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

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Area touch sensor for dextrous manipulation 区域触摸传感器灵活操作
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99982
C. Bastuscheck
{"title":"Area touch sensor for dextrous manipulation","authors":"C. Bastuscheck","doi":"10.1109/ROBOT.1989.99982","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99982","url":null,"abstract":"A novel touch sensor for robots is described which continuously reports location and magnitude of contact within the area of the sensor. The sensor can be made in many forms, including a flexible membrane which may be applied to planar, cylindrical, or conical surfaces of any size. The sensor is novel in that the location of contact within the large sensor area can be determined with arbitrary accuracy using only four wires per sensor (plus a potential lead which may be common to many sensors). The primary advantages of the sensor are sensitivity to light touch, ease of fabrication, and low cost. The expected dependence of sensor output on location, force of contact, and size of contact area has been investigated theoretically, and experiments with several bench-top implementations show excellent agreement with theory. Prototypes were sensitive to forces from as small as 2 g to several hundreds g. The sensor could have wide application in robotics, orthotics, and prosthetics.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"21 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":"125037644","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
Manipulability and stability of a tentacle based robot manipulator 基于触手的机器人机械臂的可操纵性与稳定性
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100029
J. Pettinato, H. Stephanou
{"title":"Manipulability and stability of a tentacle based robot manipulator","authors":"J. Pettinato, H. Stephanou","doi":"10.1109/ROBOT.1989.100029","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100029","url":null,"abstract":"A massively redundant, tentacle-based robot manipulator is proposed as an alternative to dextrous manipulation by an arm/hand combination. The tentacle is advantageous because it is an all-in-one arm and gripping device capable of a wide variety of configurations and grasps, while maintaining the mechanics of serial manipulators. A method for evaluating the forces and velocities imparted to an arbitrary object by a robot hand is reviewed and extended to include the case where several serial manipulators each come in contact with an object at multiple joints. From this analysis, a quantitative evaluation of grasp manipulability and stability is developed that accounts for multiple object contacts for each serial manipulator in the system. A method of applying both precision and power grasps to three-dimensional objects using a tentacle is presented that allows for easy transition between the two by merely curling or uncurling links from around the object. This method helps reduce the number of complexity of grasp configurations. Numerical simulations of different tentacle manipulators and grasps are given.<<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":"128703884","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: 49
Robot motion control based on joint torque sensing 基于关节扭矩感应的机器人运动控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99998
M. Hashimoto
{"title":"Robot motion control based on joint torque sensing","authors":"M. Hashimoto","doi":"10.1109/ROBOT.1989.99998","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99998","url":null,"abstract":"The author proposes a joint-torque feedback (JTF) control scheme with a conventional position compensator for robot motion control. The advantage of this control scheme is that real-time computation is not required for the dynamic compensation. Also, the control system is robust against unexpected external disturbances, such as the action of gravity on objects picked up and put down, and other interactions with the environment. The author discusses the modeling and analysis of the JTF control and proposes a joint-torque sensing technique using the elasticity of the harmonic drive. The JTF control system worked well and insulated the conventional PD control loop from dynamic interventions in experiments with a two-link robot arm.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"5 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":"127092524","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: 63
Interactive time optimal robot motion planning and work-cell layout design 交互时间最优机器人运动规划与工作单元布局设计
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1017/S0263574797000052
Z. Shiller
{"title":"Interactive time optimal robot motion planning and work-cell layout design","authors":"Z. Shiller","doi":"10.1017/S0263574797000052","DOIUrl":"https://doi.org/10.1017/S0263574797000052","url":null,"abstract":"The author presents an interactive motion planning system designed to obtain near-time-optimal and obstacle-free paths efficiently. A geometric representation of robot dynamics reduces the motion planning problem to a simple geometric task. A graphic display of the acceleration capabilities of the manipulator tip and the forbidden regions around the obstacles guides the user in interactively selecting a near-time-optimal and obstacle-free path. The selected path is evaluated by the time-optimal velocity profile along that path, obtained by online optimization. Using the interactive system, paths to within 3% of the optimal were computed in very short time compared to conventional optimization methods. Examples of planning the motions of a two-link manipulator operating in a cluttered environment are presented. Where the layout of the workcell makes the paths inefficient or prevents a movement altogether, the system can be used to redesign the cell layout.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"2014 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":"127489735","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
Determining surface curvature with photometric stereo 用光度立体法确定表面曲率
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99964
R. Woodham
{"title":"Determining surface curvature with photometric stereo","authors":"R. Woodham","doi":"10.1109/ROBOT.1989.99964","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99964","url":null,"abstract":"A method is described to compute dense representations of the intrinsic curvature at each point on a visible surface, based on photometric stereo. The idea of photometric stereo is to use the intensity values recorded from multiple images obtained from the same viewpoint but under different conditions of illumination. Previously, photometric stereo has been used to obtain local estimates of surface orientation. Here, an extension to photometric stereo is described in which the spatial derivatives of the intensity values are used to determine the principal curvatures and associated directions, at each point on a visible surface. The result shows that it is possible to obtain reliable local estimates of intrinsic surface curvature. The method is demonstrated using images of two pottery vases, one of which is used for calibration purposes.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"75 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":"130159546","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: 40
