Topic
Robot control
About: Robot control is a research topic. Over the lifetime, 35264 publications have been published within this topic receiving 578821 citations. The topic is also known as: robotic control.
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Book•
24 Aug 2009
TL;DR: Programming by demonstration (PbD) as discussed by the authors is a technique for teaching new skills to a robot by imitation, tutelage, or apprenticeship learning through human guidance.
Abstract: Also referred to as learning by imitation, tutelage, or apprenticeship learning, Programming by Demonstration (PbD) develops methods by which new skills can be transmitted to a robot. This book examines methods by which robots learn new skills through human guidance. Taking a practical perspective, it covers a broad range of applications, including service robots. The text addresses the challenges involved in investigating methods by which PbD is used to provide robots with a generic and adaptive model of control. Drawing on findings from robot control, human-robot interaction, applied machine learning, artificial intelligence, and developmental and cognitive psychology, the book contains a large set of didactic and illustrative examples. Practical and comprehensive machine learning source codes are available on the books companion website: http://www.programming-by-demonstration.org
1,071 citations
TL;DR: Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment, and enable you to transfer your control programs to several commercially available real mobile robots.
Abstract: Cyberbotics Ltd. develops Webots™, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. Webots™ has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product availabl...
1,062 citations
Book•
01 Dec 1997
TL;DR: An introduction to kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices.
Abstract: Introduction Kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices A. Linear Algebra B. Rigid Body Mechanics C. Feedback Control
1,035 citations
TL;DR: In this paper, the problem of moving a manipulator in minimum time along a specified geometric path subject to input torque/force constraints is considered, and the minimum-time solution is deduced in an algorithm form using phase-plane techniques.
Abstract: Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking (or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, coupled manipulator dynamics. Trajectory planning usually determines the timing of manipulator position and velocity without considering its dynamics. Consequently, the simplicity obtained from the division comes at the expense of efficiency in utilizing robot's capabilities. To remove at least partially this inefficiency, this paper considers a solution to the problem of moving a manipulator in minimum time along a specified geometric path subject to input torque/force constraints. We first describe the manipulator dynamics using parametric functions which represent geometric path constraints to be honored for collision avoidance as well as task requirements. Second, constraints on input torques/ forces are converted to those on the parameters. Third, the minimum-time solution is deduced in an algorithm form using phase-plane techniques. Finally, numerical examples are presented to demonstrate utility of the trajectory planning method developed.
1,016 citations
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Abstract: A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework. >
1,000 citations