IEEE Trans. Robotics Autom.最新文献_第10页

Stable fault adaptation in distributed control of heterarchical manufacturing job shops 异构制造作业车间分布式控制中的稳定故障自适应

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807552

V. Prabhu

{"title":"Stable fault adaptation in distributed control of heterarchical manufacturing job shops","authors":"V. Prabhu","doi":"10.1109/TRA.2002.807552","DOIUrl":"https://doi.org/10.1109/TRA.2002.807552","url":null,"abstract":"In this paper, a control theoretic model is developed for analyzing the dynamics of distributed cooperative control systems for manufacturing job shops with multiple processing steps with parallel dissimilar machines in which parts control their release times autonomously. The model allows an arbitrary number of part types to be produced using an arbitrary number of machines with an arbitrary number of alternate routings. Conditions for global stability of the resulting distributed control system with nonlinearities are shown using results from Lyapunov stability theory. System stability is found to be robust to a variety of faults and disturbances that may be encountered in a manufacturing environment as long they are bounded in the mean. Feedback enables implicit adaptation to faults in real time, which allows the flexibility in the systems to be fully utilized to compensate for faults and disturbances. Numerical simulation experiments are used to illustrate the global stability and the distributed fault adaptation capability of the system without requiring explicit notification or compensation to conditions such as machine deterioration, multiple machine failures, and network communication delays. Simulation results for job shops with 2000 parts are also presented to illustrate the scalability of the approach.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120956170","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

A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits 一种保证关节限制下路径跟踪能力的机器人逆运动学在线算法

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807543

G. Antonelli, S. Chiaverini, G. Fusco

引用次数: 84

Resequencing and feature assignment on an automated assembly line 自动装配线上的重新排序和特征分配

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807556

M. Lahmar, H. Ergan, S. Benjaafar

{"title":"Resequencing and feature assignment on an automated assembly line","authors":"M. Lahmar, H. Ergan, S. Benjaafar","doi":"10.1109/TRA.2002.807556","DOIUrl":"https://doi.org/10.1109/TRA.2002.807556","url":null,"abstract":"We consider the problem of resequencing a prearranged set of jobs on a moving assembly line with the objective of minimizing changeover costs. A changeover cost is incurred whenever two consecutive jobs do not share the same feature. Features are assigned from a set of job-specific feasible features. Resequencing is limited by the availability of offline buffers. The problem is motivated by a vehicle resequencing and painting problem at a major U.S. automotive manufacturer. We develop a model for solving the joint resequencing and feature assignment problem and an efficient solution procedure for simultaneously determining optimal feature assignments and vehicle sequences. We show that our solution approach is amenable to implementation in environments where a solution must be obtained within tight time constraints. We also show that the effect of offline buffers is of the diminishing kind with most of the benefits achieved with very few buffers. This means that limited resequencing flexibility is generally sufficient. Furthermore, we show that the value of resequencing is sensitive to the feature density matrix, with resequencing having a significant impact on cost only when density is in the middle range.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126221877","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: 58

On computing three-finger force-closure grasps of 2-D and 3-D objects 二维和三维物体的三指合握力计算

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.806774

Jiawei Li, Hong Liu, H. Cai

引用次数: 100

Polyhedral contact formation modeling and identification for autonomous compliant motion 自主柔顺运动多面体接触形成建模与识别

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.805677

T. Lefebvre, H. Bruyninckx, J. Schutter

引用次数: 46

Nonholonomic navigation and control of cooperating mobile manipulators 协作移动机械臂的非完整导航与控制

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807549

H. Tanner, S. Loizou, K. Kyriakopoulos

引用次数: 335

Numerical optimization on the Euclidean group with applications to camera calibration 欧几里得群的数值优化及其在相机标定中的应用

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807530

Seung-Hyeon Gwak, Junggon Kim, F. Park

引用次数: 49

Partner selection and synchronized planning in dynamic manufacturing networks 动态制造网络中的合作伙伴选择与同步规划

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.805659

N. Viswanadham, R. Gaonkar

引用次数: 89

Stabilization of multi-inventory systems with uncertain demand and setups 具有不确定需求和设置的多库存系统的稳定性

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807553

F. Blanchini, S. Miani, R. Pesenti, Franca Rinaldi

引用次数: 8

On the role of process models in autonomous land vehicle navigation systems 过程模型在自主陆地车辆导航系统中的作用

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.805661

S. Julier, H. Durrant-Whyte

{"title":"On the role of process models in autonomous land vehicle navigation systems","authors":"S. Julier, H. Durrant-Whyte","doi":"10.1109/TRA.2002.805661","DOIUrl":"https://doi.org/10.1109/TRA.2002.805661","url":null,"abstract":"This paper examines the role played by vehicle models and their impact on the performance of sensor-based navigation systems for autonomous land vehicles. In a navigation system, information from internal and external vehicle sensors is combined to estimate the motion of the vehicle. However, while the issue of sensing and effects of sensor accuracy have been widely studied, there are few results or insights into the complementary role played by the vehicle model. This paper has two main contributions: a theoretical analysis of the role of the vehicle model in navigation system performance, and an empirical study of three models of increasing complexity, used in a navigation system for a conventional road vehicle. The theoretical analysis focuses on understanding the effect of estimation errors caused by approximations to the \"true\" vehicle model. It shows that while substantial performance improvements can be obtained from better vehicle modeling, there is, in general, no definitive \"best\" model for such complex nonlinear estimation problems. The empirical study shows that an appropriate choice of a higher order model can lead to significant improvements in the performance of the navigation system. However, the highest order model suffers from problems related to the observability of some of its parameters. We show how this problem can be overcome through the imposition of weak constraints.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126189422","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: 92