlinear observers. The control laws are designed, for the stabilization by using a linear model and the associated Jordan form, and for the walking a decoupling input-output linearization control. The observers are necessary to reconstruct the full state, viewed that the absolute angular value is not measured.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125117565","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: 17
Using extended G-code algorithms for networked industrial robots 网络化工业机器人的扩展g码算法
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240590
T. Masood, Iqbal Khan, M. J. Akhtar
{"title":"Using extended G-code algorithms for networked industrial robots","authors":"T. Masood, Iqbal Khan, M. J. Akhtar","doi":"10.1109/ROMOCO.2004.240590","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240590","url":null,"abstract":"With the development of automation techniques, industrial robots have been developed from independent automation units to standard automatic devices of large-scale automation systems. Although it is necessary to network industrial robots, doing so is very difficult due to the robot's non-open controller. In this article, a server-client model is proposed and a protocol for networked motion control based on G-code is developed to control robots on a network. In this way, industrial robots can be automatically programmed offline using common CAM software.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132601571","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: 3
Universal card for data acquisition 通用数据采集卡
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240585
M. Klak, A. Rybarczyk
{"title":"Universal card for data acquisition","authors":"M. Klak, A. Rybarczyk","doi":"10.1109/ROMOCO.2004.240585","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240585","url":null,"abstract":"In robotics, particularly in mobile robotics there is a common problem of retrieving large quantities of data and processing it in order accomplish a scheduled task. Thus in this article are presents the way of constructing a card with PCI bridge implemented on the FPGA chip, and all advantages that it gives. The presented card can be used as card of any destination as it functions that way and completion of PCI bridge code makes possible appliances of this solution applicable.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116217175","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: 0
Tracking controller with vector field orientation for 3-D nonholonomic manipulator 三维非完整机械臂矢量场定向跟踪控制器
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240581
M. Michałek, K. Kozlowski
{"title":"Tracking controller with vector field orientation for 3-D nonholonomic manipulator","authors":"M. Michałek, K. Kozlowski","doi":"10.1109/ROMOCO.2004.240581","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240581","url":null,"abstract":"The paper presents a proposition of the control design methodology for the nonholonomic manipulator (NHM3) with three links. The proposed control strategy results from the geometrical interpretation of a structure of the NHM3 kinematic model. The derived tracking control law for driftless NHM3 system exemplifies the described control design concept. Simulation results confirm the validity and effectiveness of the presented idea.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"10 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116541534","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: 8
Artificial potential based control for a large scale formation of mobile robots 基于人工势的大规模编队移动机器人控制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240742
W. Kowalczyk, K. Kozlowski
{"title":"Artificial potential based control for a large scale formation of mobile robots","authors":"W. Kowalczyk, K. Kozlowski","doi":"10.1109/ROMOCO.2004.240742","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240742","url":null,"abstract":"This work presents control method based on a set of artificial potential functions. The kind of used artificial potential depends on particular objective: avoiding collisions between robots and keeping them in the ordered formation, executing task by the formation (e.g. moving formation into desired position), building formation and avoiding collisions with obstacles. In this paper we expand existing framework proposing attraction area potential function, which allows building formation and repulsion potential function, which allows avoiding collisions with obstacles. Main advantage of presented approach is that it is easy scalable because control is based on general rule that determines behaviour of all robots. Presented solutions are illustrated with simulation results.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122100036","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: 42
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