Real-time collision-free path planning and tracking control of a nonholonomic mobile robot in a dynamic environment is investigated using a neural dynamics based approach. The real-time robot path is generated through a dynamic neural activity landscape of a topologically organized neural network that represents the changing environment. The dynamics of each neuron is characterized by an additi...

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a colli...

This book focuses on industrial robotic manipulators and on industrial manufacturing cells built using that type of robots. This chapter covers the current practical methodologies for kinematics and dynamics modeling and computations. The kinematics model represents the motion of the robot without considering the forces that cause the motion. The dynamics model establishes the relationships bet...

LEARNING TO EXPLOIT DYNAMICS FOR ROBOT MOTOR COORDINATION

In this paper, we investigate the problem of inter-robot collision avoidance in multiple mobile robot formation control. Two methodologies are utilized, namely Virtual Robot tracking by [Jongusuk and Mita, 2001] and l-l control by [Desai et al., 1998] to establish formation and avoid collision among robots. We point out that the framework in Virtual Robot tracking is potentially subject to coll...

In force control applications of robots, it is difficult to obtain an exact model of a constraint surface. In presence of the constraint uncertainty, the robot needs to adapt to the uncertainty in external parameters due to the environment, in addition to the uncertainties in internal parameters of the robot kinematics and dynamics. In this paper, a visually servoed adaptive controller is propo...

Model-based, torque-level control can offer precision and speed advantages over velocity-level or position-level robot control. However, the dynamic parameters of the robot must be identified accurately. Several steps are involved in dynamic parameter identification, including modeling the system dynamics, joint position/torque data acquisition and filtering, experimental design, dynamic parame...

Extended Markov Tracking (EMT) is a computationally tractable method for the online estimation of Markovian system dynamics. In this paper, we present our initial experimentation with EMT-based control applied to robotic motion. In our experiments, a robot uses a predetermined mapping of the world onto an abstract model, over which EMT Control is applied; this dictates the choice of an abstract...

This paper presents a methodology to analyze dynamics of flexible space robot using bond graph. In case of space robots the position and orientation of the satellite main body may change when the manipulator moves. Motion of the space robots also induces vibrating motions in structurally flexible manipulators. Researchers working on terrestrial flexible robot arms principally have focused on is...

In this paper, a composite approach to the adaptive neural network (NN) controller is proposed for a rigid link flexible joint (RLFJ) robot manipulator with unknown nonlinearities. Based on a singular perturbation formulation of robot motion dynamics, the RLFJ robot is described by a reduced-order flexible-joint model. The concept of integral manifold is used to decompose the model into fast an...