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2021 XXIII Robotics Mexican Congress (ComRob)最新文献

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Comparing cost functions for the optimal control of robotic manipulators using Pontryagin’s Maximum Principle 用庞特里亚金极大值原理比较机械臂最优控制的代价函数
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628878
Hedy César Ramírez-de-Ávila, Juan Antonio Rojas-Quintero, Sergio Morales-López, E. Bugarin
{"title":"Comparing cost functions for the optimal control of robotic manipulators using Pontryagin’s Maximum Principle","authors":"Hedy César Ramírez-de-Ávila, Juan Antonio Rojas-Quintero, Sergio Morales-López, E. Bugarin","doi":"10.1109/comrob53312.2021.9628878","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628878","url":null,"abstract":"In the framework of Pontryagin’s Maximum Principle, the choice of the Hamiltonian has an impact on the resulting controls. In this framework, the cost function composes the Hamiltonian which leads to a desired control and motion behavior when appropriately chosen. In order to optimally control motion of robotic manipulators we compare the numerical impact of two cost functions on the resulting controls and positions of the optimal trajectory. The selected cost functions focus on the controls so that minimum effort is achieved during motion. We compared a cost function that is typically found in the literature with one that involves the robot mass tensor components. We applied these to the optimal control simulation of two robotic manipulators. Numerical trials showed that the mass tensor acts as a stabilizing factor that leads to lower motion amplitudes, increased numerical stability and reduced CPU computing times. Our proposed cost function may therefore be beneficial for the optimal path planning and control of robotic manipulators.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132458062","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
Study of Performances of Manipulators Using Jacobian Matrices Homogenized by Two Approaches 用两种方法均匀化雅可比矩阵研究机械臂的性能
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628748
Daniel R. Soto D., J. Pamanes G.
{"title":"Study of Performances of Manipulators Using Jacobian Matrices Homogenized by Two Approaches","authors":"Daniel R. Soto D., J. Pamanes G.","doi":"10.1109/comrob53312.2021.9628748","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628748","url":null,"abstract":"A simulation study is accomplished in this paper to assess the effectiveness of two indices of performance to measure the ability of postures of industrial robots for converting joint-rates into motion of the end-effector. Both classes of motion of the end effector, translational and rotational, are simultaneously considered for evaluation. Consequently, the whole Jacobian matrix must be homogenized such that all its entries be coherently mixed in any index of performance. Specifically, two approaches for homogenization of the Jacobian matrix are compared. The first one, based on the so-called characteristic length of the manipulator, and the second one that uses the inertial parameters of the end-effector. The results show that the second approach allows to measure the performances of the manipulator with a clear physical meanning. To the knowledge of the authors, such a meaning cannot be obtained with any other index of performance based on a different homogenized Jacobian matrix.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128852675","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
Robust stabilization of an inverted cart-pendulum: A second order continuous sliding mode approach 倒立小车摆的鲁棒镇定:二阶连续滑模方法
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628593
S. Kharuf-Gutierrez, A. F. de Loza, L. Aguilar, L. N. Coria
{"title":"Robust stabilization of an inverted cart-pendulum: A second order continuous sliding mode approach","authors":"S. Kharuf-Gutierrez, A. F. de Loza, L. Aguilar, L. N. Coria","doi":"10.1109/comrob53312.2021.9628593","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628593","url":null,"abstract":"This manuscript uses two continuous sliding mode controllers to stabilize a cart-pendulum system. The nonlinear model of the cart-pendulum system is, at the first stage, transformed into its regular form. Then, the control input designed via continuous sliding mode strategies uses a sliding variable with relative degree two, which reduces the number of stages of the design. The implemented control techniques are the discontinuous integral action and a continuous nested algorithm. The proposed robust control strategies are insensitive against unknown matched perturbations with bounded derivatives. Since the proposed controllers require the knowledge of the successive time derivatives of the sliding surface, a Levant’s Differentiator is introduced to estimate such derivatives. The performance of both controllers is contrasted using the mean square error of the sliding surface as comparison criteria.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125161262","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
Tuning of a SNF tracking controller using genetic algorithms 遗传算法对SNF跟踪控制器的整定
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628618
Orlando Jaime-Torres, Eddie Clemente, M. C. Rodríguez-Liñán, Marlen Meza-Sánchez
{"title":"Tuning of a SNF tracking controller using genetic algorithms","authors":"Orlando Jaime-Torres, Eddie Clemente, M. C. Rodríguez-Liñán, Marlen Meza-Sánchez","doi":"10.1109/comrob53312.2021.9628618","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628618","url":null,"abstract":"This work proposes the use of Genetic Algorithms for the tuning procedure of a sector-nonlinear-function-based controller applied to first-order dynamical systems. Specifically, the constructed controller under study is based on a hyperbolic sine function, and the tracking velocity task is addressed. The goal is to optimize the search of the controller’s gains, such that they guarantee tracking of the reference given a predefined settling time. Simulation results are provided to demonstrate the effectiveness of the gain selection method.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121943890","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
PID tuning using MOGA for joint position regulation of a pendular device 用MOGA进行摆装置关节位置调节的PID整定
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628798
David Alonso Pimienta Berrelleza, J. Sandoval, Marco Antonio Castro Liera, Iliana Castro Liera
{"title":"PID tuning using MOGA for joint position regulation of a pendular device","authors":"David Alonso Pimienta Berrelleza, J. Sandoval, Marco Antonio Castro Liera, Iliana Castro Liera","doi":"10.1109/comrob53312.2021.9628798","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628798","url":null,"abstract":"This paper presents an application of the Multi-Objective Genetic Algorithm (MOGA) for PID tuning capable of achieving good performance in the joint position regulation of a pendulum coupled to a servo-motor, and without exceed the motor nominal voltage. The performance is calculated using optimization indices as integral square error and integral time square error. Since the motor nominal voltage plays a key role in the performance of the controller, as well as the overshoot response of the joint position, the novelty of our proposal is that we have added the voltage magnitude and the overshoot response as additional performance indices. Experimental results on a commercial pendular device are presented to validate the proposed scheme, and a comparison is carried out with two other PID tuning methods to test its superiority.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130583949","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
