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

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A feasible motion-planning algorithm for a mobile robot based on a quadtree representation 一种可行的基于四叉树表示的移动机器人运动规划算法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100009
H. Noborio, T. Naniwa, S. Arimoto
{"title":"A feasible motion-planning algorithm for a mobile robot based on a quadtree representation","authors":"H. Noborio, T. Naniwa, S. Arimoto","doi":"10.1109/ROBOT.1989.100009","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100009","url":null,"abstract":"A motion-planning algorithm is proposed which fulfils its function fast even if shapes of the robot and its obstacles are complicated. Considering the global obstacle allocation in the robot workspace, the proposed algorithm selects intermediate positions where the mobile robot should pass from a start position to a goal position. Using a systematic motion generation method based on the closest points between the robot and its obstacles, the algorithm generated collision-free robot motions to joint the intermediate positions successively. The algorithm runs on the quadtree representation, obtained from fast conversion of a real image taken through a camera on the ceiling of the workspace. The algorithm can generate collision-free motions while following a change of obstacle allocation. In a comparison with several motion-planning algorithms, it is shown that the proposed algorithm generates fast collision-free robot motions.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"68 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":"123035891","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: 35
Experimental study of observability of parameter errors in robot calibration 机器人标定中参数误差可观测性的实验研究
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100048
J. Borm, C. Menq
{"title":"Experimental study of observability of parameter errors in robot calibration","authors":"J. Borm, C. Menq","doi":"10.1109/ROBOT.1989.100048","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100048","url":null,"abstract":"The selection of measurement configurations for robot calibration is investigated. The goal is to select a set of robot measurement configurations which will yield maximum observability of the model parameter errors so that the effects of noise in parameter estimation can be minimized. The noise considered includes both measurement and modeling errors. An observability measure is used as a criterion for selecting measurement configurations in calibration. Experimental studies are performed to demonstrate the importance of observability to parameter estimation and to verify its implications in robot calibration. Based on the observability measure defined, the optimal measurement configurations for kinematic model calibration are determined for PUMA-type robots.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"41 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":"129385710","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: 45
The decentralized robust control schemes with a nonlinear adaptive observer 具有非线性自适应观测器的分散鲁棒控制方案
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100235
Guo-Dong Qiao
{"title":"The decentralized robust control schemes with a nonlinear adaptive observer","authors":"Guo-Dong Qiao","doi":"10.1109/ROBOT.1989.100235","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100235","url":null,"abstract":"The author proposes a decentralized robust control scheme for a robot manipulator with a nonlinear adaptive observer which is based on the simplified dynamics model of the robot manipulator system. It can greatly reduce the amount of online calculation required for controller design. In order to adapt to the changes of the payload and other parameters of the system, a nonlinear adaptive observer is designed to modify the model parameters.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"47 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":"115957426","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
Base parameters of dynamic models for manipulators with rotational and translational joints 具有旋转和平移关节的机械臂动力学模型的基本参数
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100195
H. Mayeda, K. Yoshida, K. Ohashi
{"title":"Base parameters of dynamic models for manipulators with rotational and translational joints","authors":"H. Mayeda, K. Yoshida, K. Ohashi","doi":"10.1109/ROBOT.1989.100195","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100195","url":null,"abstract":"Base parameters (a minimum set of dynamic parameters whose values can determine a dynamic model uniquely) are investigated for general parallel and perpendicular manipulators with rotational and translational joints. The base parameters determine a very fundamental motion for manipulator dynamic models and are useful for identification of dynamic parameters and efficient algorithms to solve the inverse dynamics problem. Base parameters are described in terms of a linear combination of link inertial parameters, and the exact number of base parameters is shown. These results are extensions of the authors' previous results (1988) for parallel and perpendicular manipulators with rotational joints only.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"24 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":"116993259","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: 28
Planning and scheduling in a flexible manufacturing system using a dynamic routing method for automated guided vehicles 柔性制造系统中自动导向车辆动态路径的规划与调度
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100204
Pei-Sen Liu, L. Fu
{"title":"Planning and scheduling in a flexible manufacturing system using a dynamic routing method for automated guided vehicles","authors":"Pei-Sen Liu, L. Fu","doi":"10.1109/ROBOT.1989.100204","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100204","url":null,"abstract":"An approach that can dynamically solve the planning and scheduling problem in a flexible manufacturing system (FMS) is presented. This problem is formulated as the determination of an optimal routing assignment of p automated guided vehicles among m workstations in order to accomplish N tasks in an FMS. A useful task representation called workgraph is introduced to facilitate the latter computation; then the A* search algorithm, the minimax criterion, and source heuristic rules are used to solve this routing assignment problem dynamically. The approach obtains a near-optimal solution in moderate computation time, and, in addition, solves some dynamic situations so as to make the FMS more flexible.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"105 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":"117207829","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: 22
Mobile robot localization using a single image 使用单幅图像的移动机器人定位
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100108
E. Krotkov
