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

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A prototype, integrated, CAD-based robotic assembly system 原型，集成，基于cad的机器人装配系统
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.99994
F. Fallside, M. Jahanbin, T. Marsland, A. S. Tabandeh, M. Wright
{"title":"A prototype, integrated, CAD-based robotic assembly system","authors":"F. Fallside, M. Jahanbin, T. Marsland, A. S. Tabandeh, M. Wright","doi":"10.1109/ROBOT.1989.99994","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.99994","url":null,"abstract":"An integrated system which is part of a larger project in robotic assembly is described in terms first of its separate components and then of its integrated form and performance. The parts to be assembled are previously designed by CAD, and therefore geometrical models of the parts are available in a solid modeler which is incorporated in the system. In the integrated system presented, simplified versions of the component parts of an aircraft equipment tray are recognized and located by vision from an arbitrary initial state and moved to a final state appropriate to assembly. The components of the system described are: low-level vision processing using a transputer array; an intelligent vision system integrated with a solid modeler for part recognition and location; a path planner using 2/sup n/-array tree search; and the control of a PUMA robot. The integration of the components and the performance of the prototype system are described.<<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":"127986190","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: 6
Variable structure control of a robot arm with flexible links 具有柔性连杆的机械臂变结构控制
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100093
P. J. Nathan, Sahjendra N. Singh
{"title":"Variable structure control of a robot arm with flexible links","authors":"P. J. Nathan, Sahjendra N. Singh","doi":"10.1109/ROBOT.1989.100093","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100093","url":null,"abstract":"The authors treat the question of the control of an elastic, two-link robotic arm using variable structure system (VSS) theory and the pole assignment technique for stabilization. A discontinuous joint angle control law that accomplishes asymptotic decoupled joint-angle-trajectory tracking is designed. In the closed-loop system, the trajectories are attracted toward a chosen hypersurface in the state space and then slide along it. Although joint angles are controlled using a variable structure control (VSC) law, the flexible modes of the links are excited. Starting with a linearized model of the terminal state, a stabilizer is designed using the pole assignment technique to control the elastic oscillation of the links. A control logic is included to switch the stabilizer the instant the joint angle trajectory enters a specified neighborhood of the terminal state. Simulation results show that the closed-loop system can achieve accurate trajectory tracking and elastic mode stabilization.<<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":"127511009","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: 30
Dynamic replanning for a mobile robot based on internal sensing 基于内部感知的移动机器人动态重规划
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100177
R. Arkin
{"title":"Dynamic replanning for a mobile robot based on internal sensing","authors":"R. Arkin","doi":"10.1109/ROBOT.1989.100177","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100177","url":null,"abstract":"Schema-based navigational techniques are used to introduce dynamic path replanning for a mobile robot, based on internal sensor information. This mode of operation, termed homeostatic control, forms an integral part of the autonomous robot architecture. A model that is analogous to the mammalian endocrine system serves as the basis for this mode. Simulation results verify the viability of this concept. It is found that dynamic replanning can be carried out using internal monitoring of the robot's state, and not solely based on environmental perception. The robot can be shown to be responsive to changes in fuel, temperature, and other conditions as it navigates through the world.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"10 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":"127515249","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: 27
Control of multimanipulator systems-trajectory tracking, load distribution, internal force control, and decentralized architecture 多机械臂系统的控制——轨迹跟踪、负载分配、内力控制和分散结构
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100149
P. Hsu
{"title":"Control of multimanipulator systems-trajectory tracking, load distribution, internal force control, and decentralized architecture","authors":"P. Hsu","doi":"10.1109/ROBOT.1989.100149","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100149","url":null,"abstract":"The author proposes a coordinated control law for a multimanipulator system performing parts-matching tasks. This control law enables the manipulators to perform the preplanned parts-matching maneuver while the entire parts-matching system is driven to follow a desired path. Manipulators are essentially treated as six-degree-of-freedom actuators with some nonlinear dynamics, which exert a set of contact forces on the object so that trajectory tracking is achieved and the desired internal force is realized. When the parts-matching system consists of only a single object, the control law degenerates to an expression that will drive a group of manipulators transporting a single object. A load-sharing scheme minimizes the weighted norm of the force applied to the object. In this way, a heavily weighted direction tends to get less load. This scheme does not require a force sensor. The author also discusses the choosing of the weighting factor and shows that the proposed control law can be implemented in a decentralized fashion.<<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":"129013058","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: 65
Torque limited path following by on-line trajectory time scaling 基于在线轨迹时间标度的扭矩受限路径跟踪
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100131
O. Dahl, L. Nielsen
{"title":"Torque limited path following by on-line trajectory time scaling","authors":"O. Dahl, L. Nielsen","doi":"10.1109/ROBOT.1989.100131","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100131","url":null,"abstract":"A feedback scheme for path following by trajectory time scaling is presented. The scheme is used in execution of fast trajectories along a geometric path, where the motion is limited by torque constraints. The time scaling is done by using a secondary controller that modifies a nominal trajectory during motion. The nominal, high-performance trajectory typically leads to torques that are at the limits, hence leaving no control authority to compensate for modeling errors and disturbances. By modifying the time scaling of the nominal trajectory when the torques saturate, closed-loop action is possible. A key idea is that a scalar quantity, the path acceleration, is modified, resulting in coordinated adjustment of the individual joint motions. Two algorithms for online trajectory scaling are presented. One is based on online bounds on path acceleration, and one is designed to handle nominal minimum-time trajectories. The functionality of the secondary controller is verified by simulations and experiments.<<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":"117282699","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: 212
