Contents:

Intelligent Control of Robotic Manipulators

Introduction

Designing high-performance, low-cost robot manipulators is one of the ultimate challenges for engineers today. Key performance criteria for these robots are: 1) cycling time, 2) accuracy and repeatability, 3) ease of programming, 4) intelligence and 5) safety. In striving to meet these increasingly stringent performance goals, a mechatronic approach, which combines aspects from both mechanical hardware and servo software, is required. This research focuses on vibration suppression, visual servoing, human robot collaboration and learning from demonstration. The project utilizes an integrated analytical, simulation, and experimental effort to attain the objectives.

Research Topics

  • Topic 1. Vibration Control of Industrial Robot
    | Brief | More |
  • Topic 2. Robot Skill Learning

Subtopic 2.1. Robot Learning from Human Demonstration with Remote Lead Through Teaching | Brief | More |

  • Topic 2. Robot Skill Learning

Subtopic 2.2. Learn Peg-Hole-Insertion from Human Demonstration | Brief | More |

  • Topic 2. Robot Skill Learning

Subtopic 2.3. Autonomous Alignment of Peg and Hole for Robotic Assembly | Brief | More |

  • Topic 3. Human Robot Collaboration

Subtopic 3.1. Human Guidance Programming with Collision Avoidance | Brief | More |

  • Topic 3. Human Robot Collaboration

Subtopic 3.2. Robot Safe Interaction System (RSIS) | Brief | More |

  • Topic 3. Human Robot Collaboration

Subtopic 3.3. Inference of Human Intention and Prediction of Human Motion | Brief | More |

  • Topic 5. Dexterious Manipulation
    | Brief | More |

Recent Publication

H. Lin, C. Liu, T. Tang, and M. Tomizuka, “Fast Robot Motion Planning with Collision Avoidance and Temporal Optimization”, submitted to IEEE Robotics and Automation Letters, 2017.
Y. Fan, T. Tang, H.-C. Lin, Y. Zhao, and M. Tomizuka, “Real-time robust finger gaits planning under object shape and dynamics uncertainties,” submitted to IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.
Y. Fan, L. Sun, M. Zheng, W. Gao, and M. Tomizuka, “Robust dexterous manipulation under object dynamics uncertainties,” submitted to IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017.
Y. Fan, W. Gao, and M. Tomizuka, “Real-time finger gaits planning for dexterous manipulation,” to appear in The 20th World Congress of the International Federation of Automatic Control (IFAC), 2017.
C. Liu, C. Lin, Y. Wang, and M. Tomizuka, “Convex feasible set algorithm for constrained trajectory smoothing”, to appear in American Control Conference, 2017.
C. Liu, and M. Tomizuka, “Designing the robot behavior for safe human robot interactions”, in Trends in Control and Decision-Making for Human-Robot Collaboration Systems (Y. Wang and F. Zhang (Eds.)). Springer, 2017.
C.-Y. Lin, W. Chen, and M. Tomizuka, “Learning Control for Task Specific Industrial Robots,” in IEEE Conference on Decision and Control (CDC), 2016.
T. Tang, C. Liu, W. Chen and M. Tomizuka, “Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
H-C. Lin, Y. Fan, T. Tang, and M. Tomizuka, “Human guidance programming on a 6-DoF robot with collision avoidance,” in Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference.
C. Liu, and M. Tomizuka, “Geometric considerations on real time trajectory optimization for nonlinear systems”, submitted to Systems & Control Letters, 2016.
C. Liu, C. Lin, and M. Tomizuka, “The convex feasible set algorithm for real time optimization in motion planning”, submitted to SIAM Journal on Control and Optimization, 2016.
T. Tang, H-C. Lin, Y. Zhao, W. Chen and M. Tomizuka, “Autonomous alignment of peg and hole by force/torque measurement for robotic assembly,” 2016 IEEE International Conference on Automation Science and Engineering (CASE), 2016. (Best Application Paper Finalist)
Y. Zhao, W. Chen, T. Tang, and M. Tomizuka, “Zero Time Delay Input Shaping for Smooth Settling of Industrial Robots,” in IEEE International Conference on Automation Science and Engineering (CASE), 2016.
T. Tang, H-C. Lin, Y. Zhao, Y. Fan, W. Chen and M. Tomizuka, “Teach industrial robots peg-hole-insertion by human demonstration,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016.
H-C. Lin, T. Tang, Y. Fan, Y. Zhao, M. Tomizuka, and W. Chen, “Robot Learning from Human Demonstration with Remote Lead through Teaching,” in European Control Conference (ECC), 2016.
Y. Fan, H.-C. Lin, Y. Zhao, C.-Y. Lin, T. Tang, M. Tomizuka, and W. Chen, “Object position and orientation tracking for manipulators considering nonnegligible sensor physics,” in Flexible Automation (ISFA), International Symposium on. IEEE, 2016, pp. 450–457.
C. Liu, and M. Tomizuka, “Algorithmic safety measures for intelligent industrial co-robots,” in IEEE International Conference on Robotics and Automation (ICRA), 2016.

Publications Before 2016

Researchers

Changliu Liu Graduate Student Email Link Homepage
Te Tang Graduate Student Email Link Homepage
Hsien-Chung Lin Graduate Student Email Link  
Yu Zhao Graduate Student Email Link Homepage
Yongxiang Fan Graduate Student Email Link  
Yujiao Cheng Graduate Student Email Link  

Recent Graduates

Chung-Yen Lin Apple Email Link  
Cong Wang NJIT Email Link  
Michael Chan Space X Email Link  
Pedro Reynoso Nikon Email Link  
Wenjie Chen FANUC Email Link  

Sponsors