Kinematics and control of redundantly actuated closed chains 冗余驱动闭链的运动学与控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100023
J. Gardner, Vijay R. Kumar, J. Ho
{"title":"Kinematics and control of redundantly actuated closed chains","authors":"J. Gardner, Vijay R. Kumar, J. Ho","doi":"10.1109/ROBOT.1989.100023","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100023","url":null,"abstract":"The instantaneous kinematics are discussed of a hybrid manipulation system that combines the traditional serial chain geometry with parallelism in actuation. Such a system is characterized by closed chains in the structure and redundancy in actuation. This redundancy is shown to be dual to the kinematic redundancy in serial chain robot manipulators. The presence of redundancy in the system allows the specification of force set-points that will ensure an optimal load distribution for force control or hybrid control schemes. In addition, the singularities in the inverse kinematics and statics equations, which are typical of robotic systems with closed chains, are analyzed. Coordination algorithms for the computation of optimal force distribution that minimize joint torques while avoiding singularities with reasonable computation efficiency are the authors' main focus. In particular, a planar dual-arm manipulation system is used as an example and is analyzed in some detail.<<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":"130559862","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
Optimal design of robot accuracy compensators 机器人精度补偿器的优化设计
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100074
H. Zhuang, Z. Roth, F. Hamano
{"title":"Optimal design of robot accuracy compensators","authors":"H. Zhuang, Z. Roth, F. Hamano","doi":"10.1109/ROBOT.1989.100074","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100074","url":null,"abstract":"The design of a kinematic accuracy compensator for a robot manipulator by using linear optimal control theory is discussed. The method is based on the assumption that either the actual kinematic parameters of the robot have been previously identified or that the pose errors of the manipulator can be measured online. A general mathematical framework is used, so that any linearized error model derived from the corresponding kinematic model can be used to construct an effective robot accuracy compensator. The additive corrections of joint commands are found by a linear quadratic regulator algorithm without explicitly solving the inverse kinematic problem for the actual robot. The weighting matrix and coefficients in the cost function can be chosen systematically to achieve specific objectives. It the poses of the manipulator can be measured online, a parameter identification phase of the robot calibration process can be eliminated, thus avoiding the need to identify all the error sources. A simplified algorithm is presented that accelerates significantly the process speed, making it suitable for real-time applications.<<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":"130237203","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
A direct method in discrete decentralized time-varying control of robot manipulators 机器人机械臂离散分散时变控制的直接方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100232
Z. S. Tumeh
{"title":"A direct method in discrete decentralized time-varying control of robot manipulators","authors":"Z. S. Tumeh","doi":"10.1109/ROBOT.1989.100232","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100232","url":null,"abstract":"A simple decentralized time-varying digital trajectory controller for robot manipulators, based on manipulator dynamics and a parameter identification scheme, is developed and tested using multiprocessor architecture and a PUMA 560 robot arm. A discretized equivalent model of the continuous manipulator system is used to design the necessary model-based digital feedback and compensation filters for this purpose. Time schedules of parameters of these filters are generated offline when the desired trajectory is planned. An identification scheme based on output measurements is developed and used to compute the actual values of the model parameters. The nominal parameter values computed offline are used to compensate for timing delays. The performance of the controller is very encouraging and compares very favorably with experimental performance of other controllers, considering that the manipulator was driven very close to its maximum speed.<<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":"126745505","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
The supervision and management of a two robots flexible assembly cell 两个机器人柔性装配单元的监督与管理
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100042
D. Coupez, A. Delchambre, P. Gaspart
{"title":"The supervision and management of a two robots flexible assembly cell","authors":"D. Coupez, A. Delchambre, P. Gaspart","doi":"10.1109/ROBOT.1989.100042","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100042","url":null,"abstract":"A current trend in assembly robotics is to use several robots with different skills that work together inside an assembly cell. The authors describe an approach to the control of such an assembly cell. The underlying idea is to minimize as much as possible to computations that have to be done online, leaving time for the control strategy. The resulting control structure is thus a database of offline computed facts which act as inputs to the online supervisor. The proposed approach was tested on a two-robot assembly cell and showed satisfactory performance.<<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":"126777252","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
Fast motion planning for multiple moving robots 多运动机器人的快速运动规划
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100008
S. Buckley
{"title":"Fast motion planning for multiple moving robots","authors":"S. Buckley","doi":"10.1109/ROBOT.1989.100008","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100008","url":null,"abstract":"The author presents an efficient solution to the motion-planning problem for multiple translating robots in the plane. It is shown that careful priority assignment can greatly reduce the average running time of the planner. A priority assignment method is introduced which attempts to maximize the number of robots which can move in a straight line form their start point to their goal point, thereby minimizing the number of robots for which expensive collision-avoiding search is necessary. This prioritization method is extremely effective in sparse workspaces where the moving robots are the primary obstacle.<<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":"126536234","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: 192
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