[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Bhatt et al., 2019 - Google Patents

Context-dependent compensation scheme to reduce trajectory execution errors for industrial manipulators

Bhatt et al., 2019

View PDF
Document ID
14379255232455225288
Author
Bhatt P
Rajendran P
McKay K
Gupta S
Publication year
Publication venue
2019 International Conference on Robotics and Automation (ICRA)

External Links

Snippet

Currently, automatically generated trajectories cannot be directly used on tasks that require high execution accuracies due to errors accused by inaccuracies in the robot model, actuator errors, and controller limitations. These trajectories often need manual refinement …
Continue reading at www.researchgate.net (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Similar Documents

Publication Publication Date Title
Bhatt et al. Context-dependent compensation scheme to reduce trajectory execution errors for industrial manipulators
Zhao et al. System identification of the nonlinear residual errors of an industrial robot using massive measurements
Nguyen et al. A calibration method for enhancing robot accuracy through integration of an extended Kalman filter algorithm and an artificial neural network
Zhang et al. Calibration of a six-axis parallel manipulator based on BP neural network
Deutschmann et al. Position control of an underactuated continuum mechanism using a reduced nonlinear model
Gao et al. Kinematic calibration for industrial robots using articulated arm coordinate machines
Maghami et al. Calibration of multi-robot cooperative systems using deep neural networks
Mishani et al. Real-time non-visual shape estimation and robotic dual-arm manipulation control of an elastic wire
Maric et al. Unsupervised optimization approach to in situ calibration of collaborative human-robot interaction tools
Fang et al. Design and control of a multiple-section continuum robot with a hybrid sensing system
Bhatt et al. Trajectory-dependent compensation scheme to reduce manipulator execution errors for manufacturing applications
Gaber et al. Design and position control of arm manipulator; experimentally and in MATLAB SimMechanics
Qu et al. Adaptive neural network visual servoing of dual-arm robot for cyclic motion
Kumar et al. Sensor-based estimation and control of forces and moments in multiple cooperative robots
Jeon et al. Cost-effective calibration of collaborative robot arm with single wire encoder
Liu et al. Positioning accuracy improvement for target point tracking of robots based on Extended Kalman Filter with an optical tracking system
Nazari et al. Deep functional predictive control (deep-fpc): Robot pushing 3-d cluster using tactile prediction
Velasco et al. Validation of a Stewart platform inspection system with an artificial neural network controller
Lao et al. A learning-based approach for estimating inertial properties of unknown objects from encoder discrepancies
Tiboni et al. Study of neural-kinematics architectures for model-less calibration of industrial robots
Wu et al. Kinematic calibration for industrial robot using a telescoping ballbar
Kumar et al. Neuro‐fuzzy control applied to multiple cooperating robots
Cheng et al. Dynamic error modeling and compensation in high speed delta robot pick-and-place process
Khanesar et al. Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System.
Zaripov et al. Structural and Kinematic Synthesis Algorithms of Adaptive Position-Trajectory Control Systems (In the Case of Assembly Industrial Robots)