Real-time robot control environment
Abstract: The purpose of this project is to design a graphic interface for the PUMA 500 controller. This interface runs under real time operating system QNX. This user interface provides control and monitor functions of the mobile manipulator. The end-effector position and orientation, robot joint angles, and controller parameters are shown to the user by either data or trace graph. The user can also control the robot using the control bar by mouse. Experimental data are saved to files for analysis. Besides these, the parameters of controller can be changed online by the interface. A simulated space ball on the interface is also designed.
Researchers: ,Jindong Tan
Publication:
Jindong Tan, Ning Xi, Wei Kang,"Non-time Based Tracking Controller for Mobile Robots", Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 919-924, May 1999.
Wei Kang, Ning Xi, Jindong Tan, "Analysis and Design of Non-Time Based Motion Controller for Mobile Robots", Proceedings of the IEEE International Conference on Robotics Automation, 2964-2969, May 1999.
Jindong Tan, Ning Xi, Wei Kang, "Tracking Control of Nonholonomic Mobile Robots", Proceedings of the IEEE Computational Intelligence on Robotics Automation, 77-82, 2000.
Jindong Tan, Ning Xi, Wei Kang, "The role of sensing in motion stability of mobile robots",Proceedings of IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, 62 -67, 1999.
Jindong Tan, Ning Xi, "Hybrid System Design for Singularityless Task Level Robot Controllers", Proceedings of the IEEE International Conference on Robotics Automation, 3007-3012, April 2000.
Jindong Tan, Ning Xi, "Design and Implementation of a Hybrid Robot Motion Controller", Submitted to Conference on Decision and Control.
Wei Kang, Ning Xi, Jindong Tan, "Non-time Based Tracking Controller and Its Application to Nonholonomic Mobile Robots", submitted to IEEE Transaction on Robotics and Automation.
Weihua Sheng, Ning Xi, Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III, Perry MacNeille, "CAD-based Sensor Planning for Dimensional Inspection", Proceedings of 2000 Japan-USA Symposium on Flexible Automation, 2000.
Ning Xi, Weihua Sheng, Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III,"Robot Motion Control in Automated Automotive Part Inspections", Proceedings of the Third Asian Control Conference, 2000.
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