Coordination control of behavior-based distributed networked robotic systems: a state modeling approach

2007 ◽  
Author(s):  
R. M. Kuppan Chetty ◽  
M. Singaperumal ◽  
T. Nagarajan
Keyword(s):  
Robotic Systems ◽  
Coordination Control ◽  
Modeling Approach ◽  
Behavior Based

A BEHAVIOR-BASED MODELING APPROACH TO REDUCING SHOREBIRD–SHELLFISH CONFLICTS

2004 ◽  
Vol 14 (5) ◽  
pp. 1411-1427 ◽  
Author(s):  
Richard W. G. Caldow ◽  
Helen A. Beadman ◽  
Selwyn McGrorty ◽  
Richard A. Stillman ◽  
John D. Goss-Custard ◽  
...  
Keyword(s):  
Modeling Approach ◽  
Behavior Based

A Lie Group Approach to the Modular Modeling of Kinematically Non-Redundant Parallel Mechanisms

2019 ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Lie Group ◽  
Robotic Systems ◽  
Parallel Mechanisms ◽  
Parallel Kinematics ◽  
Task Space ◽  
Group Approach ◽  
Modular Modeling ◽  
Modeling Approach ◽  
And Topology ◽  
Space Formulation

Abstract Parallel kinematics manupulators (PKM) are established robotic systems. Yet there is no established modeling approach that takes into account the special kinematics of the (usually structurally identical) limbs. In this paper a modeling approach is proposed that accounts for the special kinematics and topology of PKM. It makes use of modern Lie group formulations for rigid body systems that admits efficient description independent of modeling conventions. A task space formulation is presented that can be directly used for model-based control purposes.

Bond Graph Based Approach to Passive Teleoperation of a Hydraulic Backhoe

2005 ◽  
Vol 128 (1) ◽  
pp. 176-185 ◽  
Author(s):  
Kailash Krishnaswamy ◽  
Perry Y. Li
Keyword(s):  
Passive Control ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Past Research ◽  
Bond Graph ◽  
Robotic Systems ◽  
Control Law ◽  
Coordination Control ◽  
Physical Environments ◽  
And Performance

Human operated, hydraulic actuated machines are widely used in many high-power applications. Improving productivity, safety and task quality (e.g., haptic feedback in a teleoperated scenario) has been the focus of past research. For robotic systems that interact with the physical environments, passivity is a useful property for ensuring safety and interaction stability. While passivity is a well utilized concept in electromechanical robotic systems, investigation of electrohydraulic control systems that enforce this passivity property are rare. This paper proposes and experimentally demonstrates a teleoperation control algorithm that renders a hydraulic backhoe/force feedback joystick system as a two-port, coordinated, passive machine. By fully accounting for the fluid compressibility, inertia dynamics and nonlinearity, coordination performance is much improved over a previous scheme in which the coordination control approximates the hydraulic system by its kinematic behavior. This is accomplished by a novel bond graph based three step design methodology: (1) energetically invariant transformation of the system into a pair of “shape” and “locked” subsystems; (2) inversion of the shape system bond graph to derive the coordination control law; (3) use of the locked system bond graph to derive an appropriate control law to achieve a target locked system dynamics while ensuring the passivity property of the coordinated system. The proposed passive control law has been experimentally verified for its bilateral energy transfer ability and performance enhancements.

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