• Title/Summary/Keyword: motion optimization

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Optimal deep machine learning framework for vibration mitigation of seismically-excited uncertain building structures

  • Afshin Bahrami Rad;Javad Katebi;Saman Yaghmaei-Sabegh
    • Structural Engineering and Mechanics
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    • v.88 no.6
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    • pp.535-549
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    • 2023
  • Deep extreme learning machine (DELM) and multi-verse optimization algorithms (MVO) are hybridized for designing an optimal and adaptive control framework for uncertain buildings. In this approach, first, a robust model predictive control (RMPC) scheme is developed to handle the problem uncertainty. The optimality and adaptivity of the proposed controller are provided by the optimal determination of the tunning weights of the linear programming (LP) cost function for clustered external loads using the MVO. The final control policy is achieved by collecting the clustered data and training them by DELM. The efficiency of the introduced control scheme is demonstrated by the numerical simulation of a ten-story benchmark building subjected to earthquake excitations. The results represent the capability of the proposed framework compared to robust MPC (RMPC), conventional MPC (CMPC), and conventional DELM algorithms in structural motion control.

Optimal Excitation Trajectories for the Dynamic Parameter Identification of Industrial Robots by Using Combined Model (통합모델과 최적 경로설계를 통한 산업용 로봇 동적 매개변수 규명)

  • Park, K.J.
    • Journal of Power System Engineering
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    • v.12 no.2
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    • pp.55-61
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    • 2008
  • This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

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Trajectory Parameter Optimization using Genetic Algorism (유전알고리즘을 이용한 워킹 궤적 파라미터의 최적화)

  • Son, In-Hye;Kim, Dong-Han;Park, Chong-Kug
    • Proceedings of the KIEE Conference
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    • 2008.04a
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    • pp.75-76
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    • 2008
  • In oder for the robot to walk with stability, trajectory generation method for the biped robot is important. In this paper proposed the genetic algorithm to optimize biped robot motion parameters. Because most of trajectory generation, the walking parameters determined arbitrarily. Formulating the constraints of the motion parameters, and the trajectory is derived by cubic spline function. Finally walking patterns are described through simulation studies. When the ZMP(zero moment point) and DSM(dynamic stability margin) are satisfied, the walking pattern is chosen.

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A Motion Planning Algorithm for Synchronizing Spatial Trajectories of Multi-Robots (다수 로봇간 공간궤적 동기화를 위한 모션계획 알고리즘)

  • Jeong Young-Do;Kim Sung-Rak;Lee Choong-Dong;Lim Hyun-Kyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1233-1240
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    • 2004
  • Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

Generation of Falling Motion for Humanoid Robot Using GA (GA를 이용한 휴머노이드 로봇의 넘어짐 자세 생성)

  • An, Kwang-Chul;Cho, Young-Wan;Seo, Ki-Sung
    • Journal of the Korean Institute of Intelligent Systems
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    • v.17 no.6
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    • pp.843-848
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    • 2007
  • This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a GA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. A couple of fitness functions are provided to generate various falling motions. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.

$H_\infty$ control of contact position and force of a manipulator

  • Lee, Sangmoo;Yae, Harold
    • 제어로봇시스템학회:학술대회논문집
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    • 1994.10a
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    • pp.440-445
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    • 1994
  • An application of H$_{\infty}$ synthesis to contact control of a manipulator is suggested. Based on computed torque linearization of a manipulator, a target dynamics for contact motion control is defined and used as a reference model. The target dynamics relates position and force errors through free motion impedance and force error compensators. The H$_{\infty}$ control synthesis is adopted to find an optimum the compensator for position tied force control in various directions of the end-effector. The optimization is performed on the augmented criteria, which trades off the sensitivity function of the errors and the input load at the joints. A design example of the compensator is provided that meets the design specifications.s.

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Impact control of redundant manipulators using null-space dynamucs

  • Chung, W.J.;Choi, S.L.;kim, I.H.;Chung, G.J.
    • 제어로봇시스템학회:학술대회논문집
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    • 1994.10a
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    • pp.89-94
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    • 1994
  • This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

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Locally optimal trajectory planning for redundant robot manipulators-approach by manipulability (여유 자유도 로봇의 국부 최적 경로 계획)

  • Lee, Ji-Hong;Lee, Han-Gyu;Yoo, Joon
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.1136-1139
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    • 1996
  • For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.

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Motion Planning of Bimanual Robot Using Bimanual Task Compatibility (작업 적합도를 이용한 양팔 로봇의 운동 계획)

  • Hwang, Myun-Joong;Chung, Seong-Youb;Lee, Doo-Yong
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.7
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    • pp.656-662
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    • 2008
  • A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.

Impact Reduction for Unknown Environment Using Kinematic Redundancy

  • Kim, Jinhyun;Chung, Wan-Kyun;Youngil Youm
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.25-28
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    • 1999
  • In this article, a new performance index is proposed to re-duce the collision impulsive force by controlling the null motion of redundant manipulators. First, we define the normalized impact ellipsoid in the viewpoint of instantaneous velocity change. Then, we propose a new impact performance index based on velocity direction for null motion to reduce initial impulsive effects. It gives some advantage for the case of unknown environment. The optimization of this index is that the successional impact forces are reduced. The performance of the proposed index is demonstrated by simulation study.

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