scholarly journals Non-holonomic Robot Systems. Part 5. Motion Control under Dynamical Non-holonomic Constraints.

1994 ◽  
Vol 12 (2) ◽  
pp. 231-239 ◽  
Author(s):  
Yoshihiko Nakamura
Keyword(s):  
Motion Control ◽  
Holonomic Constraints ◽  
Robot Systems ◽  
Holonomic Robot

A Method of Robot Behavior Evolution Based on Intelligent Composite Motion Control

2000 ◽  
Vol 12 (3) ◽  
pp. 202-208 ◽  
Author(s):  
Masakazu Suzuki ◽  
Keyword(s):  
Motion Control ◽  
Parameter Optimization ◽  
Basic Element ◽  
Complex Behavior ◽  
Empirical Knowledge ◽  
Joint Rotation ◽  
Robot Behavior ◽  
Robot Systems

Intelligent Composite Motion Control (ICMC) is a methodology for building up robot systems in which robots realize complex, and dexterous behavior autonomously and adaptively by parameter optimization and use of empirical knowledge only if the motion control for basic element motions is given. In this article, ICMC is first reviewed, mainly for the Method of Knowledge Array, which provides a tool for realizing suboptimal motions for new situations by use of empirical knowledge. Behavior evolution based upon ICMC is proposed, i.e., it is shown how robot motions are coordinated from the most basic motions such as joint rotation, and how they evolve into complex behavior such as dexterous ball throwing.

scholarly journals Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning

2022 ◽  
pp. 153-164
Author(s):  
Andreas Blank ◽  
Engin Karlidag ◽  
Lukas Zikeli ◽  
Maximilian Metzner ◽  
Jörg Franke
Keyword(s):  
Motion Control ◽  
Autonomous Robots ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Control Input ◽  
Pose Tracking ◽  
Robot Systems ◽  
Robot Cooperation ◽  
Articulated Robots ◽  
High Degree

AbstractConcurrent with autonomous robots, teleoperation gains importance in industrial applications. This includes human–robot cooperation during complex or harmful operations and remote intervention. A key role in teleoperation is the ability to translate operator inputs to robot movements. Therefore, providing different motion control types is a decisive aspect due to the variety of tasks to be expected. For a wide range of use-cases, a high degree of interoperability to a variety of robot systems is required. In addition, the control input should support up-to-date Human Machine Interfaces. To address the existing challenges, we present a middleware for teleoperation of industrial robots, which is adaptive regarding motion control types. Thereby the middleware relies on an open-source, robot meta-operating system and a standardized communication. Evaluation is performed within defined tasks utilizing different articulated robots, whereby performance and determinacy are quantified. An implementation sample of the method is available on: https://github.com/FAU-FAPS/adaptive_motion_control.

Applications of Motion Control Originated from Robot Technology

2004 ◽  
Vol 16 (4) ◽  
pp. 346-347
Author(s):  
Kazuhiro Kosuge ◽  
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
Research Model ◽  
Control Schemes ◽  
Robot Systems ◽  
Potential Applications ◽  
Robot Technology ◽  
New Research

A new research model proposed by the Science Council of Japan in 1999 [1, 2] is based on how research is conducted and culturally integrated into society. Motion control systems developed for robots as part of the robot technology (RT) has potential applications both in actual robot systems and other systems, as demonstrated in several examples showing how motion control schemes developed for robots can be used.

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