Robust Control Systems of a Heavy Material Handling Agricultural Robot: A Case Study for Initial Cost Problem

Sakai, Satoru; Osuka, Koichi; Maekawa, Toshiro; Umeda, Mikio

doi:10.1109/tcst.2007.899710

Cited by 30 publications

(16 citation statements)

References 16 publications

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“…This could be particularly relevant with a nominal linear time invariant system with a nonlinear perturbation such as the following: (9) In this case, the equilibrium point is exponentially stable if is a Hurwitz matrix and the perturbation satisfies the following conditions: (10) where and are the minimum and maximum eigenvalues of the matrices and respectively. These matrices are positive definite and satisfy the Lyapunov equation: (11) In this case, the Lyapunov function is defined as and it is clear that it satisfies the conditions (6)- (8).…”

Section: Mathematical Preliminariesmentioning

confidence: 99%

“…The interesting results of designing an image-based robust feedback controller to compensate parametric uncertainty are presented in [24]. In [10] the authors present an interesting application for the agricultural sector, where a mechanical structure used to harvest watermelons was redesigned to take the form of a manipulator robot. This mechanical system was controlled applying robust control techniques based on gain schedule and μ-synthesis, and its main achievement was to attain cost reductions.…”

Section: Introductionmentioning

confidence: 99%

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New Method for Tuning Robust Controllers Applied to Robot Manipulators

Romero

Alcorta

Lara

et al. 2012

International Journal of Advanced Robotic Systems

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This paper presents a methodology to select the parameters of a nonlinear controller using Linear Matrix Inequalities (LMI). The controller is applied to a robotic manipulator to improve its robustness. This type of dynamic system enables the robust control law to be applied because it largely depends on the mathematical model of the system; however, in most cases it is impossible to be completely precise. The discrepancy between the dynamic behaviour of the robot and its mathematical model is taken into account by including a nonlinear term that represents the model´s uncertainty. The controller´s parameters are selected with two purposes: to guarantee the asymptotic stability of the closed-loop system while taking into account the uncertainty, and to increase its robustness margin. The results are validated with numerical simulations for a particular case study; these are then compared with previously published results to prove a better controller performance.

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Section: Mathematical Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

New Method for Tuning Robust Controllers Applied to Robot Manipulators

Romero

Alcorta

Lara

et al. 2012

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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“…Parallel robotic mechanisms have been broadly employed in the healthcare area [1], agricultural area [2,3], manufacturing area [4][5][6], sensor applications [7,8], etc. The Steward mechanism, one would say, is one of the most popular parallel robotic mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators

Zhang

Wei

2016

Machines

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Abstract:The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions modelling are presented, and the associated optimization issues and the geometric parameters' effect on the objective functions for the robotic mechanisms are illustrated and analyzed in detail. Through employing several multi-objective optimization approaches, we manifest an overall process and approach for multi-objective optimization of robotic systems. The correlation among different stiffness models is finally presented. The results indicate that the kinetostatic compliance model is the closest one to the traditional stiffness model.

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“…Nowadays, mobile robot becomes a target for several applications, such as security patrolling [1], manufacturing [2,3], and materials handling in the warehouse [4][5][6]. The security robots become one of the most important topics in the robotics filed.…”

Section: Introductionmentioning

confidence: 99%

Smart mobile robot for security of low visibility environment

Faisal

Mathkour

Alsulaiman

2015

2015 5th National Symposium on Information Technology: Towards New Smart World (NSITNSW)

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The field of robotics has apparently appeared to replace jobs that humans usually dislike to do, jobs that have low tolerance for faults and risks or jobs for which human resource is not available. For these reasons, many types of robot have appeared, such as man-like robots, car-like robots and mobile robots. Mobile robots have become a target for many applications, such as security patrolling , manufacturing, materials handling in the warehouse, and many others applications. In the last decade, mobile robots have become an important topic in the security field. Several methods have been introduced to deal with mobile robot and security. Nevertheless, most of these methods are not smart enough to work in low visibility environments. In this paper, we are going to introduce a novel smart security system, which uses a mobile robot as a security patrol in dark environment. The proposed system is a non-vision based system and designed to deal with the dark environments using artificial intelligence methods (Neural Network NN and Fuzzy Logic FL). The proposed system includes a motion control model, which is responsible for the navigation operation in the monitoring area. The NN and FL techniques are used to smartly determine the abnormal situation in the monitoring area. Many levels of alarms are used to tackle the deferent level of dangers.

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Robust Control Systems of a Heavy Material Handling Agricultural Robot: A Case Study for Initial Cost Problem

Cited by 30 publications

References 16 publications

New Method for Tuning Robust Controllers Applied to Robot Manipulators

New Method for Tuning Robust Controllers Applied to Robot Manipulators

Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators

Smart mobile robot for security of low visibility environment

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