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Proceedings, 1989 International Conference on Robotics and Automation最新文献

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The SAGE operating system SAGE操作系统
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 2019-02-11 DOI: 10.1109/ROBOT.1989.100090
L. Salkind
{"title":"The SAGE operating system","authors":"L. Salkind","doi":"10.1109/ROBOT.1989.100090","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100090","url":null,"abstract":"The author describes SAGE, an operating system designed for real-time supervisory control applications. The SAGE kernel runs on a Motorola 68020 processor board and provides a variety of services, including process and memory management, protocol support, and precise timing facilities. In addition, file system capabilities are provided through remote procedure calls made over a LAN interface. Development tools, which run on a Sun workstation, allow programs to be compiled and dynamically downloaded to the SAGE host as needed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115513579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Optimal three finger grasps 最佳的三指抓握
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 2018-02-09 DOI: 10.1109/ROBOT.1989.100101
J. Demmel, G. Lafferriere
{"title":"Optimal three finger grasps","authors":"J. Demmel, G. Lafferriere","doi":"10.1109/ROBOT.1989.100101","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100101","url":null,"abstract":"The authors address the problem of optimal force distribution among three point fingers holding a planar object. A scheme that reduces the nonlinear optimization problem to an easily solved generalized eigenvalue problem is proposed. This scheme generalizes and simplifies results of Z. Ji and B. Roth (1988). The generalizations include all possible geometric arrangements and extensions to three dimensions and to the case of variable coefficients of friction. For the two-dimensional case with constant coefficients of friction, it is proved that except for some special cases, the optimal grasping forces, in the sense of minimizing the dependence on friction, are those for which the angles with the corresponding normals are all equal (in absolute value).<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126611522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
A family of robot control strategies for intermittent dynamical environments 间歇式动态环境下的机器人控制策略
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1990-02-01 DOI: 10.1109/ROBOT.1989.100159
M. Buhler, D. Koditschek, P. Kindlmann
{"title":"A family of robot control strategies for intermittent dynamical environments","authors":"M. Buhler, D. Koditschek, P. Kindlmann","doi":"10.1109/ROBOT.1989.100159","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100159","url":null,"abstract":"A formalism is developed for describing and analyzing a very simple representation of a class of robotic tasks which require dynamical dexterity, among them the task of juggling. Empirical success has been achieved with a class of control algorithms for this task domain, called mirror algorithms. Using the formalism for representing the task domain, and encoding within it the desired robot behavior, it can be proven that a suitable mirror algorithm is correct with respect to a special task. Although the generation of algorithm geometry is completely heuristic at present, the analytical tractability of the resulting robot-environment closed loop, which is demonstrated, raises the hope that sufficient understanding may soon be realized to afford automatic translation of suitably expressed task definitions into provable correct empirically valid robot controller designs.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122211357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 62
A linear SMA motor as direct-drive robotic actuator 作为直驱机器人执行器的线性SMA电机
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100053
M. Bergamasco, F. Salsedo, P. Dario
{"title":"A linear SMA motor as direct-drive robotic actuator","authors":"M. Bergamasco, F. Salsedo, P. Dario","doi":"10.1109/ROBOT.1989.100053","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100053","url":null,"abstract":"A push-pull actuator for commanding the motion of the interphalangeal joints of anthropomorphic robotic hands is proposed. The actuator, based on coil springs, made of the shape-memory alloy Nitinol, is compact enough to be easily incorporated into the phalangeal structure of a robotic finger, thus eliminating the complex routing of the cables and tendons usually adopted for transmitting motion from conventional actuators (e.g. DC servomotors) to the joints. The performance of the SMA actuator is illustrated, and the concepts of temperature, strain, and stress limits for the control of the whole push-pull actuating system are emphasized. The methods adopted to improve the usually limited frequency response of SMA actuators are also described. Finally, the control of the whole system and some experimental results demonstrating promising actuator performance are discussed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115303290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 53
A practical algorithm for planning collision-free coordinated motion of multiple mobile robots 多移动机器人无碰撞协调运动规划的实用算法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100179
Yunhui Liu, Shigeo Kuroda, T. Naniwa, H. Noborio, S. Arimoto
{"title":"A practical algorithm for planning collision-free coordinated motion of multiple mobile robots","authors":"Yunhui Liu, Shigeo Kuroda, T. Naniwa, H. Noborio, S. Arimoto","doi":"10.1109/ROBOT.1989.100179","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100179","url":null,"abstract":"When multiple mobile robots are working in the same environment, planning of collision-free coordinated motion is necessary; here, an algorithm for planning such a motion of two mobile robots, no matter how crude the constraints of obstacles are, is proposed. The situation is modeled as a Petri net, which is considered as a useful model for describing and analyzing a system in which it is possible for some events to occur concurrently but there are constraints on the concurrence. In the Petri net, all motion constraints of robots in their paths are arranged as its firing rules, and hence collision-free coordination between the robots can be easily planning by manipulation of the firing rules. The algorithm always finds a collision-free coordinated path of two robots if there actually exists such a path in the environment. Moreover, because the algorithm does not use any knowledge of movement of the robots, precise time-varying trajectory control is not required and realization of the coordination is easy. The algorithm works efficiently even in a complex environment, indebted to the generic properties of geographical quadtree modeling for the environment. The usefulness of the algorithm is shown by several simulations.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123053128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 59
