发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Integrating neural networks and knowledge-based systems for robotic control 集成神经网络和基于知识的机器人控制系统
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100184
D. Handelman, S. Lane, J. Gelfand
{"title":"Integrating neural networks and knowledge-based systems for robotic control","authors":"D. Handelman, S. Lane, J. Gelfand","doi":"10.1109/ROBOT.1989.100184","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100184","url":null,"abstract":"The authors address the issue of integrating both computational paradigms for the purpose of robotic manipulation. The control task chosen to demonstrate the integration technique involves teaching a two-link manipulator how to make a tennis-like swing. A three-level task hierarchy is defined consisting of low-level reflexes, reflex modulators, and an execution monitor. The rule-based execution monitor first determines how to make a successful swing using rules alone. It then teaches a neural network how to accomplish the task by having it observe rule-based task execution. Following initial training, the execution monitor continuously evaluates neural network performance and re-engages swing-maneuver rules whenever changes in the manipulator or its operating environment necessitate retraining of the network. Simulation results show the interaction between rule-based and network-based system components during various phases of training and supervision.<<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":"124631373","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 neural network learning strategy for the control of a one-legged hopping machine 一种控制单腿跳跃机器的神经网络学习策略
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100207
J. Helferty, J. Collins, M. Kam
{"title":"A neural network learning strategy for the control of a one-legged hopping machine","authors":"J. Helferty, J. Collins, M. Kam","doi":"10.1109/ROBOT.1989.100207","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100207","url":null,"abstract":"Results are presented on two neural network strategies for the control of dynamic locomotive systems, in particular a one-legged hopping robot. The control task is to make corrections to the motion of the robot that serve to maintain a fixed level of energy (and minimize energy losses), which yields a stable periodic limit cycle in the system's state space. Control of the robot is achieved by the use of artificial neural networks (ANNs) with a continuous learning memory. Through continuous reinforcement for past successes and failures, the control system develops a stable strategy for accomplishing the desired control objectives. The results are presented in the form of computer simulation that demonstrate the ability of two different ANNs to devise proper control signals that will develop a stable hopping strategy, and hence a stable limit cycle in the robot's state space, using imprecise knowledge of both the current state and the mathematical model of the robot leg.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"23 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":"124982618","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: 10
Asynchronous control of orientation and displacement in a robot vehicle 机器人车辆方向和位移的异步控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100156
J. Crowley
{"title":"Asynchronous control of orientation and displacement in a robot vehicle","authors":"J. Crowley","doi":"10.1109/ROBOT.1989.100156","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100156","url":null,"abstract":"The design of a general-purpose vehicle controller is presented. The controller organization is presented as a three-layer structure. The top layer is an interpreter which assures a control protocol based on asynchronous commands and independent control of orientation and forward displacement. The middle layer is control loop which maintains an estimate of the vehicle's position and orientation, as well as their uncertainties. This control loop generates commands for vehicle displacements in terms of a 'virtual vehicle'. The bottom layer is a translator between the 'virtual vehicle' and the physical vehicle on which the controller is implemented.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"05 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":"128848298","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: 61
The Hamilton wrist: a four-revolute-joint spherical wrist without singularities 汉密尔顿腕:一个没有奇点的四转关节球形腕
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100096
G. L. Long, R. Paul, W. Fisher
{"title":"The Hamilton wrist: a four-revolute-joint spherical wrist without singularities","authors":"G. L. Long, R. Paul, W. Fisher","doi":"10.1109/ROBOT.1989.100096","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100096","url":null,"abstract":"The authors present an inverse kinematic algorithm for a four-revolute-joint (4-R) spherical wrist that provides for a complete set of spatial orientations, is nonsingular, and is simple to implement with existing technology. The algorithm is a rate-controlled method that depends on the required Cartesian rate. In the process of presenting the algorithm, the authors have developed the fundamentals of differential motion with n-revolute-joint spherical wrists. The method is outlined and applied to a 4-R regional structure. The goal is to combine the 4-R spherical wrist with the 4-R regional structure to develop an 8-R manipulator that is free of internal singularities.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"25 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":"125641154","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: 20
Equations for boundaries of joint obstacles for planar robots 平面机器人关节障碍边界方程
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99984
Q. Ge, J. McCarthy
{"title":"Equations for boundaries of joint obstacles for planar robots","authors":"Q. Ge, J. McCarthy","doi":"10.1109/ROBOT.1989.99984","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99984","url":null,"abstract":"Parameterized equations for the boundaries of joint space obstacles for planar robots are derived. The boundary of a joint obstacle prescribes the link motion of the closed chain formed by the robot in contact with a given obstacle. The theory of kinematic mappings is used to represent the link motion as a set of points in a projective three space. The link positions that are feasible to the arm define a manifold in this space, termed its reachable manifold. The link positions satisfying contact conditions define another manifold in the same space called the contact manifold. Their intersection is mapped to joint space to obtain equations defining the obstacle boundary. While the theory applies to general planar robots, the authors focus on the 3R robot arm. An example is also provided in which the boundaries of joint obstacles are computed.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"110 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":"116006977","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
The generation of diagnostic heuristics for automated error recovery in manufacturing workstations 制造工作站自动错误恢复诊断启发式的生成
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100039
S. Chang, F. DiCesare
