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

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Finger force computation for manipulation of an object by a multifingered robot hand 手指力计算的操作对象的一个多指机器人手
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100100
Young C. Park, G. Starr
{"title":"Finger force computation for manipulation of an object by a multifingered robot hand","authors":"Young C. Park, G. Starr","doi":"10.1109/ROBOT.1989.100100","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100100","url":null,"abstract":"The authors present an efficient computational procedure to determine the finger force of a three-fingered robot hand in object manipulation. They first define initial grasping force as the force needed to hold a massless object. Then grasping force and contact normal during manipulation are determined from initial grasping force and initial contact normal by tracking the object displacement. Manipulation force, the finger force required to manipulate an object and to compensate for object weight, is computed by the generalized matrix inverse method. Optimal internal force, when necessary, is determined from the grasping force during manipulation without explicitly solving the optimization problem. The computational burden for determining finger force is less than that of previous methods.<<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":"133518706","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: 39
Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses 用阻抗控制求解运动冗余:一类可积伪逆
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100002
F. Mussa-Ivaldi, N. Hogan
{"title":"Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses","authors":"F. Mussa-Ivaldi, N. Hogan","doi":"10.1109/ROBOT.1989.100002","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100002","url":null,"abstract":"Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the nonintegrability of the standard pseudoinverse. The authors present a class of pseudoinverse which have the property of being integrable within any simply connected nonsingular region of the workspace. Integrability is obtained by deriving the equations which describe an externally imposed motion with the hypothesis that a compliance function is associated with each degree of freedom of the manipulator. The result is a weighted pseudoinverse containing a term which accounts for the nonlinear features of the forward kinematics. The relation of this integrable pseudoinverse to the standard Moore-Penrose and weighted pseudoinverses are discussed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"295 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":"132745578","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: 11
Nonholonomic path planning of space robots 空间机器人的非完整路径规划
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100120
Yoshihiko Nakamura, R. Mukherjee
{"title":"Nonholonomic path planning of space robots","authors":"Yoshihiko Nakamura, R. Mukherjee","doi":"10.1109/ROBOT.1989.100120","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100120","url":null,"abstract":"The authors discuss the nonholonomic mechanical structure of a space robot and its path planning. The conservation of angular momentum works as a nonholonomic constraint, whereas the conservation of linear momentum is a holonomic one. In this framework a vehicle with a 6-DOF (six-degree-of-freedom) manipulator is described as a nine-variable system with six inputs. This implies the possibility of controlling the vehicle orientation as well as the joint variables of the manipulator by actuating the joint variables only if the trajectory is carefully planned, although both the variables and the trajectory cannot be controlled independently. In planning a feasible path, a system than consists of a vehicle and a 6-DOF manipulator can be treated as a 9-DOF kinematically redundant system. The nonholonomic mechanical structure of the space vehicle/manipulator system is shown, and a path planning scheme for nonholonomic systems using Lyapunov functions is proposed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"466 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":"133132970","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: 84
Efficient robot inverse and direct dynamics algorithms using microcomputer based symbolic generation 基于微机符号生成的高效机器人逆动力学和直接动力学算法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100239
R. Toogood
{"title":"Efficient robot inverse and direct dynamics algorithms using microcomputer based symbolic generation","authors":"R. Toogood","doi":"10.1109/ROBOT.1989.100239","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100239","url":null,"abstract":"A method is described for automatically generating FORTRAN code for the inverse and direct dynamics solution of robot manipulators. The method is based on an efficient symbolic generation system for the recursive Lagrangian inverse dynamics formulation. Two variations of the original symbolic generation are used to produce routines for use in the direct dynamics solution. The symbolic generation requires minimal input from the user, takes only a few seconds on a microcomputer, and produces very efficient FORTRAN code having among the lowest computational requirements yet reported in the literature.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"26 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":"128889191","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
Automatic sensor-assisted generation of optimal user responsive robot programs 自动传感器辅助生成最优用户响应机器人程序
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100132
H. Franke, H. Kuntze, A. Jacubasch
{"title":"Automatic sensor-assisted generation of optimal user responsive robot programs","authors":"H. Franke, H. Kuntze, A. Jacubasch","doi":"10.1109/ROBOT.1989.100132","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100132","url":null,"abstract":"A novel sensor-based concept for automatic generation of IR (industrial robot) motion programs that provides high dynamic accuracy even in the case of complex workpiece contours is presented. The concept is based on sensor-controlled contour scanning and successive data reduction that depends on the tolerance band and velocity profile demanded by the IR user. By introducing an efficient tool vector notation for describing TCP (tool center point) orientation, the quality of programs generated is considerably improved. The method, which has been implemented on a commercial control system in a real environment, represents a very efficient tool for drastically minimizing the setting-up times of the IR. The performance of the concept is illustrated by some practical results.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"15 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":"115537954","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
Exploiting temporal coherence in scene analysis for autonomous navigation 在自主导航场景分析中利用时间相干性
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100110
R. Bolles, A. Bobick
