Journal of Intelligent and Robotic Systems
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A hybrid frequency—time domain adaptive fuzzy control scheme for flexible link manipulators
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 283-300 - 1994
This paper addresses the implementation of an adaptive fuzzy controller for
flexible link robot arms. The design technique is a hybrid scheme involving both
frequency and time domain techniques. The eigenvalues of the open loop plant can
be estimated through application of a frequency domain based identification
algorithm. The region of the eigenvalue space, within which the system operates,
is pa...
Applications of neural networks for coordinate transformations in robotics
Journal of Intelligent and Robotic Systems - Tập 8 - Trang 361-373 - 1993
The use of artificial neural networks is investigated for application to
trajectory control problems in robotics. The relative merits of position versus
velocity control is considered and a control scheme is proposed in which neural
networks are used as static maps (trained off-line) to compute the inverse of
the manipulator Jacobian matrix. A proof of the stability of this approach is
offered, as...
Task Oriented Optimum Positioning of a Mobile Manipulator Base in a Cluttered Environment
Journal of Intelligent and Robotic Systems - Tập 18 - Trang 147-168 - 1997
A method for generating discrete optimal sequences of base locations for mobile
manipulators is presented that considers the task capability of the workspace in
a cluttered environment. In implementation, the obstacles and task trajectories
are represented by 2n trees, so that a series of set operations are performed to
characterize the manipulator’s configuration space into topological subspaces....
Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties
Journal of Intelligent and Robotic Systems - Tập 79 - Trang 73-86 - 2014
This paper aims at attaining one-leader & two-followers (1L-2F) formation
control of multi-nonholonomic mobile robot (multi-NMR) systems subject to
uncertainties and, at the same time, achieves trajectory-tracking of the leader
NMR. To begin, the tracking error between the leader and a virtual reference
robot is defined. Then, the extension to a leader-follower formation control
structure is utili...
Integrated operation planning: Intelligent system approach for HVAC processes
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 59-78 - 1994
This paper describes the construction of an Intelligent System for Operation
Planning (ISOP) in heating, ventilating, and air conditioning (HVAC) processes.
The system contains important expertise, qualitative reasoning, and quantitative
computation. It is used to assist or train operators to achieve better operation
in HVAC systems. Expertise about operation planning is expressed as air
enthalpy,...
A Vision-Based Coordinated Motion Scheme for Dual-Arm Robots
Journal of Intelligent and Robotic Systems - Tập 97 - Trang 67-79 - 2019
With the rise of service robots, research on cooperation between two-arm robots
has become increasingly important. In this paper, two NAO two-armed robots are
used as the experimental platform and are combined with projective geometry,
vision, robotics and other knowledge to carry out theoretical derivation and
experiments on the coordinated movements of dual-arm robots. From the aspect of
visual ...
A Robust Control Law with Estimated Perturbation Compensation for Robot Manipulators
Journal of Intelligent and Robotic Systems - Tập 36 - Trang 265-283 - 2003
By considering the dynamic response of a robot manipulator as characterized by
the sliding function, a technique is proposed to estimate the perturbation in
the robot control system. Perturbation compensation is then incorporated in the
design of a robust control law to cancel the effects of system parametric
uncertainties and external disturbances. A normalized power rate component is
introduced ...
Experimental Reaction–Diffusion Chemical Processors for Robot Path Planning
Journal of Intelligent and Robotic Systems - - 2003
In this paper we discuss the experimental implementation of a chemical
reaction–diffusion processor for robot motion planning in terms of finding the
shortest collision-free path for a robot moving in an arena with obstacles.
These reaction–diffusion chemical processors for robot navigation are not
designed to compete with existing silicon-based controllers. These controllers
are intended for the ...
Near Time-Optimal Trajectory Generation for Multirotors using Numerical Optimization and Safe Corridors
Journal of Intelligent and Robotic Systems - Tập 105 - Trang 1-10 - 2022
Trajectory generation is a fundamental problem for every type of robot. In most
applications, the robots should reach their goals in the minimum time possible.
Time-optimal trajectory generation allows us to solve this problem. The
generation of such trajectories for multirotors has gained traction with new
applications in transport, delivery and search and rescue missions, as well as
other applic...
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