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Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Date 11-11 Nov. 2002

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  • Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo'02 (IEEE Cat. No.02EX616)

    Publication Year: 2002
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  • Author index

    Publication Year: 2002, Page(s):447 - 448
    IEEE is not the copyright holder of this material | PDF file iconPDF (74 KB)
    Freely Available from IEEE
  • Improved sliding mode robot control-a fuzzy approach

    Publication Year: 2002, Page(s):393 - 398
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (386 KB) | HTML iconHTML

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator.... View full abstract»

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  • Low-cost GPS receivers in navigation of mobile robots

    Publication Year: 2002, Page(s):119 - 122
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (284 KB) | HTML iconHTML

    In the paper, the satellite navigation system using low-cost GPS receivers is presented. The aim of the presented research was to verify usefulness of such receivers in navigation systems of mobile robots. Results of positioning errors using single receivers and simple DGPS system are shown. View full abstract»

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  • Model based roll axis control of a terrain adapting Mars rover

    Publication Year: 2002, Page(s):237 - 242
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (385 KB) | HTML iconHTML

    This paper uses aspects of dead reckoning for "terrain adapting" a mobile robot moving over a rocky terrain like that of Mars. Besides the use of wheel encoders, an accelerometer and a rate gyro is used to sense the motion of the rover chassis and stabilize it, along the roll axis with the terrain adapting system. The rate sensor data is fused with the wheel velocity data from the wheel encoder an... View full abstract»

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  • Controllability analysis of a rotating body with flexible beams

    Publication Year: 2002, Page(s):357 - 362
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (333 KB) | HTML iconHTML

    The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that ther... View full abstract»

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  • Numerical solution of time dependent magnetic fields taking into account the motion of parts of construction

    Publication Year: 2002, Page(s):133 - 136
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (299 KB) | HTML iconHTML

    In many technical devices, such as magnetic systems, switches etc., the knowledge of time dependent field distribution is of great importance for the constructor. It makes it possible to investigate the behavior of the device under different operating conditions before it is built and gives valuable insights of the function. By this approach improvements can be determined and the time and cost can... View full abstract»

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  • The concept of a microcontroller with neural-matrix coprocessor for control systems that exploits reconfigurable FPGAs

    Publication Year: 2002, Page(s):123 - 132
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (573 KB) | HTML iconHTML

    The new digital architecture of specialized microcontroller with neural coprocessor for efficient real time control systems of robots is presented. The main idea of the paper is to present the on-chip integrated core of the popular microcontroller, program and data memories and the neural-matrix coprocessor. In order to explain the design, the main processor, neural coprocessor and accompanied net... View full abstract»

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  • Motion planning in endogenous configuration space

    Publication Year: 2002, Page(s):231 - 236
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (410 KB) | HTML iconHTML

    We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a nat... View full abstract»

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  • A method for discrete self-localization using image analysis

    Publication Year: 2002, Page(s):369 - 374
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (469 KB) | HTML iconHTML

    A method for discrete self-localization of an autonomous mobile system was proposed. One of its many possible implementations was designed, that uses a camera subsystem, which delivers sensor information about the environment reduced to an n-elementary measurement vector. Three different algorithms of image analysis were proposed and implemented. The self-localization approach with three different... View full abstract»

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  • Machine vision for 3D mechanical part recognition in intelligent manufacturing environments

    Publication Year: 2002, Page(s):441 - 446
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (390 KB) | HTML iconHTML

    A 3D machine vision method used in intelligent manufacturing environments is presented. In this method, the neural network technology is used to provide effective methodologies for solving difficult computational problems in 3D recognition processes. The recognition processes can be divided into two parts. First, a 3D reconstruction. approach based on wavelet analysis is presented. The stereo matc... View full abstract»

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  • Human-centered robotics and haptic interaction: from assistance to surgery, the emerging applications

    Publication Year: 2002, Page(s):137 - 139
    Cited by:  Papers (6)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (312 KB) | HTML iconHTML

    Robots are moving towards applications beyond the structured environment of a manufacturing plant, making their way into the everyday world that people inhabit. The discussion focuses on the models, strategies, and algorithms associated with the basic capabilities needed for robots to work, interact, and cooperate with humans. In addition to the new capabilities they bring to the physical robot, t... View full abstract»

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  • Calculation of SCARA robot model using neural nets

    Publication Year: 2002, Page(s):435 - 439
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (307 KB) | HTML iconHTML

    The paper presents neural nets for the calculation of parameters of the robot model in a form of Lagrange-Euler equations. Then, a comparison of the neural models based on the numerical examples calculated for a SCARA robot is presented. View full abstract»

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  • Robot motions in task space with control constraints

    Publication Year: 2002, Page(s):141 - 146
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (396 KB) | HTML iconHTML

