2020 International Automatic Control Conference (CACS)最新文献_第2页

Robotic Arm End-Effector Reaction Force Estimation for Part Assembling Process Using Sliding Perturbation Observer 基于滑动摄动观测器的机械臂末端反力估计

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289705

H. Khan, S. Abbasi, Hyun Hee Kim, Min Choel Lee

引用次数: 3

Low-Frequency Perturbation Estimation based on Low Gain Sliding Perturbation Observer while Contact with Environment 与环境接触时基于低增益滑动摄动观测器的低频摄动估计

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289752

Abbasi Saad Jamshed, H. Khan, Min Choel Lee

{"title":"Low-Frequency Perturbation Estimation based on Low Gain Sliding Perturbation Observer while Contact with Environment","authors":"Abbasi Saad Jamshed, H. Khan, Min Choel Lee","doi":"10.1109/CACS50047.2020.9289752","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289752","url":null,"abstract":"Sensor less force estimation is a challenging issue among researchers working in the domain of robot manipulators. Different researchers have proposed a unique algorithm to estimate/ observe reaction/ contact force during robot operation includes grinding, cutting, painting, and assembly. This contact force generates perturbation at each joint of the robot manipulator. Sliding mode control with sliding perturbation observer (SMCSPO) is a robust control scheme which is an integration of sliding mode control (SMC) and sliding perturbation observer (SPO). SMCSPO not only estimate perturbation but also uses this estimated information to cancel the effect of actual perturbation. Perturbation is a sum of contact force/reaction force from the environment, modeling, and parametric uncertainties. In SMCPO bode plot between the estimated and actual perturbation is low pass filter with the breaking frequency of lambda. Estimation accuracy and system performance improved with the larger value of lambda. Contact / Reaction force is usually constant and has low frequency but SMCSPO estimates all categories of perturbation. To extract perturbation at the robot joint due to reaction force low gain sliding perturbation observer (LGSPO) has proposed in this research. In this suggested scheme the small value of lambda (breaking frequency) has been selected to estimate low-frequency perturbation (due to contact force). This LGSPO works in parallel with SMCSPO. Design logic has been implemented on MATLAB/ Simulink, and experiments have been conducted on seven degrees of freedom (DOF) assembly robot manipulator.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114563809","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

Autonomous Docking in a Human-Robot Collaborative Environment of Automated Guided Vehicles 自动引导车辆人机协同环境下的自主对接

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289713

K. Song, Chien-Wei Chiu, Li-Ren Kang, Yu-xuan Sun, Ching-Hao Meng

引用次数: 2

Design and Implementation of Intelligent Overtaking System Using Model Predictive Control 基于模型预测控制的智能超车系统设计与实现

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289754

Shih-Ting Huan, Yu‐Chen Lin, Chun‐Liang Lin

{"title":"Design and Implementation of Intelligent Overtaking System Using Model Predictive Control","authors":"Shih-Ting Huan, Yu‐Chen Lin, Chun‐Liang Lin","doi":"10.1109/CACS50047.2020.9289754","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289754","url":null,"abstract":"In this paper, an intelligent overtaking system is developed, which includes overtaking possibility strategy (OPS), autonomous overtaking control scheme, and then successfully implemented on an autonomous vehicle. The OPS is based on the image recognition technology for detecting surrounding vehicles and lane lines, and further calculate the time to lane crossing (TLC) as the basis of overtaking or keep within your lane. Thus, this research can implement two functions, such as lane following and overtake. An autonomous overtaking control scheme using the successive linearization based model predictive control is developed to derive the appropriate throttle, brake and steering angle actuators for a car. This control approach can provide stable and safety overtaking maneuvers effectively. Finally, the proposed system has been incorporated into an electrical golf car and tested in a real-road environment, where the communication of the whole sensors, actuators as well as vehicle control unit (VCU) are used the controller area network (CAN) bus to realize control and data collection. Some of the experimental results demonstrate the feasibility of using the overtaking strategies by considering various traffic situations.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123804506","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

