CHIMERA: a real-time programming environment for manipulator control

Schmitz, D.E.; Khosla, Pradeep K.; Hoffman, Regis; Kanade, Takeo

doi:10.1109/robot.1989.100088

Cited by 25 publications

(8 citation statements)

References 7 publications

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“…1: Give the iteration index k = 0 and initial value function J (0) i ; 2: Compute the initial iterative control law u (0) i disturbance law P (0) i and obtain value function J (1) i by ( 10). 3: If ∀x i , J (1) i ≤ J (0) i , then go to Step 4. 4: Compute the initial iteration u (k) i , P (k) i and J (k+1)…”

Section: Initializationmentioning

confidence: 99%

“…With the wide application of manipulator, the requirements for the practicality and sustainability of the manipulator are growing exponentially. MRMs 1 equipped with standardized modules can handle complex and diverse tasks by means of adding/reducing different modules 2 . Nowadays, MRMs have already widely used in extremely complex environments, even in environments where it is difficult for humans to get involved, for example that underwater exploration, 3 medical service, 4 and hazardous materials disposal 5 .…”

Section: Introductionmentioning

confidence: 99%

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Event‐triggered adaptive fuzzy optimal control of modular robot manipulators using zero‐sum differential game through value iteration

Dong

Feng

Cui

et al. 2023

Adaptive Control & Signal

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SummaryIn this article, a novel event‐triggered zero‐sum differential game through value iteration (VI)‐based adaptive fuzzy control is proposed for modular robot manipulators (MRMs) with uncertain disturbance. The subsystem dynamic of MRMs is established by joint torque feedback (JTF) technology. An identifier based on fuzzy logic model (FLM) is established to identify unknown system dynamics. Then, the trajectory tracking control issue of MRMs with uncertain disturbance is transformed into a two‐player zero‐sum differential game. On the basis of event‐triggered mechanism and VI algorithm, the event‐triggered Hamilton–Jacobi–Issacs (HJI) equation is approximately solved through establishment of actor‐critic structure. Different from the traditional adaptive dynamic programming (ADP) algorithm, this scheme is based on adaptive fuzzy optimal control through an actor‐critic structure, which refers to adaptation of both optimal cost function and optimal control policy. Moreover, tracking errors of closed‐loop MRM system are demonstrated to be uniformly ultimately bounded (UUB) under Lyapunov stability theorem. At last, experimental examples and comparisons show the reliability and effectiveness of this method.

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Section: Initializationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event‐triggered adaptive fuzzy optimal control of modular robot manipulators using zero‐sum differential game through value iteration

Dong

Feng

Cui

et al. 2023

Adaptive Control & Signal

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“…A real-time computing environment (CHIMERA) implemented on a SUN 3 Workstation and several slave processors is described in ref. 7. A new operating system SAGE for a Motorola 68020-based system was described by Salkind.…”

Section: Fig 1 Educational Robotmentioning

confidence: 99%

A Distributed PC-Based Control System for Education in Robotics

et al. 1991

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SUMMARYThe paper presents an educational system for teaching and research in robotics which consists of a manipulator, controller and a PC compatible host computer. The advanced design of host-computer user-interface software makes the system very suitable for teaching. It allows the user not only to follow the system states but also to change the control structure on-line. In the first part of this paper the architecture of the system, window-oriented user interface, specially designed robot language and several build-in students lessons will be described as well as the data acquisition system and advanced graphical capabilities.In the second part of this paper the executive controller architecture is described. Besides the manipulator control function and IO operations, the controller supports communication with the host-computer. The controller is programmable, i.e. it executes various tasks within user-defined and build-in students lessons. By the use of simple host-computer commands the controller can execute various algorithms both for trajectory generation and dynamically compensated digital servo control. The dynamic model components in the feed-forward and feed-back control loop can be selectively included and changed during the manipulator's motion. Experimental results with a 4-link educational robot are presented.

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“…34 Although packages such as LEX and YACC make the process of compiler (or interpreter) writing feasible even for a non-experienced user, they also make more apparent a standardization issue; the realm of robotic languages is heterogeneous and not compatible either within itself or with other packages. That made sense for a development of entire operating systems devoted to robot control, such as CHIMERA 5 which is a C/UNIX based computing environment for real-time application development.…”

Section: Introductionmentioning

confidence: 99%

SYM-program environment for manipulator modeling, control and simulation

et al. 1992

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SUMMARYThis paper describes the structure of the program package for manipulator modeling, control law synthesis and simulation SYM. While the underlying algorithms have been explained elsewhere, this paper puts emphasis on SYM as a program environment with both research and educational purposes. The control law synthesis in symbolic form, as well as system simulation, are given in more details since those features have been introduced into SYM recently. As an illustration we present few instances of SYM outputs which depict main steps in manipulator control system creation process: manipulator structure as a 3D scheme, control law definition form and system simulation results as 2D plots.

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CHIMERA: a real-time programming environment for manipulator control

Cited by 25 publications

References 7 publications

Event‐triggered adaptive fuzzy optimal control of modular robot manipulators using zero‐sum differential game through value iteration

Event‐triggered adaptive fuzzy optimal control of modular robot manipulators using zero‐sum differential game through value iteration

A Distributed PC-Based Control System for Education in Robotics

SYM-program environment for manipulator modeling, control and simulation

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