Recap from last week:

Robot Dynamics Newton Euler

Robotic control position control
Independent joint controller
Computed torque control

Prepared by Gu Fang (lecture 7)

Contents of week:
Robot force control
Robot trajectory planning
Artificial Neural Network - introduction

Prepared by Gu Fang (lecture 7)

4.1.3 Adaptive control

Model
Model--reference adaptive control (MRAC)

Prepared by Gu Fang (lecture 7)

 Self
Self--tuning control
Assumes that
interaction
forces among
the joints are
negligible.

Prepared by Gu Fang (lecture 7)

4.2

Force Control

4.2.1 Static force/torque relationship

Let x be the virtual end
end--effector
effectorss displacement
effector
F be the end
end--effector force
force.. F=(
=(F
Fx, Fy, Fz, mx, my, mz)T

be the virtual joint displacement

be the jjoint torques
q

x J

F x
T

F T J T

J F
T

Prepared by Gu Fang (lecture 7)

4.2.2 Impedance control

F K P x

K J K P J
T

JT F
x J

J T K P J
Impedance controller with NO damping

c K ( )
d

Impedance controller with damping & gravity compensation

c K ( ) KV ( ) c( )
d

Prepared by Gu Fang (lecture 7)

4.2.3

Passive compliance

Remote Centre Compliance (RCC) device

Prepared by Gu Fang (lecture 7)

Prepared by Gu Fang (lecture 7)

5.
5.1

Robot Trajectory
j
y Planning
g

Introduction

Path vs.
vs trajectory:
JJointJoint
i t-space vs
vs.. Cartesian
C t i -space descriptions
Cartesiand
descriptions:
i ti
:
Basics of trajectory planning
Asynchronised trajectories:

Prepared by Gu Fang (lecture 7)

Synchronised
trajectories::
trajectories

Cartesian space
trajectories::
trajectories

Prepared by Gu Fang (lecture 7)

10

5.2

Joint
Joint--Space Trajectory planning
qi (0) qio
qi (0) 0
qi (t f ) qif
qi (t f ) 0

i 1,2,..., n
i 1,2,..., n
i 1,2,..., n
i 1,2,,...,, n

There are many different methods for jointjoint-space

trajectory planning, such as the polynomial spline and
time--optimal methods
time
methods.. In Niku
Niku s book, a detailed
explanation is given for the polynomial spline method
method..
In this note, a simple time
time--optimal trajectory planning
method is to be introduced
introduced..
This method will be discussed according to two
different scenarios, i.e., large movement and small
movement::
movement
Prepared by Gu Fang (lecture 7)

11

qi

qif

Large movement:
qi qif qi 0

q 2i max
qi max

qi0
t
qi

qi 0.5
t f tc 2

q 2i max
qi max

2 qi max
ma t c

qimax

q i max
qi max

t
qi

qi max

t a
qi max

qimax

ta

t a+ t c

tf=ta+tc+td
t
-qimax

qi (t ) qi 0 0.5qi max t 2
2

qi (t ) qi 0 0.5qi max t a qi max (t t a )

t a t t a tc

(lecture
qi (t ) qi 0 0.5qi maxt a qi max (t Prepared
t a ) by0Gu.5Fang
qi max
(t7) t a tc ) 2

t a tc t t f

t ta
12

qi

qif

Small movement:
qi qif qi 0

q 2i max
qi max

qi0
t

qi 0.5 qi t f
0.25 qi t f

qi

qqi

qi
tf 2
qi

t
qi

qiM qi max (0.5t f )

qimax
q

ta

tf=ta+td
t
-qimax

qi (t ) qi 0 0.5qi max t 2
2
7) 0.5t )
0.5t f )byGu0.Fang
5qi(lecture
(
qi (t ) qi 0 0.5qi max (0.5t f ) 2 qiM (t Prepared
t
f
max

1
tf
2
0.5t f t t f

13

5.3

Cartesian--Space Trajectory planning

Cartesian

When the robot path is defined in the CartesianCartesian-space, there

are generally two methods that can be used for trajectory
planning::
planning
i. When the position,
position velocities of the end
end--effector along the
path are defined, the joint positions can be calculated using
q
, while the jjoint velocities can
inverse kinematics equations,
be calculated using Jacobian calculation
ii. When only
ii.
y the p
positions of the end
end--effectors are defined,,
the Cartesian trajectories can be planned using the same
method introduced above
above.. After the Cartesian trajectory is
obtained, the inverse kinematics equations are then used to
calculate the joint trajectories
trajectories..
Prepared by Gu Fang (lecture 7)

14

Artificial Intelligence
g
Brain inspired
Artificial Neural networks
Human reasoning inspired
Fuzzy Logic
Human evolution inspired
Genetic Algorithm
Animal behaviour inspired
Ant Colony
Particle Swarm
Optimisation

Prepared by Gu Fang (lecture 7)

15

6. Artificial Neural Networks

6.1
Introduction
6.1.1 Definitions
What is an ANN?
Neural networks are a p
promising
g new g
generation of
information processing systems that demonstrate the ability to
learn, recall,
recall, and generalize from training patterns or data.
data.
I particular,
In
i l artificial
ifi i l neurall networks
k (ANN
(ANNs)) are systems
that are deliberately constructed to make use of some
organizational principles resembling those of the human
brain..
brain
It is a neurally inspired mathematical model
model.
It consists of a large number of highly interconnected
processing
p
g elements.
Prepared by Gu Fang (lecture 7)

16

 Its connections (weights

(weights)) hold the knowledge
knowledge..
A processing element can dynamically respond to its
input stimulus, and the response completely depends
on its local information; that is, the input signals arrive
at the processing element via impinging connections
and connection weights.
It has the ability to learn, recall, and generalize from
t i i d
training
data
t b
by assigning
i i or adjusting
dj ti th
the connection
ti
weights.
Its collective behavior demonstrates the computational
power, and no single neuron carries specific
information (distributed representation property).

Prepared by Gu Fang (lecture 7)

17

Why it is called an ANN?

Neural networks are an attempt at creating machines that work
in a similar way to the human brain by building these machines
using components that behave like biological neurons
neurons.

yi (t 1) f ( wij x j (t ) i ),
j 1

1
f a
0

a0
otherwise

10 Billion (1010) neurons & ~ 60 trillion (6x 1013)

~10
connections in a human brain
Prepared by Gu Fang (lecture 7)

18

What can an ANN do?

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19

6.1.2 Structure of ANNs

Boolean NNs
WISARD

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20

Biologically inspired NNs

MP ((McCulloch-Pitts)) neuron
ADALINE

Types of learning rules

Supervised learning
g
Reinforced learning
Unsupervised learning
Prepared by Gu Fang (lecture 7)

21