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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)最新文献

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The MRROC++ system MRROC++系统
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791067
C. Zieliński
{"title":"The MRROC++ system","authors":"C. Zieliński","doi":"10.1109/ROMOCO.1999.791067","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791067","url":null,"abstract":"The paper proposes a structure for open, hierarchical, multi-device controllers. The proposed structure takes into account that the system may contain several robots of different type, a certain number of cooperating devices, diverse sensors and also the fact that the task, the system has to execute, and the number and type of its components may vary considerably over time. The concept has been verified by designing a controller for a prototype RNT robot and an ASEA IRb-6 type robot. The flexibility of the system is due to the software, so the programming aspect is treated in detail.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126988394","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: 41
Online navigation of mobile robots using laser scanner 使用激光扫描仪的移动机器人在线导航
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791082
L. Podsędkowski, J. Nowakowski, M. Idzikowski, I. Visvary
{"title":"Online navigation of mobile robots using laser scanner","authors":"L. Podsędkowski, J. Nowakowski, M. Idzikowski, I. Visvary","doi":"10.1109/ROMOCO.1999.791082","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791082","url":null,"abstract":"This paper presents a theoretical analysis of the application of different sensors for estimating the current position and orientation of the mobile robot. The paper also presents a new method for such navigation. This method is based on a laser scanner. This sensor determines straight edges of the obstacles (parts of walls), compares them with the previously memorised map of such edges, and estimates location and orientation of the robot. A new concept of gyroscope application is also presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126693386","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
Control of a manufacturing cell using a generic layered architecture 使用通用分层架构控制制造单元
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791061
M. Lin, J. Malec
{"title":"Control of a manufacturing cell using a generic layered architecture","authors":"M. Lin, J. Malec","doi":"10.1109/ROMOCO.1999.791061","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791061","url":null,"abstract":"This paper describes an implementation of a control system for an experimental two-robot manufacturing cell. The implementation is based on a generic layered software architecture which supports both periodic and event-driven computations. The use of the layered software architecture as the framework for designing and implementing hybrid controllers contributes to the ease of system development and is therefore strongly advocated. In order to illustrate the approach some of the implementation details are also presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"40 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132281131","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
A constraint programming approach for AGVS flow control AGVS流量控制的约束规划方法
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791068
T. Borowiecki, Z. Banaszak
{"title":"A constraint programming approach for AGVS flow control","authors":"T. Borowiecki, Z. Banaszak","doi":"10.1109/ROMOCO.1999.791068","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791068","url":null,"abstract":"This paper presents a new approach for distributed control of automatic guided vehicle system (AGVS) that uses constraint logic programming formalism to model system operation. The proposed method constructs a feasible schedule by exploiting the constraint propagation mechanism determining the flow of automated guided vehicles. The AGVS is treated as a distributed system composed of autonomous and repetitive processes of automated guided vehicle (AGV) flows. Its periodic behaviour follows from a class of repetitive job shops considered. The approach employs a concept of asynchronous traffic semaphores that provide local mechanism (a dispatching rule) for vehicle flows synchronization. Setting and allocation of particular dispatching rules results in distributed control of vehicle flows possessing self-synchronization features.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122808686","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: 3
Geometric method for projective reconstruction of shape and motion using n uncalibrated cameras 几何方法的形状和运动的投影重建使用n个未校准相机
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791057
E. Bayro-Corrochano, V. Banarer
{"title":"Geometric method for projective reconstruction of shape and motion using n uncalibrated cameras","authors":"E. Bayro-Corrochano, V. Banarer","doi":"10.1109/ROMOCO.1999.791057","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791057","url":null,"abstract":"The paper focus on the analysis and computing of the projective structure and motion using geometric invariants. This work relates current approaches in the geometric algebra framework, which results in geometric transparency and elegance. The papers presents experiments regarding projective reconstruction of shape and motion using both simulated and real images.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121468710","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
Verified simulation of a hydraulic drive 验证了液压驱动的仿真
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791047
D. Fansten, T. Mollers, H. Traczinski
{"title":"Verified simulation of a hydraulic drive","authors":"D. Fansten, T. Mollers, H. Traczinski","doi":"10.1109/ROMOCO.1999.791047","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791047","url":null,"abstract":"To obtain reliable simulation results in the context of uncertain data and error propagation we use interval arithmetics and a self acting error calculus, and apply these methods to a hydraulic driven elastic robot. We describe a new explicit Sugeno-Takagi fuzzy model representation of a hydraulic differential cylinder with servo valve and show that a verification of the simulation results is possible in most cases, and that only small errors occur.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128110309","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: 1
A normal form appraisal of the null space-based singular path tracking 基于零空间的奇异路径跟踪的一种范式评价
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791085
K. Tchoń
{"title":"A normal form appraisal of the null space-based singular path tracking","authors":"K. Tchoń","doi":"10.1109/ROMOCO.1999.791085","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791085","url":null,"abstract":"Within the framework of normal forms of singular robot kinematics, we discuss the possibility of achieving a motion through singular configurations in the null space-based path tracking algorithm, for both the non-redundant as well as redundant kinematics.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114722692","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
A quantification of peak force in a switching controlled impact operation 开关控制冲击操作中峰值力的量化
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791052
D. Laowattana, P. Ritthipravat
{"title":"A quantification of peak force in a switching controlled impact operation","authors":"D. Laowattana, P. Ritthipravat","doi":"10.1109/ROMOCO.1999.791052","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791052","url":null,"abstract":"Contact transition must be thoroughly understood and controlled such that industrial robots can effectively perform an impact force operation. There are three different stages in controlling robots while interacting with the environment, i.e. pre-collision, impact and post-collision stages. In this paper, we present an analytical derivation of an impact control, together with its experimental results using a switching method. We quantify peak forces during impact based on the parameters during the pre-collision stage. Such a quantification is verified by experiments on our 1-DOF manipulator.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116870568","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: 4
Optimal walking trajectories for a biped 两足动物的最佳行走轨迹
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791071
C. Chevallereau, Y. Aoustin, A. Formal'sky
{"title":"Optimal walking trajectories for a biped","authors":"C. Chevallereau, Y. Aoustin, A. Formal'sky","doi":"10.1109/ROMOCO.1999.791071","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791071","url":null,"abstract":"The objective of this study is to generate optimal gait cycles for the walking of a planar biped robot without an actuated ankle joint and four actuators. The evolution of four joint variables is assumed to be polynomial functions of the fourth order. The evolution of the other variable is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimize the criteria and insure cyclic motion of the biped. The criteria chosen are maximal motion velocity, minimal torque, and minimal energy. These criteria are functions of some parameters, which define the configurations of the biped, its step length, and duration of the step. To minimize these functions means to find the optimal motion. Also, the optimal gait is defined with respect to given performances of actuators: the torques and velocities at the output of the gear are bounded. For this study, the physical parameters of a prototype are used.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131062820","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
Time optimal control of robots based on heuristic method 基于启发式方法的机器人时间最优控制
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791073
P. Gawłowicz
{"title":"Time optimal control of robots based on heuristic method","authors":"P. Gawłowicz","doi":"10.1109/ROMOCO.1999.791073","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791073","url":null,"abstract":"This paper deals with the time optimal motion planning of a robot in the presence of geometrical constraints. The time optimal controls are derived on the basis of the Pontryagin's maximum principle. The bang-bang types of controls are obtained. An analysis of the control of manipulator motion planning and a sequence of switching is included.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132810930","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: 3
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