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

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Joint trajectory generation for redundant robots 冗余机器人关节轨迹生成
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100001
T. Hsia, Z. Guo
{"title":"Joint trajectory generation for redundant robots","authors":"T. Hsia, Z. Guo","doi":"10.1109/ROBOT.1989.100001","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100001","url":null,"abstract":"A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"8 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":"125489361","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: 25
On the automatic generation of assembly plans 关于装配图的自动生成
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99968
J. Wolter
{"title":"On the automatic generation of assembly plans","authors":"J. Wolter","doi":"10.1109/ROBOT.1989.99968","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99968","url":null,"abstract":"The author describes a level of assembly process-planning in which a task-level plan is generated directly from a model of the proposed assembly. This involves not only the generation of a series of operations to build the assembly but also the selection or design of an appropriate workspace with suitable fixtures and tools. The author introduces the assembly planning problem and describes an experimental assembly planning system which is capable of rapidly generating plans for most assemblies. The structure of the proposed assembly planner, XAP/1, is described and the performance of the XAP/1 is discussed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"35 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":"125704000","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: 148
An approach to force and position control of robot manipulators 机器人机械臂力与位置控制方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99972
L. Cai, A. Goldenberg
{"title":"An approach to force and position control of robot manipulators","authors":"L. Cai, A. Goldenberg","doi":"10.1109/ROBOT.1989.99972","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99972","url":null,"abstract":"An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"444 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":"132489988","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: 47
The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation 具有对抗驱动的一般机械臂系统的动力学和刚度建模
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100172
Whang Cho, D. Tesar, R. Freeman
{"title":"The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation","authors":"Whang Cho, D. Tesar, R. Freeman","doi":"10.1109/ROBOT.1989.100172","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100172","url":null,"abstract":"A modeling procedure for a completely general kinematic system and a stiffness formulation technique for antagonistically actuated systems are given, in a format which is directly applicable to the design of high-stiffness robotic manipulator controllers. The formulation is developed in terms of kinematic influence coefficients. This involves some generalization of an existing modeling technique so that hybrid manipulator systems (combinations of parallel and serial manipulator systems) can be systematically treated. Antagonistic stiffness, which is developed extensively, is seen to be very promising for the design and control of future manipulators with high precision requirements under various operational disturbances.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"83 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":"130113270","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: 17
Kinematics and dynamics of a three-wheeled 2-DOF AGV 三轮二自由度AGV运动学与动力学
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100202
S. Saha, J. Angeles
{"title":"Kinematics and dynamics of a three-wheeled 2-DOF AGV","authors":"S. Saha, J. Angeles","doi":"10.1109/ROBOT.1989.100202","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100202","url":null,"abstract":"A systematic method for the kinematic and dynamic modeling of a two-degree-of-freedom (DOF) automatic guided vehicle (AGV) is presented. This type of methodology can be used to analyze, design, simulate, and control any kind of rolling robots. The concept of orthogonal complement is used to develop the dynamical equations of motion. The vehicle is analyzed for simulation purposes. Simulation results are reported. It is shown that, using the natural orthogonal complement of the matrix of velocity constraint equations, it is possible to derive systematically the Euler-Lagrange equations of motion of nonholonomic robotic mechanical systems. Moreover, the introduction of the orthogonal complement leads naturally to an efficient computational algorithm.<<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":"130290754","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
Bounds on robot dynamics 机器人动力学边界
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100227
G. Heinzinger, B. Paden
{"title":"Bounds on robot dynamics","authors":"G. Heinzinger, B. Paden","doi":"10.1109/ROBOT.1989.100227","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100227","url":null,"abstract":"The authors develop simple configuration-independent bounds on the dynamics of a robot manipulator. In particular, the inertia and gravity tensors and their derivatives of all orders for open-kinematic-chain manipulators. The bounds are useful in dynamics interpolation bounding the Coriolis and centrifugal forces (since these depend on the derivatives of the inertia tensor), suboptimal control, and path planning with dynamical constraints. These bounds can be used for verifying that trajectories satisfy actuator constraints. The bounds on the derivatives of the inertia tensor bound Coriolis and centrifugal forces and determine whether or not they can be ignored along a trajectory. The bounds on the derivatives also permit reliable interpolation of feedforward terms of dynamic compensation in control. In addition, they may also be used to simplify convergence proofs in nonlinear control schemes where detailed estimates of the dynamics are required, and they are useful in a variety of planning and optimization problems to prove the correctness of algorithms.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"53 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131589165","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: 8
