Keywords: robotics, robot control multisensors, force feedback control, adaptive control, autonomous mobile robots
Start Date: 1 January 93 / Status: finished / Duration: 24 months
[ participants / contact]
ROCOMI focuses on the integration of data provided by different sensors to design an advanced robot control system. The objective is to use this multisensor integration to control the motion of a robot in an unstructured environment. The robot control system has been evaluated through experimentation. The following work items have been addressed: acquisition and processing of the different signal provided by the sensors, including video and force signals; design of control algorithms; control for direct drive robots; adaptation in unstructured environments.
European links: ESPRIT HEPHAESTOS (5369/6042) and MARTHA (6668), BRITE/EURAM CRAFT CR 1651 (PALAIOMATION), CRAFT CR 1156 TRACMINER and BRITE/EURAM 7229 (ROWER), and EUREKA EU 969 (I-ARES).
After a complete review of the literature about force feedback control of robots was realised, some of the well-known schemes were implemented using a proper system simulator, and a comparative evaluation has been performed using several robot configurations. This investigation has been followed by the design of decentralised adaptive control systems for robots, which involved an analysis of design methods for decoupling the control signal for each joint.
One of the aims of the project was also to investigate the possibility of replacing dc motors by ac motors for driving robot joints. Several prototypes have been developed and tested, showing the feasibility of this approach. Work has been conducted towards force feedback control using ac motors with an innovative current measurement system.
Project activities were also oriented toward the design of decisional architecture for motion planning and control of an autonomous mobile robot equipped with a multisensor system in order to perform interpretation, planning and execution of control activities. This architecture is actually used and considered as an adequate integration framework for the different achieved results, and especially for taking into account uncertainties in the word model (as proved by the sensors).
The project has been involved in two international events : ECLA'93 and ECLA'94, and was the organiser of the latter event in Madrid in December 1994. The ROCOMI teams have published about 15 papers in international journals and conferences.
Instituto de Automatica Industrial
Unidad Estructural de Investigación de
Análisis y Sintesis de Sistemas
Carretera N-III. Desvio Km. 22800
28500 MADRID, E
Instituto de Automatica Industrial - CSIS, E
Universidad Nacional de Mar del Plata, AR
Universidad Nacional de San Juan, AR
Centro de Ingenieria Eléctrica y Sistemas, VE
Mr. Manuel Armada Rodriguez
Tel: +34 1 871 19 00
Fax: +34 1 871 70 50
ROCOMI - EC-LA002, May 1997
please address enquiries to the ESPRIT Information Desk
html version of synopsis by Nick Cook