{"title":"The generation of diagnostic heuristics for automated error recovery in manufacturing workstations","authors":"S. Chang, F. DiCesare","doi":"10.1109/ROBOT.1989.100039","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100039","url":null,"abstract":"The authors describe an approach using machine learning for developing heuristics to be used in diagnosis for automated error recovery in manufacturing systems. This approach can automatically generate diagnostic heuristics for error hypotheses. The approach is based on the integration of set covering and explanation-based learning. In this way, the diagnostic heuristics can be automatically generated and the competing errors can be narrowed down, if not identified. In addition, the set covering concept is potentially useful for diagnostic problems, since it provides a solution to the problem of multiple simultaneous errors. The set covering theory and the theoretical development based on the approach for diagnosing the error and for automatically generating diagnostic heuristics are given. The authors also propose an approach for future research to extract discriminating knowledge for the competing errors when set covering is incapable of identifying the error. A discussion of results thus far obtained, accompanied by simple examples to illustrate those results, is presented.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"115 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":"122614469","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
Computational geometric methods in volumetric intersection for 3D reconstruction 体交三维重建的计算几何方法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99988
P. Srinivasan, P. Liang, S. Hackwood
{"title":"Computational geometric methods in volumetric intersection for 3D reconstruction","authors":"P. Srinivasan, P. Liang, S. Hackwood","doi":"10.1109/ROBOT.1989.99988","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99988","url":null,"abstract":"The authors presents an approach to the generation of 3D models of arbitrarily shaped physical objects. These models can be used for purposes of manipulation as well as such tasks as collision avoidance and workspace mapping. The technique utilizes a set of images taken from known view positions, from which the silhouettes of the objects are extracted. These silhouettes (occluding contours) are then projected along the view vector to form 3D conics. Mutual intersection of the set of conics formed from the images generates an approximate model of the object. The techniques used to intersect the conics draw on algorithms used in computational geometry. The model becomes more refined as more images are used. The objects are modeled by contours on successive parallel planes. The contour model supports the ability to generate the surface of the object by tessellation.<<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":"122625570","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
A comparison of two real-time control schemes for redundant manipulators with bounded joint velocities 关节速度有界冗余度机械臂两种实时控制方案的比较
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99975
J. A. Euler, R. Dubey, S. Babcock, W. Hamel
{"title":"A comparison of two real-time control schemes for redundant manipulators with bounded joint velocities","authors":"J. A. Euler, R. Dubey, S. Babcock, W. Hamel","doi":"10.1109/ROBOT.1989.99975","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99975","url":null,"abstract":"A comparison of two real-time control schemes for redundant manipulators is presented. Both schemes are developed in the framework of resolved rate control, and were presented by the authors in earlier articles (R.V. Dubey et al., 1988, J.A. Euler et al., 1988, and S.M. Babcock, 1988). The first scheme is the gradient projection scheme, which determines only the direction of the self-motion for the optimization of a scalar performance criterion. The second scheme determines the direction as well as the magnitude of the self motion. However, when the magnitude of the self-motion is limited by the hardware bounds on joint velocities, the results obtained using the two schemes are remarkably similar when the computational frequency is high (above 100 Hz). Therefore, the gradient projection scheme, which is computationally more efficient, is recommended. An explanation for the similarity of results is presented. Scheme 1 was implemented in real-time on a Motorola 68020 VME bus-based controller of the seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"255 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":"121140172","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
Stability and performance tradeoffs in bi-lateral telemanipulation 双侧遥控操作的稳定性和性能权衡
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100230
B. Hannaford
{"title":"Stability and performance tradeoffs in bi-lateral telemanipulation","authors":"B. Hannaford","doi":"10.1109/ROBOT.1989.100230","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100230","url":null,"abstract":"Kinesthetic force feedback provides measurable increase in remote manipulation system performance. Intensive computation time requirements or operation under conditions of time delay can cause serious stability problems in control-system design. The author presents a simplified linear analysis of this stability problem for the forward-flow generalized architecture and uses the hybrid two-port representation to express the loop gain of the traditional master-slave architecture, which can be subjected to similar analysis. The hybrid two-port representation is also used to express the effects on the fidelity of manipulation or feel of one design approach used to stabilize the forward-flow architecture. The results suggest that, when local force feedback at the slave side is used to reduce manipulator stability problems, a price is paid in terms of telemanipulation fidelity.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"117 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":"124154743","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: 198
The effect of kinematic model complexity on manipulator accuracy 运动学模型复杂度对机械手精度的影响
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100049
B. Mooring, S. Padavala
{"title":"The effect of kinematic model complexity on manipulator accuracy","authors":"B. Mooring, S. Padavala","doi":"10.1109/ROBOT.1989.100049","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100049","url":null,"abstract":"A pose measurement system consisting of a small coordinate measuring machine, an IBM personal computer, and several fixtures is described. The pose measurement system is used to collect two data sets of 45 poses each. These data are then used to identify the parameters in five manipulator models of increasing complexity. The models consist of a nominal model, a model with six parameters to determine the actual robot location, a 12-parameter model including robot location and joint offsets, a 30-parameter kinematic model, and a 32-parameter model including compliance in two joints. The pose measurement system is used to evaluate the accuracy of each of the five models. The results demonstrate that, in general, increases in model complexity lead to enhanced accuracy, although the degree of improvement at any level is dependent on the particular robot under study.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"6 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":"126799593","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: 46
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信