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

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Design issues in 2-port network models of bilateral remote manipulation 双边远程操作双端口网络模型的设计问题
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100162
G. J. Raju, G. Verghese, T. Sheridan
{"title":"Design issues in 2-port network models of bilateral remote manipulation","authors":"G. J. Raju, G. Verghese, T. Sheridan","doi":"10.1109/ROBOT.1989.100162","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100162","url":null,"abstract":"A two-port impedance-network model of a single-degree-of-freedom remote manipulation system in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. The design of the network involves the selection of feedback gains for the servomechanisms that transmit motion and force information from one port of the two-port to the other in both directions. The proposed methodology allows this selection to be based on both stability requirements and specifications of desired port impedances, given models of the task and the human operator. The resulting design guidelines guarantee stability for any passive task object at the slave port and any passive human impedance at the master port.<<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":"116069052","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: 238
A passive mechanism for insertion of convex pegs 用于插入凸钉的被动机构
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99996
D. Strip
{"title":"A passive mechanism for insertion of convex pegs","authors":"D. Strip","doi":"10.1109/ROBOT.1989.99996","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99996","url":null,"abstract":"The author expands on some recent results for more generalized insertions in robotics to develop and analyze a passive mechanism capable of inserting arbitrary convex shaped parts. He implemented the strategies of H. Inoue (1979) and S. Simunovic (1979) on a system comprised of commercially available components (a PUMA 560 robot and an Astek six-axis force-torque sensor). It was not possible to use either of these strategies to insert parts of even modest clearance due to the requirements for precision in force sensor measurements and in position measurements at the end of guarded moves. The author was successful, however, in using force-servoing of the PUMA to implement a remote center of compliance. With the PUMA and a servo-based remote center of compliance, he was able to insert chamfered 1 in. pegs with clearance of 0.001 in.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"32 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":"122854481","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: 33
Design and implementation of a robot control system with traded and shared control capability 具有交换和共享控制能力的机器人控制系统的设计与实现
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100161
S. Hayati, S. T. Venkataraman
{"title":"Design and implementation of a robot control system with traded and shared control capability","authors":"S. Hayati, S. T. Venkataraman","doi":"10.1109/ROBOT.1989.100161","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100161","url":null,"abstract":"Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner or combine the two. Such a system should have both traded and shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tired shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"78 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":"121919390","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: 141
High performance motion control based on model following acceleration joint control method 基于模型跟随加速度关节控制方法的高性能运动控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100234
K. Ohishi, Y. Ogino, M. Hotta
{"title":"High performance motion control based on model following acceleration joint control method","authors":"K. Ohishi, Y. Ogino, M. Hotta","doi":"10.1109/ROBOT.1989.100234","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100234","url":null,"abstract":"A decentralized manipulator joint control is proposed, based on the model-following acceleration control system which is constructed using only the information from a rotary encoder. When each joint of the robot manipulator is regulated by the proposed acceleration control system, it is not affected by its dynamical nonlinearity and is controlled independently. A continuous-path tracking method for fast-motion control is also designed using the acceleration control. Experimental and numerical examples show that the proposed acceleration control method is valid for multi-degree-of-freedom robot manipulators.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"77 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":"124571423","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: 12
An implementation of inverse kinematic functions for control of a redundant wrist 冗余腕部控制的逆运动学函数实现
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100098
C. Wampler, S. Agrawal
{"title":"An implementation of inverse kinematic functions for control of a redundant wrist","authors":"C. Wampler, S. Agrawal","doi":"10.1109/ROBOT.1989.100098","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100098","url":null,"abstract":"A class of industrial tasks requires two-degree-of-freedom wrists to point an axisymmetric tool mounted at the end of a robot arm in a specified direction. Due to inherent deficiencies of wrists, such as joint limits and singular positions, the workspace of the tool on a pointing sphere is limited. A three-degree-of-freedom wrist is a redundant mechanism for point tasks. Using inverse functions, it is shown that with a redundant mechanism the workspace on the pointing sphere can be significantly improved by positioning degenerate regions at suitable areas in the workspace. The authors review arguments toward the design of an ideal redundant wrist for pointing tasks and propose an optimal modification of the wrist of an existing PUMA-560 arm. The main considerations in the modified design are existing joint limits and collisions of the total structure with the forearm. Plots of the joint angles and the joint rates in the workspace are presented. The experimental results confirm that the predicted workspace improvements are attained.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"39 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":"121227321","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: 2