    This paper considers the problem of position control of robotic manipulators in task space. Based on Lyapunov stability theory, it is shown that the control strategy proposed is asymptotically convergent to the task error whose ultimate bound can be made arbitrarily small. As opposed to most other existing approaches, our algorithm also takes into account actuator constraints when positioning the ... View full abstract»

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  • Bayes parameter identification for optimal control of robots

    Publication Year: 2002, Page(s):337 - 342
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (381 KB) | HTML iconHTML

    Deals with parameter identification using the fuzzy Bayes decision rule, which makes it possible to take into account the differing consequences of positive and negative estimation errors. Nonsymmetrical loss functions, in piecewise linear and piecewise quadratic forms are considered. The calculation procedures have been based on the statistical kernel estimators methodology. An example applicatio... View full abstract»

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  • A modular architecture for formation control

    Publication Year: 2002, Page(s):285 - 290
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (421 KB) | HTML iconHTML

    We present a four layer architecture for coordinating a team of mobile robots equipped with range sensors and wireless network cards, and the task of navigating to a desired location in a desired formation. We develop graph-based algorithms for discovery, and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to e... View full abstract»

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  • Modelling the B-spline surface uncertainties when localizing work objects with complicated surfaces

    Publication Year: 2002, Page(s):405 - 410
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (468 KB) | HTML iconHTML

    In this paper we propose a method to model the spatial uncertainties of the B-spline surface patch and consider the effect of work object localization uncertainties. The spatial uncertainties are analysed by studying the error covariance matrix: eigenvalues in the direction of the eigenvectors. The methods are tested with an actual robot system and Monte Carlo simulation. We also give results from... View full abstract»

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  • Color vision based person following with a mobile robot

    Publication Year: 2002, Page(s):375 - 380
    Cited by:  Papers (2)  |  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (531 KB) | HTML iconHTML

    Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person's face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot t... View full abstract»

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  • Trajectory generation for the trajectory tracking control of a fire rescue turntable ladder

    Publication Year: 2002, Page(s):411 - 416
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (434 KB) | HTML iconHTML

    In cooperation with IVECO Magirus for the new generation of fire turntable ladders, a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality an automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference fun... View full abstract»

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  • Stabilization of a nonlinear underactuated autonomous airship-a combined averaging and backstepping approach

    Publication Year: 2002, Page(s):223 - 229
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (397 KB) | HTML iconHTML

    A strategy to design a time-varying stabilizing controller of the position and the orientation of an underactuated autonomous airship is proposed. The dynamic modelling of the airship involves six equations with only three inputs. This airship cannot be stabilized to a point using continuous pure-state feedback law. However, the stabilization problem is solved with an explicit homogeneous time-var... View full abstract»

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  • Noninvasive optoelectronic monitoring of the living tissues vitality

    Publication Year: 2002, Page(s):13 - 19
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (525 KB) | HTML iconHTML

    The subject of this paper relates to the measurable effects of light behavior in biological materials. Contribution is focused on problems connected with noninvasive evaluation of the arterial blood oxygenation using pulse oximetry. Its concept allows extending areas of application, exceeding over the continuous defection of changes in oxygenation of blood in arterial peripheral vessels. Some exam... View full abstract»

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  • Decentralized model-free continuous control for robot manipulators: tracking in finite time

    Publication Year: 2002, Page(s):165 - 171
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (468 KB) | HTML iconHTML

    Tracking of robot manipulators has been addressed with the aid of model-based regressor, and several techniques have been proposed, wherein asymptotic, and even exponential stability properties are obtained depending on how much knowledge is assumed over the regressor and the physical parameters of the robot. Well-posed finite time convergence using time base generators has been obtained, in contr... View full abstract»

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  • Scalable multi-robot formations using local sensing and communication

    Publication Year: 2002, Page(s):319 - 324
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (443 KB) | HTML iconHTML

    In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the... View full abstract»

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  • Reaction to errors in robot systems

    Publication Year: 2002, Page(s):201 - 208
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (619 KB) | HTML iconHTML

    The paper analyzes the problem of error (failure) detection and handling in robot programming. First an overview of the subject is provided and later error detection and handling in MRROC++ are described. To facilitate system reaction to the detected failures, the errors are classified and certain suggestions are made as to how to handle those classes of errors. View full abstract»

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  • Robotics in laparoscopic surgery

    Publication Year: 2002
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (165 KB) | HTML iconHTML

    With laparoscopy, for the first time the surgeon was separated from direct contact with tissues and organs allowing the introduction of robotic and computer technologies into surgical operations, with two distinct potential advantages: 1) enhancement of precision and dexterity and 2) performance of surgical procedures from a distance, a concept known as telesurgery. View full abstract»

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