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

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Human/robot interaction via the transfer of power and information signals. I. Dynamics and control analysis 人/机器人通过传递能量和信息信号进行交互。1、动力学与控制分析
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100211
H. Kazerooni
{"title":"Human/robot interaction via the transfer of power and information signals. I. Dynamics and control analysis","authors":"H. Kazerooni","doi":"10.1109/ROBOT.1989.100211","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100211","url":null,"abstract":"Extenders, a class of robot manipulators worn by humans to increase human mechanical strength while the wearer's intellect remains the central intelligent control system for manipulating the extender, are characterized, with a focus on the issues of the dynamics and control of human-machine interaction in the sense of the transfer of power and information signals. General models of the human, the extender, and the interaction between the human and the extender are developed. Unstructured modeling is chosen to include all the dynamics in the systems and to avoid specific models. The stability of the system of human, extender, and object being manipulated is analyzed, and the conditions for stable maneuvers derived. An expression for the performance of the extender is defined as a means to quantify the force augmentation. The tradeoff between stability and performance is described.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"37 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":"127744071","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: 60
Geometrical fusion method for multi-sensor robotic systems 多传感器机器人系统的几何融合方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100061
Yoshihiko Nakamura, Ymgti Zu
{"title":"Geometrical fusion method for multi-sensor robotic systems","authors":"Yoshihiko Nakamura, Ymgti Zu","doi":"10.1109/ROBOT.1989.100061","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100061","url":null,"abstract":"A general statistical fusion method motivated by the geometry of uncertainties is proposed for robotic systems with multiple sensors. The treatment of nonlinearity is generalized so as to include both the structural nonlinearity and the computational nonlinearity. First, assuming Gaussian noise additive to the sensory data, the uncertainty ellipsoid associated with the covariance matrix of the error of the sensory information is defined. Second, the optimal fusion is defined as the one, among all the possible linear combinations of sensory information, that minimizes the geometrical volume of the ellipsoid. The resultant fusion equation coincides with those obtained by Bayesian inference, Kalman filter theory, and the weighted least-squares estimation. Finally, the method is extended to include the fusion of partial information.<<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":"128152507","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: 55
Implementation of a high performance LSI for inverse kinematics computation 用于逆运动学计算的高性能大规模集成电路的实现
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100075
M. Kameyama, Takao Matsumoto, Hideki Egami, T. Higuchi
{"title":"Implementation of a high performance LSI for inverse kinematics computation","authors":"M. Kameyama, Takao Matsumoto, Hideki Egami, T. Higuchi","doi":"10.1109/ROBOT.1989.100075","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100075","url":null,"abstract":"The authors present an LSI (large-scale integrated) circuit for high-speed inverse kinematics computation. They demonstrate that inverse kinematic solutions can be described by two-dimensional vector rotations and arc tangent operations and that these operations can be efficiently computed by the coordinate rotation digital computer (CORDIC) algorithms. The chip is fabricated using 1.5- mu m CMOS gate array technology, and the design of the arithmetic unit on the chip is based on the CORDIC algorithms. Pipelining is fully used in the processor to enhance the operating ration up to 100%. The resulting compact inverse kinematics processor is composed of the above chip and a few memory chips for program and data. The processor can be used for various kinds of manipulators.<<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":"132643170","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: 7
Dual-drive force/velocity control: implementation and experimental results 双驱动力/速度控制:实现及实验结果
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99973
P. Kazanzides, N. S. Bradley, W. Wolovich
{"title":"Dual-drive force/velocity control: implementation and experimental results","authors":"P. Kazanzides, N. S. Bradley, W. Wolovich","doi":"10.1109/ROBOT.1989.99973","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99973","url":null,"abstract":"The authors present the dual-drive control concept, which is a form of hybrid force/velocity control in which the constraint frame is automatically determined from feedback information. This allows compliant tasks to be conveniently specified in terms of a desired (normal) force and a desired (tangential) velocity. The proposed control algorithm is appropriate for compliant tasks that require motion orthogonal to the contact force; for example, turning a crank or tracking a surface. These basic tasks can be performed without the continuous involvement and corresponding overhead of a high-level planner. This is accomplished by the definition of a plane on which compliant motion is to occur and a point with which force and velocity directions are determined. The dual drive controller has been implemented on the SIERA system and is being used to control an IBM 7565 robot. Experimental results for crank-turning and surface-tracking problems are provided to illustrate the algorithm.<<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":"133158660","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
Using a context-sensitive learning for robot arm control 使用上下文敏感学习的机器人手臂控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100181
D. Yeung, George A. Gekey
{"title":"Using a context-sensitive learning for robot arm control","authors":"D. Yeung, George A. Gekey","doi":"10.1109/ROBOT.1989.100181","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100181","url":null,"abstract":"A class of networks called context-sensitive learning networks is proposed for use in the learning of complex nonlinear mappings. Particular attention is given to a network architecture for learning to control a robot arm by learning independently the different entries of the inverse Jacobian matrix. Computer simulation results show that the network is able to learn the inverse Jacobian of the PUMA 560 arm for inverse kinematic control. The network also generalized well when unseen testing examples are presented to it.<<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":"134014313","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