Robust hybrid control of robot manipulators 机器人机械臂的鲁棒混合控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99995
Ye-hwa Chen, S. Pandey
{"title":"Robust hybrid control of robot manipulators","authors":"Ye-hwa Chen, S. Pandey","doi":"10.1109/ROBOT.1989.99995","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99995","url":null,"abstract":"The problem of hybrid (position and force) control of robot manipulators is studied as a control of a dynamical system whose mathematical model contains uncertainties. It is shown that robust control which renders the system globally practically stable can be designed. A simplification of the robust control can be made provided the uncertainty is cone-bounded. This occurs when the modeling error in the Coriolis and centrifugal forces is negligible. Further elaboration on the quadratically bounded uncertainty (which occurs as substantial modeling error in Coriolis and centrifugal forces arises) is investigated. The simplified robust control is shown to be applicable provided the control design parameters are chosen in a prescribed way. A control for a two-joint SCARA type robot is provided as an illustrative example. Excellent system performance is observed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125211768","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 20
Multilevel vision based spatial reasoning for robotic tasks 基于多层次视觉的机器人任务空间推理
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100036
M. Magee, Jeffrey M. Becker, D. Mathis, Cheryl Weber-Sklair, W. Wolfe
{"title":"Multilevel vision based spatial reasoning for robotic tasks","authors":"M. Magee, Jeffrey M. Becker, D. Mathis, Cheryl Weber-Sklair, W. Wolfe","doi":"10.1109/ROBOT.1989.100036","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100036","url":null,"abstract":"A model-based image understanding and spatial reasoning system (SRS) has been integrated with a robot planner to provide a testbed for autonomously sensing and responding to complex but well-structured environments. The entire system operates in such a way that the robot planner requests state information for entities on a task panel from the SRS. State information may consist of the location or orientation of a latch or door on the panel or it may reflect a particular function, such as whether a latch is open or closed. Examples which illustrate the operation of the entire system with actual robotic and vision hardware are provided. The advantages and disadvantages of active/passive markers and teleoperation within the context of the integrated system are also discussed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116963083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamics coordination in a manipulator with 7 joints 7关节机械臂的动力学协调
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99978
O. Egeland, J. R. Sagli, S. Hendseth, Fredrik Wilhelmsen
{"title":"Dynamics coordination in a manipulator with 7 joints","authors":"O. Egeland, J. R. Sagli, S. Hendseth, Fredrik Wilhelmsen","doi":"10.1109/ROBOT.1989.99978","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99978","url":null,"abstract":"A control system for a 7-joint manipulator with three intersecting shoulder axes is presented. A singularity avoidance scheme is developed, where the redundancy is resolved through a position transformation. The internal and external motions are decoupled using nonlinear feedback linearization in an augmented task space. It is then possible to use linear controllers both for the internal nullspace and for the end-effector coordinates. It is shown how optimal control theory can be applied to coordinate the motion in the arm, and how to do this so that the input generalized forces are minimized. This gives a coordination of internal and external motion which resembles the motion of the human arm; this is demonstrated by simulating a throwing motion with the manipulator.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"175 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120979818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Powered flight, child's play, silly wheels and walking machines 动力飞行，儿童游戏，愚蠢的轮子和行走机器
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100205
T. McGeer
{"title":"Powered flight, child's play, silly wheels and walking machines","authors":"T. McGeer","doi":"10.1109/ROBOT.1989.100205","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100205","url":null,"abstract":"Recent theoretical and experimental studies of biped walking machines are reviewed. The author summarizes results in passive and pumped walking, and discuss issues arising for robot design. The fundamental idea is that a pair or pendula will walk just as naturally as a wheel will roll. It is shown that, as far as dynamics and control are concerned, use of the passive walking effect can substantially simplify biped design. In particular, it tidily resolves the problems of trajectory selection, generation, and stabilization which become the focus of attention in devising active means of walking. Methods of modulating and pumping the passive cycle emerge naturally from dynamics analysis and the cycle makes inherently efficient use of energy without being sensitive to how the energy is supplied. The walking mode persists across a wide range of variations on the coupled-pendula theme, and so allows the designer generous latitude.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127095257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 64
On replanning for assembly tasks using robots in the presence of uncertainties 不确定条件下机器人装配任务的再规划
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100056
J. Xiao, R. Volz
{"title":"On replanning for assembly tasks using robots in the presence of uncertainties","authors":"J. Xiao, R. Volz","doi":"10.1109/ROBOT.1989.100056","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100056","url":null,"abstract":"High-precision assembly tasks cannot be successfully done by robots without taking into account the uncertainties that can cause failure of robot motion. The authors address this problem by planning robot motions at two levels: nominal planning, which assumes no uncertainty, and dynamic replanning, to deal with uncertainties that would cause nominal plans to fail. They introduce a replanning approach based on knowledge of contacts among assembly parts. It consists of patch planning to resolve the case when a commanded robot motion prematurely stops at a contact other than those planned, and motion strategy planning, to regulate robot motions in order to guarantee the eventual success of a task. A task-independent strategy for patch-plan generation based on concepts of contact planes and abstract obstacles is developed. It is also shown how to apply motion strategies so that, under proper design and motion constraints, the replanning can be guaranteed to succeed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127257186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 46
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