{"title":"Mobile robot localization using a single image","authors":"E. Krotkov","doi":"10.1109/ROBOT.1989.100108","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100108","url":null,"abstract":"Following and extending the approach of K. Sugihara (1988), the author assumes that a mobile robot is equipped with a single camera and a map marking the positions in its environment of landmarks. The robot moves on a flat surface, acquires one image, extracts vertical edges from it, and computes the directions to visible landmarks. The problem is to determine the robot's position and orientation (pose) by establishing the correspondence between landmark directions and points in the map. This approach capitalizes on the excellent angular resolution of standard CCD cameras, while avoiding the feature-correspondence and 3D reconstruction problems. The problem is formulated as a search in a tree of interpretations (pairings of landmark directions and landmark points), and an algorithm to search the tree efficiently to determine the solution poses(s) is developed, taking into account errors in the landmark directions extracted by image processing. Quantitative results from simulations and experiments with real imagery are presented.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"99 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":"117230818","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: 153
Automatic assembly planning with fasteners 自动装配规划与紧固件
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99969
Joseph M. Miller, R. Hoffman
{"title":"Automatic assembly planning with fasteners","authors":"Joseph M. Miller, R. Hoffman","doi":"10.1109/ROBOT.1989.99969","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99969","url":null,"abstract":"The automatic assembly planning with fasteners (AAPF) prototype system is described. Given a model of a product to be manufactured, the AAPF system produces a high-level assembly sequence for producing that product. The model is defined in terms of constructive solid-geometry primitives and nut, bolt, and screw fastener primitives. The system works backwards by disassembling the finished product model. Under the assumption that no internal or external forces are present, the reverse of a disassembly sequence is a valid assembly sequence. This assembly planning system pays attention to the individual characteristics of the fasteners to produce a more efficient assembly plan. By paying attention to the type, size, and location of each fastener, the fasteners can be grouped and ordered for assembly (where possible) according to similar fastener type, size, and location. Depending on the factory environment, this can reduce the need for moving subparts from work cell to work cell, retooling time, and the time spent at any given machine or work cell. Several examples, ranging from a simple blocks world model to a mechanical computer mouse, are given, including their run times.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"45 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":"115780881","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: 65
On computability of fine motion plans 精细运动方案的可计算性
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99986
J. Canny
{"title":"On computability of fine motion plans","authors":"J. Canny","doi":"10.1109/ROBOT.1989.99986","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99986","url":null,"abstract":"It is shown that fine motion plans in the LMT framework developed by T. Lozano-Perez, M. Mason and R. Taylor (1984) are computable, and an algorithm for computing them by reducing fine motion planing to an algebraic decision problem is presented. Fine-motion planning involves planning a successful motion of a robot at the fine scale of assembly operations, where control and sensor uncertainty are significant. It is shown that, as long as the envelope of trajectories generated by the control system can be described algebraically, there is an effective procedure for deciding if a successful n-step plan exists. The proposed method makes use of recognizable sets as subgoals for multistep planning. These sets are finitely parameterizable, and it is shown that they are the only sets that need be considered as subgoals. Unfortunately, if the full generality of the LMT framework is used, finding a fine-motion plan can take time double exponential in the number of plant steps.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"1 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":"114494750","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: 92
Building and navigating maps of road scenes using an active sensor 使用有源传感器构建和导航道路场景地图
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100133
M. Herbert
{"title":"Building and navigating maps of road scenes using an active sensor","authors":"M. Herbert","doi":"10.1109/ROBOT.1989.100133","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100133","url":null,"abstract":"The author presents algorithms for building maps of road scenes using an active range and reflectance sensor and for using the maps to traverse a portion of the world already explored. He describes some advantages of an active sensor, namely, that it is independent of the illumination conditions, does not require complex calibration in order to transform observed features to the vehicle's reflectance frame, and provides 3-D terrain models as well as road models. Using this map built from sensor data facilitates navigation in two respects: the vehicle may navigate faster, since less perception processing is necessary, and the vehicle may follow a more accurate path, since the navigation system does not rely entirely on inaccurate visual data. The author presents a complete system that includes road-following, map-building, and map-based navigation using the ERIM laser rangefinder. Experimental results are presented.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"311 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":"115441203","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: 28
An adaptive approach to motion and force control of multiple coordinated robot arms 多协调机械臂运动与力的自适应控制方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100126
Yan-Ru Hu, A. Goldenberg
{"title":"An adaptive approach to motion and force control of multiple coordinated robot arms","authors":"Yan-Ru Hu, A. Goldenberg","doi":"10.1109/ROBOT.1989.100126","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100126","url":null,"abstract":"An approach to motion and force control of multiple coordinated robot arms based on an adaptive scheme is developed. The adaptation law uses Popov hyperstability theory to estimate online the uncertain parameters of multiple robot arms and payload. The approach can be used to control the motion of an object held by the arms, the contact forces between the object and the environment, and the internal forces that do not contribute to the motion and the contact forces. Three subsystem error equations are generated, i.e. a position error subsystem, a contact force error subsystem, and an internal force error subsystem. The unknown parameters of the multiple coordinated robot arms and the object are estimated in terms of the three error subsystem equations. It is shown that the proposed adaptive control scheme improves the position and internal and contact force tracking accuracy of a class of systems with an uncertain knowledge of the dynamic model.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"41 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":"116135065","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: 127
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