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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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A new universal adaptive tracking control law for nonholonomic wheeled mobile robots moving in R/sup 3/ space 非完整轮式移动机器人在R/sup /空间运动的一种新的通用自适应跟踪控制律
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791062
A. Mazur
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引用次数: 9
Application of mode-based optimization in robotic manipulations 基于模式的优化在机器人操作中的应用
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791089
G. Prokop, K. Dauster, F. Pfeiffer
{"title":"Application of mode-based optimization in robotic manipulations","authors":"G. Prokop, K. Dauster, F. Pfeiffer","doi":"10.1109/ROMOCO.1999.791089","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791089","url":null,"abstract":"In robotic manipulation the interaction between robot and environment is an essential part of the task. In order to deal with impacts, friction, and constrained motions a model-based optimization approach is suggested, which relies on a detailed dynamic model of the manipulator itself, the process dynamics of the task, and the interactions between those two. The models are used to define an optimization problem, which is then solved using numerical programming methods. It is illustrated with an assembly task, namely mating a pair of snap fits. Utilizing a pre-optimized dynamic response behavior of the robot as developed in our former work (1996), we plan the trajectory and design parameters of the parts to be assembled, which influence the process dynamics and thus the external excitation of the manipulator dynamics. Advantages of the approach include an easy implementation in industrial application and reduction in the cycle time.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"2008 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":"125588290","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
Dynamic discovery and path planning for a mobile robot at a cocktail party 鸡尾酒会上移动机器人的动态发现与路径规划
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791088
J. Zelek
{"title":"Dynamic discovery and path planning for a mobile robot at a cocktail party","authors":"J. Zelek","doi":"10.1109/ROMOCO.1999.791088","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791088","url":null,"abstract":"Sensor-based discovery path planning is problematic because the path needs to be continually re-computed as new information is discovered. A process based client-server approach has been successfully deployed to solve this problem, thus permitting concurrent sensor-based map and localization-correction updates as well as concurrent path computation and execution. A potential function is created by solving Laplace's equation using an iteration kernel convolution with an occupancy-grid representation of the current free space. The path produced is optimal, i.e., minimizing the distance to the goal in addition to minimizing the hitting probability. In this paper the approach is extended to include a specification on the target approach: appropriately referred to as the serving component of the cocktail party problem. The extension is unique in that no additional computational complexity is necessary. The path is only biased when open space is detected between the current robot position and the goal.","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":"125991548","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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