Implementation of ROS-based Feeding Robot System with Intention Detection 基于ros的喂食机器人意图检测系统的实现

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289772

Wen-Chang Cheng, Hung-Chou Hsiao, C. Chung

{"title":"Implementation of ROS-based Feeding Robot System with Intention Detection","authors":"Wen-Chang Cheng, Hung-Chou Hsiao, C. Chung","doi":"10.1109/CACS50047.2020.9289772","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289772","url":null,"abstract":"In this study, we completed a feeding robot system, which USES a robotic arm combined with image processing to complete automatic feeding, reducing the burden of caregivers and improving the autonomy and dignity of the caregivers. The system detects the user open mouth through the camera, When the user opens mouth continuously for a preset period of time, it means that he wants to eat at this time, the system starts the robot arm to take food and feed, the feeding system continuously controls the robot arm to track the position of the mouth. Make sure that the food is delivered to the user’s mouth so that the user can eat easily. The software is based on the robot operating system as a development environment. It contains four nodes, including a mouth detection node, an arm feeding control node, an arm driving node, and an arm status publishing node. In this study, we mainly develop the mouth detection node and the arm feeding control node, and then integrate the arm drive node and arm status publishing node provided by the manufacturer. Since each node operates independently, so even if the speed of image processing is different from the speed of arm feeding control, it does not affect the operation of the system. The experimental results show that the system can correctly complete the user’s eating movement without the use of two-handed assistance to achieve practical purposes.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132209624","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

Integrating Computer Vision and Natural Language Instruction for Collaborative Robot Human-Robot Interaction 集成计算机视觉和自然语言教学的协作机器人人机交互

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289768

Shih-Hung Wu, Xie-Sheng Hong

引用次数: 1

Robotic Arm Pick-and-place System for L-Shaped Water Pipe Joint with Arbitrary Angle 任意角度l型水管接头的机械臂拾取系统

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289721

Wen-Chang Cheng, Hung-Chou Hsiao, Yuan-Pin Lin, Yu-Hang Liu

{"title":"Robotic Arm Pick-and-place System for L-Shaped Water Pipe Joint with Arbitrary Angle","authors":"Wen-Chang Cheng, Hung-Chou Hsiao, Yuan-Pin Lin, Yu-Hang Liu","doi":"10.1109/CACS50047.2020.9289721","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289721","url":null,"abstract":"The system combines a camera and a mechanical arm to complete the L-shaped water pipe joint picking system with arbitrary angle. The system is mainly divided into two parts: computer side and arm side. The computer is responsible for observing the current position and angle of the workpiece, receiving the image of the workpiece and performing image processing operations (such as binarization, contour detection), and at the same time converting the coordinate and angle of the workpiece into the coordinate and angle of the robot arm and transmitting it End. The arm end receives the coordinates and angle from the computer end and performs the corresponding picking action. The system sets the workpiece center in combination with the rotation point and picking point in the minimum contour rectangle where the workpiece is found to binarization to pick the workpiece. During the experiment, the conditions of the factory environment were also simulated. During the day, noon and night, four, three, two and one fluorescent lamp were turned on, and 100 tests were performed on 12 situations. The average success rate is as high as 99%. Experiments show that the system can be actually used in factories, saving related manpower and material resources.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"07 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114235790","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

Investigating the SoC of gel Battery using Mathematical Model 用数学模型研究凝胶电池的荷电状态

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289776

T. Kuo, Ching-Ming Lai, Tang Yi

引用次数: 0

An M-Estimation EKF-CMAC-Based Algorithm for Robust Position Estimation and Guidance 一种基于m估计ekf - cmac的鲁棒位置估计与制导算法

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289731

Tan-Jan Ho, C. Hsu, Hua-Yu Luo, Meng-Hxien Wu

引用次数: 0

Towards Underwater Sustainability using ROV Equipped with Deep Learning System 基于深度学习系统的ROV水下可持续性研究

2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289788

Yi-Chia Wu, Po-Yen Shih, Li-Perng Chen, Chia-Chin Wang, H. Samani

引用次数: 3