Actuators for micro robots 微型机器人的执行器
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100198
W. Trimmer, R. Jebens
{"title":"Actuators for micro robots","authors":"W. Trimmer, R. Jebens","doi":"10.1109/ROBOT.1989.100198","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100198","url":null,"abstract":"The problem of scaling robot actuators down to microscopic scale is examined in a review. It is shown that several forces scale well into the micro domain. These include electrostatics, hydraulics, pneumatics, and biological forces. Electromagnetic forces have a less favorable scaling. The scaling of electrostatics and electromagnetics is explained, and two electrostatic actuators are presented. The first actuator is a harmonic electrostatic motor. This motor uses rolling surfaces that reduce friction, and has an integral gear reduction that increases the torque output of the motor. The second actuator is designed to move fibers into alignment with other fibers.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"51 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":"133807545","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
Transformation of human hand positions for robotic hand control 机械手控制中人手位置的变换
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100229
L. Pao, Thomas H. Speeter
{"title":"Transformation of human hand positions for robotic hand control","authors":"L. Pao, Thomas H. Speeter","doi":"10.1109/ROBOT.1989.100229","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100229","url":null,"abstract":"A method for using the human hand as a multidegree-of-freedom teaching device is described. The algorithm is based on a functional analysis of the human hand and results in an algebraic transformation of human hand positions to corresponding positions in a target domain. The target domain should be of lower dimensionality (fewer degrees of freedom) than the human hand but is not constrained in any other way. The target described here is a sixteen-degree-of-freedom robotic hand, with four fingers of four joints each. The target need not, however be a handlike device but, for each use, should have a kinematic structure with poses similar in functionality to natural poses of the human hand.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"43 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":"117117089","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: 85
Predictive and knowledge-based telerobotic control concepts 预测和基于知识的遥控机器人控制概念
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100231
G. Hirzinger, J. Heindl, K. Landzettel
{"title":"Predictive and knowledge-based telerobotic control concepts","authors":"G. Hirzinger, J. Heindl, K. Landzettel","doi":"10.1109/ROBOT.1989.100231","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100231","url":null,"abstract":"The problems that arise when sensor-controlled robots in space are teleoperated from ground stations are discussed. A supervisory control concept is described that makes it possible to realize shared control between teleoperator and sensor-controlled robot in a variety of configurations. Predictive 3D computer graphics currently seems to be the only way to cope successfully with the problem of transmission-time delays of several seconds. Appropriate estimation schemes in combination with knowledge-based world modeling are outlined, which include models of the delay lines, the robot, moving objects, etc., and which derive the necessary updates from sensory data as they are sent down from the spacecraft to earth (e.g. via real-time stereo vision). The space robot technology experiment Rotex scheduled for the next German Spacelab mission (2D) is taken as a basis for the problem description.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"387 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":"121779183","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: 116
Automatic 2 1/2 D shape inspection system for via-hole fillings of green sheets by shadow image analysis 通过阴影图像分析实现绿板通孔填充物 2 1/2 D 形状自动检测系统
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100038
Takanori Ninomiya, M. Nomoto, Y. Nakagawa
{"title":"Automatic 2 1/2 D shape inspection system for via-hole fillings of green sheets by shadow image analysis","authors":"Takanori Ninomiya, M. Nomoto, Y. Nakagawa","doi":"10.1109/ROBOT.1989.100038","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100038","url":null,"abstract":"The authors describe an automatic 2 1/2 D shape-inspection system for via-hole fillings of green sheets, which are unsintered layers of multilayer ceramic substrates. Two shadow images re taken with two oblique illuminations from different directions. To determine whether the shadow results from a convex structure or a concave structure, the shadow regions are labelled by analyzing the relation between their edge positions. After labelling, concave and convex defects as small as 30 mu m can be detected independently by measuring the length of the shadow and comparing it to the predetermined criteria. In addition to concave and convex defects, lack-of-filling defects can also be detected with very high accuracy by counting the area of the filling pattern detected from an oblique direction.<<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":"130127096","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: 5
Manipulating with soft fingers: modeling contacts and dynamics 用柔软的手指操纵:建模接触和动态
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100076
P. Akella, M. Cutkosky
{"title":"Manipulating with soft fingers: modeling contacts and dynamics","authors":"P. Akella, M. Cutkosky","doi":"10.1109/ROBOT.1989.100076","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100076","url":null,"abstract":"The authors present an attempt to model soft robot fingertips filled with powders or plastic fluids. They propose two rolling models, adapted from hot metal rolling and extrusion, and discuss the factors that affect the choice of appropriate models. The integration of energy losses in the dynamic equations of motion is then considered. Initial simulation studies have shown that soft fingertips can help stabilize the grasp and reduce the demands on the control system. The viscoplastic nature of the finger tips affects the dynamics of manipulation by dissipating energy. The coin snap problem is given as an example to demonstrate this effect.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"11 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":"128031532","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
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