Article

ROBOT NAVIGATION BY APPLYING TWO ALGORITHMS BASED UPON INTELLIGENT CONTROLLER

January 2017

Authors:

Ivan Isho Gorial

University of Technology - Iraq

Abstract: This paper suggests an on-line navigation structure in three-dimensional environment for manipulator arm. This paper applied on two algorithms and compared between them, where, the first algorithm relied on relating to descartes and its ideas and the other relied on angles. The objective is to transfer the manipulator arm from a start point to goal point in the first algorithm and from start configuration to goal configuration in the second algorithm with minimum error in each algorithm. Modeling, design the controller and simulation are done in MATLAB software. The results of simulation show the validation of the suggested controller and the comparison between them offers that the second algorithm outperforms the first algorithm based upon fuzzy logic controller while the program iterations in first algorithm better than the second algorithm.

ResearchGate has not been able to resolve any citations for this publication.

ResearchGate has not been able to resolve any references for this publication.

Chapter

The Use of Reinforcement Learning in the Task of Moving Objects with the Robotic Arm

October 2019 · Lecture Notes in Computer Science

Ermek Aitygulov

The article describes the task of controlling a robotic arm to transfer objects in front of it. To select actions, the reinforcement learning algorithm is used. In conclusion, there are presented the results of experiments in the Gazebo simulation environment with two different inputs: either with information about the position of the hand and the object, or with information about the position of ... [Show full abstract] the hand and the image with the camera.

Article

On the control of a single exible arm robot via Youla-Kucera parameterization

May 2014 · Robotica

Saeed Daneshmand

In this paper, based on the Youla-Kucera (Y-K) parameterization, the control of a flexible beam acting as a flexible robotic manipulator is investigated. The method of Youla parameterization is the simple solution and proper method for describing the collection of all controllers that stabilize the closed-loop system. This collection comprises function of the Youla parameter which can be any ... [Show full abstract] proper transfer function that is stable. The main challenge in this approach is to obtain a Youla parameter with infinite dimension. This parameter is approximated by a subspace with finite dimensions, which makes the problem tractable. It is required to be generated from a finite number of bases within that space and the considered system can be approximated by an expansion of the orthonormal bases such as FIR, Laguerre, Kautz and generalized bases. To calculate the coefficients for each basis, it is necessary to define the problem in the form of an optimization problem that is solved by optimization techniques. The Linear Quadratic Regulator (LQR) optimization tool is employed in order to optimize the controller gains. The main aim in controller design is to merge the closed-loop system and the second order system with the desirable time response characteristic. The results of the Youla stabilizing controller for a planar flexible manipulator with lumped tip mass indicate that the proposed method is very efficient and robust for the time-continuous instances.

Article

Full-text available

Hand-Drawn Maps for Robot Navigation

September 2003

The goal of this work is to create a robot interface that allows a novice user to guide, control, and/or program a robot to perform some task. The assumption is that, although the user may be a domain expert in how the task should be done, he is not an expert in robotics. During the actual robot use, he should focus on the task to be done rather than worrying about the robot or the interaction ... [Show full abstract] modality. To address this goal, we have been investigating the use of hand-drawn route maps to transfer navigation tasks to robots. In the paper, we provide an overview and current status of ongoing work with sketches. We discuss what type of information would be useful for directing and controlling a robot and then show how this information can be extracted from a sketched route map, in the form of spatial relationships. An analysis example of a PDA-generated sketch is included. Also, preliminary results are presented which compare the analysis of a sketched map with that of a real map.