Structure of minimum-time control law for robotic manipulators with constrained paths 具有约束路径的机械臂最小时间控制律结构
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100107
Yaobin Chen, A. Desrochers
{"title":"Structure of minimum-time control law for robotic manipulators with constrained paths","authors":"Yaobin Chen, A. Desrochers","doi":"10.1109/ROBOT.1989.100107","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100107","url":null,"abstract":"The authors address the problem of the structure of minimum-time control (MTC) of robotic manipulators along a specified geometric path subject to hard control constraints. By using the extended Pontryagin minimum principle (EPMP) and a set of parameterized robot dynamic equations, it is shown that the structure of the minimum-time control law requires that one and only one control torque is always in saturation on every finite time interval along its time-optimal trajectory, while the rest of the torques are adjusted so that the path constraint on the motion is not violated. This is in contrast to the point-to-point minimum-time control law, which requires that at least one of the control torques is always in saturation. Simulation results are presented to verify the structure of the MTC law.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"2 52","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132746966","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: 80
Space robotics: automata in unstructured environments 空间机器人:非结构化环境中的自动机
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100186
R. Lumia
{"title":"Space robotics: automata in unstructured environments","authors":"R. Lumia","doi":"10.1109/ROBOT.1989.100186","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100186","url":null,"abstract":"The problems associated with the development of robots for space applications are reviewed. Within the Space Station project context, robots will operate in a relatively unstructured environment and must have the ability to deal with unexpected events. For this to be possible, a great deal of experimentation is required to determine the best algorithms for task decomposition, world modeling, and sensory processing to be able to predict their utility for particular tasks. An architecture which supports the evolutionary development of the robot is presented. The architecture forms the basis for a testbed system which allows researchers to develop, test, and evaluate different hardware and software approaches. The same architecture is also used in the telerobot, so that the transition from the teleoperated mode to more autonomous modes of robot operation is one of gradual rather than abrupt change. This architecture, the NASA/NBS standard reference model for telerobot control systems, has been adopted by NASA for the Flight Telerobotic Servicer, a two-armed robot intended to help build and maintain the Space Station.<<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":"133317538","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
An efficient algorithm for automatic generation of manipulator dynamic equations 机械臂动力学方程自动生成的一种有效算法
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100237
S. Yin, J. Yuh
{"title":"An efficient algorithm for automatic generation of manipulator dynamic equations","authors":"S. Yin, J. Yuh","doi":"10.1109/ROBOT.1989.100237","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100237","url":null,"abstract":"An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"382 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":"133455441","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: 6
Identifying the kinematics of robots and their tasks 确定机器人的运动学及其任务
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100047
D. J. Bennett, J. Hollerbach
{"title":"Identifying the kinematics of robots and their tasks","authors":"D. J. Bennett, J. Hollerbach","doi":"10.1109/ROBOT.1989.100047","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100047","url":null,"abstract":"An approach to identifying the kinematic models of manipulators and their task geometry is presented. Starting with the observation that in many tasks manipulators naturally form mobile closed kinematic chains, it is shown that these closed loops can be identified by an iterative least-squares algorithm similar to that used in calibrating open chain manipulators. By merely using joint angle readings and self motions, consistency conditions can be utilized to identify the kinematic parameters. While the task of a robot opening a door is studied in detail, the method readily generalizes to a large class of robot tasks. Simulations are presented to accompany the analysis.<<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":"124309153","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: 27
A quasi-static analysis of dextrous manipulation with sliding and rolling contacts 具有滑动和滚动接触的灵巧操作的准静态分析
Proceedings, 1989 International Conference on Robotics and Automation Pub Date : 1989-05-14 DOI: 10.1109/ROBOT.1989.100080
J. Trinkle
{"title":"A quasi-static analysis of dextrous manipulation with sliding and rolling contacts","authors":"J. Trinkle","doi":"10.1109/ROBOT.1989.100080","DOIUrl":"https://doi.org/10.1109/ROBOT.1989.100080","url":null,"abstract":"M.A. Peshkin and A.C. Sanderson's minimum power principle (see IEEE Int. Conf. on Rob. & Autom., p.421-6, April 25-29, 1988) for quasi-static systems is used to combine force and kinematic relationships into a nonlinear mathematical program called the forward object motion problem. Given the joint velocities of the robot's hand and arm, the solution of the forward object motion problem predicts not only the velocity of the object (as determined by kinematic analyses), but also the contact forces. In kinematic analyses one must guess as to the nature of all contact interactions (i.e. sliding, rolling, or separating). The solution of the forward object motion problem definitively determines these interactions and the contact forces as a byproduct of determining the velocity of the manipulated object.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"53 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":"132311170","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: 50
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