Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Robot Manipulator Control: Theory and Practice

The authors present algorithms for robotic (eye-in-hand configuration) real-time visual tracking of arbitrary 3D objects traveling at unknown velocities in a 2D space (depth is given as known). Visual tracking is formulated as a problem of combining control with computer vision. A mathematical formulation of the control problem that includes information from a novel feedback vision sensor and represents everything with respect to the camera frame is presented. The sum-of-squared differences (SSD) optical flow is used to compute the vector of discrete displacements each instant of time. These displacements can be fed either directly to a PI (proportional-integral) controller or to a pole assignment controller or discrete steady-state Kalman filter. In the latter case, the Kalman filter calculates the estimated values of the system's states and the exogenous disturbances, and a discrete LQG (linear-quadratic Gaussian) controller computes the desired motion of the robotic system. The outputs of the controllers are sent to the Cartesian robotic controller. Performance results are presented. >

Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision

An automated processor design tool uses a description of customized processor instruction set extensions in a standardized language to develop a configurable definition of a target instruction set, a Hardware Description Language description of circuitry necessary to implement the instruction set, and development tools such as a compiler, assembler, debugger and simulator which can be used to develop applications for the processor and to verify it. Implementation of the processor circuitry can be optimized for various criteria such as area, power consumption, speed and the like. Once a processor configuration is developed, it can be tested and inputs to the system modified to iteratively optimize the processor implementation. By providing a constrained domain of extensions and optimizations, the process can be automated to a high degree, thereby facilitating fast and reliable development.

Automated processor generation system for designing a configurable processor and method for the same

The port-based object is a new software abstraction for designing and implementing dynamically reconfigurable real-time software. It forms the basis of a programming model that uses domain-specific elemental units to provide specific, yet flexible, guidelines to control engineers for creating and integrating software components. We use a port-based object abstraction, based on combining the notion of an object with the port-automaton algebraic model of concurrent processes. It is supported by an implementation using domain-specific communication mechanisms and templates that have been incorporated into the Chimera real-time operating system and applied to several robotic applications. This paper describes the port-based object abstraction, provides a detailed analysis of communication and synchronization based on distributed shared memory, and describes a programming paradigm based on a framework process and code templates for quickly implementing applications.

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Design of dynamically reconfigurable real-time software using port-based objects

The use of a vision sensor in the feedback loop is addressed within the controlled active vision framework. Algorithms are proposed for the solution of the robotic (eye-in-hand configuration) visual tracking and servoing problem. Visual tracking is stated as a problem of combining control with computer vision. The sum-of-squared differences optical flow is used to compute the vector of discrete displacements. The displacements are fed to an adaptive controller (self-tuning regulator) that creates commands for a robot control system. The procedure is based on the online estimation of the relative distance of the target from the camera, but only partial knowledge of the relative distance is required, obviating the need for offline calibration. Three different adaptive control schemes have been implemented, both in simulation and in experiments. The computational complexity and the experimental results demonstrate that the proposed algorithms can be implemented in real time. >

Adaptive robotic visual tracking: theory and experiments

The Chimera II has been designed as a local operating system, to be used in conjunction with a global operating system. It executes on one or more single board computers in a VMEbus-based system. Advanced sensor-based control systems are both statistically and dynamically reconfigurable. As a result, they require many special features, which are currently not found in commercial real-time operating systems. Several design issues for such systems are presented as well as the features the authors have developed and implemented as part of Chimera II. These features include: a real-time kernel with dynamic scheduling, global error handling, user signals, and two levels of device drivers; an enhanced collection of interprocessor communication mechanisms, including global shared memory, spin-locks, remote semaphores, priority message passing, global state variable tables, multiprocessor servo task control, and host workstation integration; and several support utilities, including a UNIX C and math libraries, a matrix library, a command interpreter library, and a configuration file library. >

/pdf/the-chimera-ii-real-time-operating-system-for-advanced-1ujqh5jfzr.pdf

The Chimera II real-time operating system for advanced sensor-based control applications

A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort. >

Implementing real-time robotic systems using CHIMERA II

The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control. such as NASREM, to be implemented with minimal programming time and effort

The CMU Direct Drive Arm II (DD II) is the second direct-drive arm designed and constructed at the Robotics Institute, Carnegie Mellon University. It is an electric 6 degree-of-freedom robot, in which all of the joints are of direct drive construction. Featuring high performance Samarium Cobalt magnet brushless DC motors and light weight aluminum construction, the robot has been designed to have a minimum payload of 2.5 Kg with a maximum transit time of 1 second (corresponding to tip speeds of 4 m/sec). High resolution pancake resolvers are mounted directly to the joint shafts for very accurate feedback. Static accuracy is ±0.1 mm. Taking advantage of the dynamic simplicity inherent in direct drive design, the controller is capable of dynamic force compensation in real-time. Such a controller can accurately follow a trajectory at very high speeds. In this paper we discuss the design of this new arm, particularly our solutions to the difficulties of practical implementation of direct drive.

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Development of CMU Direct-Drive Arm II

CHIMERA is a real-time computing environment used in the Reconfigurable Modular Manipulator System project. CHIMERA, which is both a hardware and software environment, allows rapid development and implementation of real-time control programs. It provides a C/Unix-flavored concurrent programming environment for a Motorola 68020 multiprocessor hardware configuration connected to a Sun workstation. CHIMERA has been implemented using commercial hardware in conjunction with a sophisticated, locally developed software package, resulting in a reliable, reasonably priced, and easily duplicated system. CHIMERA is currently being ported for real-time control of the CMU Direct Drive Arm II. The authors describe the implementation and capabilities of the CHIMERA environment and illustrate how these features are used in robot control applications. >

CHIMERA: a real-time programming environment for manipulator control

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The Chimera II real-time operating system for advanced sensor-based control applications

Implementing real-time robotic systems using CHIMERA II

Implementing real-time robotic systems using CHIMERA II

Development of CMU Direct-Drive Arm II

CHIMERA: a real-time programming environment for manipulator control