{"title":"Exploiting temporal coherence in scene analysis for autonomous navigation","authors":"R. Bolles, A. Bobick","doi":"10.1109/ROBOT.1989.100110","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100110","url":null,"abstract":"A technique for building reliable scene descriptions by evaluating the temporal stability of detected objects is presented. The approach is designed to avoid mistakes and to increase the competence of the sensing system by tracking objects from image to image and evaluating the stability of their descriptions over time. Since the information available about an object can change significantly over time, the authors introduce the idea of a representation space, which is a lattice of representations progressing from crude blob descriptions to complete semantic models, such as bush, rock, and tree. One of these representations is associated with an object only after the object has been described multiple times in the representation and the parameters of the representation are stable in a statistical sense enhanced by a set of explanations describing valid reasons for deviations. To illustrate the power of these ideas, the authors have implemented a system, called TraX, that constructs and refines models of outdoor objects detected in sequences of range data.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"38 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":"114855786","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
Two 7-R manipulators which provide controllably dexterous workspace 两个7-R机械手，提供可控制的灵巧工作空间
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100145
J. Davidson
{"title":"Two 7-R manipulators which provide controllably dexterous workspace","authors":"J. Davidson","doi":"10.1109/ROBOT.1989.100145","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100145","url":null,"abstract":"The controllably dexterous workspace of a tool-point is defined. A type-synthesis process, based on screw theory and geometry, is extended to identify two 7-R robots, each of which can provide the controllably dexterous workspace. The identification process is confined to those robots that control the motion of the end-effector with seven series-connected joints, the axes for the outermost three of which are concurrent. The result for each is a suitable set of angle dimensions for the links of the arm, where the angle choices are limited to the values 0, +or- pi /2, and pi . A geometric description of the kinematics for the dominant control function is included insofar as it is required to effect the identification. Also included are comments about motion planning in a controllably dexterous workspace.<<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":"114892578","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
Stable compliance control and its implementation for a 6 DOF manipulator 六自由度机械臂的稳定柔度控制及其实现
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99974
H. Ishikawa, C. Sawada, Kei Kawase, M. Takata
{"title":"Stable compliance control and its implementation for a 6 DOF manipulator","authors":"H. Ishikawa, C. Sawada, Kei Kawase, M. Takata","doi":"10.1109/ROBOT.1989.99974","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99974","url":null,"abstract":"The authors propose and analyze a method for position-based compliance control with position gain control. It is shown that, for a stiff manipulator, the stable regions of desired compliance are extended by adjusting the internal position feedback gain to a level suitable to the desired compliance. The stable regions in an infinitely stiff environment for various position feedback gains are also described. This position-gain control method was implemented in a compliance-controller consisting of a few microprocessors and a 2-MFLOPS (million floating-point operations per second) floating-point processor. It can control the compliance of an industrial manipulator with six degrees of freedom at a frequency of 500 Hz. As a result of an experiment in which the manipulator under the compliance control was in contact with an infinitely stiff object, it was confirmed that the motion of the manipulator was stable when the compliance parameters were within the theoretically stable region.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"73 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":"114914606","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
On recursive calibration of cameras for robot hand-eye systems 机器人手眼系统摄像机的递归标定
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100087
Yuh-Lin Chang, P. Liang
{"title":"On recursive calibration of cameras for robot hand-eye systems","authors":"Yuh-Lin Chang, P. Liang","doi":"10.1109/ROBOT.1989.100087","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100087","url":null,"abstract":"A preliminary study of the recursive calibration of cameras for robot hand-eye systems is presented. The approach has two advantages. First, the current estimation of the camera is available and thus helps image processing. Secondly, this approach can extend to in situ or dynamic calibration of cameras for robot hand-eye coordination tasks. The performance of the system is evaluated by simulation with data from both synthetic and real cameras. The authors discuss time-varying camera parameters and smooth input data for calibration, which issues have not previously been addressed, and a solution using adaptive algorithms is given. The framework proposed is believed to have important applications for robot hand-eye systems in unstructured environments.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"13 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":"121987112","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
A top-down approach to systematic synthesis of Petri net models for manufacturing systems 制造系统Petri网模型系统综合的自顶向下方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100041
Mengchu Zhou, F. DiCesare, A. Desrochers
{"title":"A top-down approach to systematic synthesis of Petri net models for manufacturing systems","authors":"Mengchu Zhou, F. DiCesare, A. Desrochers","doi":"10.1109/ROBOT.1989.100041","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100041","url":null,"abstract":"The authors propose an approach to systematic synthesis of Petri net models for manufacturing systems. It is based on top-down, modular, and decomposition philosophies which make the stepwise refinement of the Petri-net models possible. Using the proposed method, it is possible to obtain a Petri net model which is guaranteed to have the most important properties in the context of manufacturing: safeness, liveness, and reversibility. A formal problem statement is presented first. Then, the previous research on synthesis approaches is reviewed. Next, several modules are defined which, when combined according to a proposed algorithm, lead to the derived model. It is proven that the algorithm yields the safeness, liveness, and reversibility properties. An example of piston-rod assembly is used to demonstrate the proposed method.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"17 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":"117234583","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: 68
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