On the implementation of a SNF velocity controller for DC motors with low resolution encoders 低分辨率编码器直流电机SNF速度控制器的实现
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628569
Luis Monay-Arredondo, Marlen Meza-Sánchez, Eddie Clemente, M. C. Rodríguez-Liñán, Rodrigo Villalvazo-Covián, J. M. Nuñez-Alfonso
{"title":"On the implementation of a SNF velocity controller for DC motors with low resolution encoders","authors":"Luis Monay-Arredondo, Marlen Meza-Sánchez, Eddie Clemente, M. C. Rodríguez-Liñán, Rodrigo Villalvazo-Covián, J. M. Nuñez-Alfonso","doi":"10.1109/comrob53312.2021.9628569","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628569","url":null,"abstract":"In this work, the systematic accuracy error in velocity estimation induced by low resolution encoders in the velocity control of DC motors is addressed. For this aim, the construction of a real-time embedded control system and the comparison of the M and T-methods to provide accurate velocity estimations is presented. The built system is then validated through the implementation of a novelty SNF velocity controller in a real DC motor. Experimental results addressing the tracking control task, using the constructed testbed, demonstrate the capabilities of the estimation methods.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121338763","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
Designing a bio-inspired foveated active vision system 设计一个仿生注视点主动视觉系统
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628636
J. Rojas-Quintero, J. Rojas-Estrada, Eric Alejandro Rodriguez-Sanchez, Jose Alberto Vizcarra-Corral
{"title":"Designing a bio-inspired foveated active vision system","authors":"J. Rojas-Quintero, J. Rojas-Estrada, Eric Alejandro Rodriguez-Sanchez, Jose Alberto Vizcarra-Corral","doi":"10.1109/comrob53312.2021.9628636","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628636","url":null,"abstract":"This paper presents the methodology involved in the design of a bio-inspired active stereo vision system that reproduces the foveal and peripheral vision capabilities of the human eye. The design is dictated by pertinent parameters relating to the kinematics and dynamics of saccadic motions of the human eye. We expose a specific drive-train design procedure and simulate some control techniques with the designed prototype to verify the adequacy of the chosen actuators.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"394 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116524348","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
Type-1 diabetes mathematical analysis based on Free Fatty Acids in the presence of insuline 基于游离脂肪酸在胰岛素存在下的1型糖尿病数学分析
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628523
Ana P. Sotelo, Diana Gamboa, P. A. Valle, Paul J. Campos
{"title":"Type-1 diabetes mathematical analysis based on Free Fatty Acids in the presence of insuline","authors":"Ana P. Sotelo, Diana Gamboa, P. A. Valle, Paul J. Campos","doi":"10.1109/comrob53312.2021.9628523","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628523","url":null,"abstract":"This work is devoted to investigate a six-dimensional mathematical model of first-order ordinary differential equations with the presence of growth hormone. The analysis of the time-behavior dynamics of all state variables is discussed by applying the localization of compact invariant sets method; considering a treatment based on both growth hormone and insulin effects. To the best of our knowledge, this method has not been applied to explore the global dynamic of this phenomenon, and only local asymptotic stability for this particular model has been reported. The mathematical process enhances a reliable strategy to a leading path for preliminary analysis related to other types of in-silico test considerations. Moreover, a closed-loop asymptotic stability analysis by Lyapunov theory is achieved by considering two possible control inputs that could modify the concentration level of insulin and growth hormone. Finally, a discussion about biological implications and numerical simulations are presented.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114884192","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
Minimum energy nonlinear controllers based on analytic behaviors for velocity tracking on DC motors 基于解析行为的直流电机速度跟踪最小能量非线性控制器
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628448
A. G. Velásquez, Eddie Clemente, M. C. Rodríguez-Liñán, Marlen Meza-Sánchez
{"title":"Minimum energy nonlinear controllers based on analytic behaviors for velocity tracking on DC motors","authors":"A. G. Velásquez, Eddie Clemente, M. C. Rodríguez-Liñán, Marlen Meza-Sánchez","doi":"10.1109/comrob53312.2021.9628448","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628448","url":null,"abstract":"This document describes the implementation of an evolutionary search for minimum energy controllers for second order DC motor model. Particularly, the recently developed methodology known as analytic-behaviors based control is utilized for the synthesis of minimum energy, nonlinear controllers. The found controllers are tested in simulation for the problem of velocity tracking.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"209 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123182934","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
Preliminary design and experimental tests of a real-time stereoscopic foveated vision system 实时立体注视点视觉系统的初步设计与实验测试
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628598
E. Rodríguez-Orozco, E. Bugarin, J. Rojas-Quintero, A. Aguilar-Bustos
{"title":"Preliminary design and experimental tests of a real-time stereoscopic foveated vision system","authors":"E. Rodríguez-Orozco, E. Bugarin, J. Rojas-Quintero, A. Aguilar-Bustos","doi":"10.1109/comrob53312.2021.9628598","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628598","url":null,"abstract":"This article describes the preliminary tests conducted on a real-time vision system for a humanoid robot with foveated stereoscopic vision. Two high performance camera models were tested to validate the proposal. The system is designed with the Debian Preempt RT as its real-time operating system. A cyclical algorithm is used to acquire statistical data from our system and to show its real time behavior. The experimental results illustrate the satisfactory performance of the vision system.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124974628","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
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