Controlling impedance at the man/machine interface 控制人机界面阻抗
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100210
N. Hogan
{"title":"Controlling impedance at the man/machine interface","authors":"N. Hogan","doi":"10.1109/ROBOT.1989.100210","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100210","url":null,"abstract":"Recent work on the dynamics of interactions between humans and machined is reviewed. An experimental apparatus for simulating virtual environments and investigating the man/machine interface is described. Relevant experiments on the mechanical impedance of the human arm are reviewed. Despite active neuromuscular feedback control, the human arm exhibits the impedance of a passive object. Preliminary results of some experiments on the adaptability of human arm impedance are presented. These results indicate limitation in the rapidity of parameter adaptation in humans.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"61 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":"114631646","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: 405
Direct kinematic solution of a Stewart platform Stewart平台的直接运动学解
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100025
P. Nanua, K. Waldron, V. Murthy
{"title":"Direct kinematic solution of a Stewart platform","authors":"P. Nanua, K. Waldron, V. Murthy","doi":"10.1109/ROBOT.1989.100025","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100025","url":null,"abstract":"The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. A solution of the direct kinematics problem for the Stewart platform is presented for the case in which the six limbs form three concurrent pairs at either the base or the hand member. The solution is shown to be reducible to a 24th-order polynomial equation in tan( phi /sub r//2). It is also shown that, for a given set of link lengths, the Stewart platform can be assembled in 24 different configurations.<<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":"121782001","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: 389
A new algorithm for detecting the collision of moving objects 一种运动物体碰撞检测新算法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99960
E. Gilbert, Sun-Mog Hong
{"title":"A new algorithm for detecting the collision of moving objects","authors":"E. Gilbert, Sun-Mog Hong","doi":"10.1109/ROBOT.1989.99960","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99960","url":null,"abstract":"Iterative algorithms for detecting the collision of convex objects whose motion is characterized by a path in configuration space are described. They use as an essential substep the computation of the distance between the two objects. When the objects are polytopes in either two-dimensional or three-dimensional space, an algorithm is given which terminates in a finite number of iterations. It either determines that no collision occurs or locates the first collision point on the path. For practical problems it appears that the computational time is short and grows only linearly in the total number of vertices of the two polytopes. Numerical examples are presented.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"16 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":"124487593","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
The multi-dimensional quality of task requirements for dextrous robot hand control 任务质量的多维度要求对灵巧机械手进行控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100028
Huan Liu, T. Iberall, G. Bekey
{"title":"The multi-dimensional quality of task requirements for dextrous robot hand control","authors":"Huan Liu, T. Iberall, G. Bekey","doi":"10.1109/ROBOT.1989.100028","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100028","url":null,"abstract":"The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"84 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":"127721120","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: 56
Computing metric and topological properties of configuration-space obstacles 构形空间障碍物的度量和拓扑性质计算
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99985
R. Brost
{"title":"Computing metric and topological properties of configuration-space obstacles","authors":"R. Brost","doi":"10.1109/ROBOT.1989.99985","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99985","url":null,"abstract":"The author describes an algorithm that takes two polygons as input, and computes a representation of their corresponding configuration-space obstacle, including contact information. The algorithm's output includes a full metric and topological description of the obstacle surface, as well as the set of polygon features that are in contact for each point of the surface. The representation is exact, up to the limits of floating-point arithmetic. The algorithm has been implemented and test-run on over 40 input pairs; run times varied between 12 and 135 s.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"12 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":"127731362","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: 86
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