Development of sensitive skin for a 3D robot arm operating in an uncertain environment 在不确定环境下操作的三维机械臂敏感皮肤的研制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100121
E. Cheung, V. Lumelsky
{"title":"Development of sensitive skin for a 3D robot arm operating in an uncertain environment","authors":"E. Cheung, V. Lumelsky","doi":"10.1109/ROBOT.1989.100121","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100121","url":null,"abstract":"The authors describe an ongoing research project on the development of a sensitive skin and its control scheme for a 3D robot arm. The skin consists of hundreds of active infrared proximity sensors that cover the whole arm. This sensor-based motion planning system senses obstacles by emitting amplitude-modulated infrared light and then sensing the reflected signal. The problem of interpreting data from the sensors is handled by the step planning algorithm, which transforms the sensor data into local tangent normals in the configuration space. Once this information is available, a global path planning algorithm can then be used to move the arm through freespace or to follow the contour of obstacles that are encountered. Details of the skin design are presented, along with the computer hardware and operating logistics and the sensor data interpretation algorithm that connects this subsystem to the global motion planning subsystem.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"88 3 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":"130755904","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: 54
A reduced order model derivation for lightweight arms with a parallel mechanism 具有并联机构的轻量臂的降阶模型推导
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100071
T. Tsujisawa, W. Book
{"title":"A reduced order model derivation for lightweight arms with a parallel mechanism","authors":"T. Tsujisawa, W. Book","doi":"10.1109/ROBOT.1989.100071","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100071","url":null,"abstract":"Modeling results are presented for a RALF (robotic arm, large and flexible) consisting of two ten-foot-long links and an actuator link that is parallel to the first link and drives the second link. A reduced-order model of the RALF system, which consists of the first two component modes of each link, was derived using the modal cost analysis approach. The original models are based on the first five component modes of each link. Two sets of mode shapes, which result from different boundary conditions on the components (links) are considered. The reduced-order model is optimal from the control point of view. The reduced-order model is evaluated by a comparison between the frequency responses and the modal cost analysis results. From the component cost calculation results, the modeling error ratio was found to have little variation, in spite of the change in angles of the joints.<<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":"130786527","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
Online frequency domain information for control of a flexible-link robot with varying payload 变载荷柔性连杆机器人的在线频域信息控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100092
S. Yurkovich, Fernando E. Pacheco, A. Tzes
{"title":"Online frequency domain information for control of a flexible-link robot with varying payload","authors":"S. Yurkovich, Fernando E. Pacheco, A. Tzes","doi":"10.1109/ROBOT.1989.100092","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100092","url":null,"abstract":"The authors present experimental results on endpoint position control of a single-link, very flexible robot arm carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement to a rigid-body slew-angle commanded position. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple control laws, where the appropriate gains have been scheduled in accordance with modal frequency information corresponding to a varying, unknown payload.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"18 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":"130911622","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: 43
A topological model of multifingered prehension 多指抓取的拓扑模型
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100027
T. Nguyen, H. Stephanou
{"title":"A topological model of multifingered prehension","authors":"T. Nguyen, H. Stephanou","doi":"10.1109/ROBOT.1989.100027","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100027","url":null,"abstract":"The authors present a topological model of prehension for multifingered robot hands which essentially deduces low-level contact wrench parameters in joint space from high-level task specifications, object properties, and a topological space (tetrahedron) of hand shapes. This model is based on a theory of prehensility with control algorithms modeled after the functionalities and sensory-motor activities of the human hand. The authors describe representations at different levels of granularity. They have sketched topological equivalences between high-level and low-level spaces, which preserve three topological properties: power, precision, and support (or equivalently, graspability, manipulability, and supportability). They introduce the notion of functionality distribution of power, precision, and support to a set of hand subconfigurations. They note the subtle difference in support as an independent parameter (from power and precision), and support as a dependent parameter (to strengthen power and precision) and identify general schemes to handle the difference. The model offers a framework in which several existing schemes may be integrated.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"318 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":"132931397","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: 16
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