MDL-based control method for mobile robot with randomly varying time-delay

Hua, Jianning; Li, Hongyi; Wang, Yuechao; Xi, Ning

doi:10.1109/icra.2011.5979904

Cited by 3 publications

(2 citation statements)

References 22 publications

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“…If the direction vector of the end effector along a straight line in the tool coordinate system is s=(m,w,p) T and m≠0, then the linear motion equation [33][34] can be expressed as…”

Section: Motion Description Language Model Of the Vertebral Milling R...mentioning

confidence: 99%

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Ding¹,

Liu²,

Wang³

et al. 2022

J. Engg. Res. & Sci.

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In the real-time control procession of the vertebral milling robot, there are problems such as heavy workload of the operator, long working time, operational tremble and complicated procession. In order to solve the clinical practical basic problems such as avoiding excessive milling and force perception control of vertebral milling robot, this paper proposes a method of trajectory correction of motion description language of milling robot based on force feedback. The task of trajectory correction of the milling robot oriented to force feedback, on the basis of ensuring the atom relationship of motion description language, defines seven motion atoms for the function of avoiding excessive milling during the actual operation of the milling robot. A milling robot experimental system is built with a force feedback control handle and a milling robot. Experiments are carried out on the trajectory correction method of the milling robot based on the motion description language. The experimental results verify the feasibility and effectiveness of this method. The innovation of this paper is reflected in the following two aspects. The use of force feedback to define and model motion description language atoms is an innovation, and the application of motion description language trajectory correction method to the field of vertebral milling robots is an application innovation.

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“…If the direction vector of the end effector along a straight line in the tool coordinate system is s=(m,w,p) T and m≠0, then the linear motion equation [33][34] can be expressed as…”

Section: Motion Description Language Model Of the Vertebral Milling R...mentioning

confidence: 99%

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Ding¹,

Liu²,

Wang³

et al. 2022

J. Engg. Res. & Sci.

View full text Add to dashboard Cite

show abstract

“…A er that, Motion Description Language was combined with the dynamic system to establish a control method for the inverted pendulum choreography robot [8]. MDL has been applied in teleoperation system [9]. Since then, MDL has also been applied to the trajectory planning and control of mobile robots [10].…”

Section: Introductionmentioning

confidence: 99%

A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

Liu

Wang

et al. 2020

Journal of Robotics

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Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

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Trajectory correction method of motion description language of vertebral milling robot based on force feedback

Ding

Liu

Wang

et al. 2021

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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MDL-based control method for mobile robot with randomly varying time-delay

Cited by 3 publications

References 22 publications

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

Trajectory correction method of motion description language of vertebral milling robot based on force feedback

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