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Proceedings of International Conference on Robotics and Automation最新文献

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Part orientation with programmable vector fields: two stable equilibria for most parts 具有可编程向量场的零件定位:大多数零件的两个稳定平衡
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-25 DOI: 10.1109/ROBOT.1997.619328
L. Kavraki
{"title":"Part orientation with programmable vector fields: two stable equilibria for most parts","authors":"L. Kavraki","doi":"10.1109/ROBOT.1997.619328","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619328","url":null,"abstract":"Part manipulation is an important but also time consuming operation in industrial automation. Recent work explores alternative solutions to the mechanical parts feeders which have been traditionally used to sort and orient parts for assembly. One of the proposed alternatives is the use of programmable vector fields. The fields are realized on a plane on which the part is placed. The forces exerted on the part's contact surface translate and rotate the part to an equilibrium orientation. It has already been demonstrated that certain vector fields can be implemented in the microscale with MEMS actuators arrays and in the macroscale with transversely vibrating plates. Although current technology is still limited, the dexterity that programmable vector fields offer has prompted researchers to further explore their capabilities. This paper presents a vector field that can simultaneously orient and pose most parts into two stable equilibrium configurations.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134328233","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
Pattern generation using coupled oscillators for robotic and biorobotic adaptive periodic movement 基于耦合振荡器的机器人和仿生机器人自适应周期运动模式生成
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-25 DOI: 10.1109/ROBOT.1997.620035
L. Jalics, H. Hemami, Yuan F. Zheng
{"title":"Pattern generation using coupled oscillators for robotic and biorobotic adaptive periodic movement","authors":"L. Jalics, H. Hemami, Yuan F. Zheng","doi":"10.1109/ROBOT.1997.620035","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620035","url":null,"abstract":"In this study, a coupled pattern generator is used to achieve rhythmic gait movements by a planar five-link musculoskeletal biped model. In particular, five coupled oscillators are designed which provide the biped with the desired joint angles while a controller tracks the specified trajectories. The system is adaptive in that a high-level parameter controller can adjust the parameters of the pattern generator to change the frequency of the desired joint trajectories. Simulations show the biped walking while changing frequency of the gait as its joint angles track the pattern generator.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"269 19‐23","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120838643","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: 32
Modeling, simulation, and control of a hydraulic Stewart platform 液压Stewart平台的建模、仿真与控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606801
D. Li, S. Salcudean
{"title":"Modeling, simulation, and control of a hydraulic Stewart platform","authors":"D. Li, S. Salcudean","doi":"10.1109/ROBOT.1997.606801","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606801","url":null,"abstract":"This paper describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, designed to be a one-person motion simulator. The dynamic equations of the Stewart platform are derived using the virtual work principle. It is shown by simulations that the leg dynamics can be neglected. A model of the electrohydraulic actuator is derived and then verified using experimental data. A linkspace pressure-feedback controller is proposed for high performance with good stability robustness. With the above controller, the small-motion position bandwidth of the platform can reach 9 Hz along the vertical axis for a payload of about 140 kg.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114995257","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: 79
Generating and evaluating regrasp operations 生成和评估抓回操作
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619165
F. Röhrdanz, F. Wahl
{"title":"Generating and evaluating regrasp operations","authors":"F. Röhrdanz, F. Wahl","doi":"10.1109/ROBOT.1997.619165","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619165","url":null,"abstract":"Regrasping must be performed whenever a robot's grasp of an object is not compatible with the pick-and-place operation the robot must perform. This paper presents a new approach to the problem of regrasping for a robot arm equipped with a parallel-jaw end-effector. The method employs an evaluated breadth-first search in the space of compatible regrasp operations taking into account several criteria rating about the grasp and placement quality. We pay particular attention to online computational efficiency. The presented system is the first planning system performing as much of offline computation as possible for solving the regrasp problem efficiently online.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115148561","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: 34
An industrial walking machine for naval construction 一种用于造船的工业行走机械
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620011
P. Santos, M. Armada, M. A. Jiménez
{"title":"An industrial walking machine for naval construction","authors":"P. Santos, M. Armada, M. A. Jiménez","doi":"10.1109/ROBOT.1997.620011","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620011","url":null,"abstract":"Legged locomotion has been extensively investigated in the last two decades, during which time many walking machines have been built as test-beds for research purposes. Legged locomotion technology now seems to be ready to take on industrial applications. This paper presents a legged machine-ROWER-for a real industrial application in naval construction processes. The main task of the walking machine is to provide full motion to a welding manipulator in a very complex scenario, the double hull of a ship. This scenario consists of cells fitted with stiffeners on the top, bottom, and lateral walls to reinforce the ship's structure. The legged machine moves through the cell grasping the top and bottom reinforcements rather than walking on the bottom plane. This improves the machine's stiffness and guarantees its stability. This paper describes the walking machine's main structure, the leg structure, and grasping mechanism. It then defines and simulates the gait for walking while grasping the stiffeners. Finally, it reports the features of a full-size leg.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115237713","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
Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition 基于虚分解的刚柔混合关节机器人自适应控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619068
Wen-Hong Zhu, J. Schutter
{"title":"Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition","authors":"Wen-Hong Zhu, J. Schutter","doi":"10.1109/ROBOT.1997.619068","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619068","url":null,"abstract":"A modular approach, named virtual decomposition, is applied to adaptive control of robot manipulators with mixed rigid/flexible joints. First, the held object (payload) is decomposed from the manipulator. Then the manipulator is further decomposed into a series of rigid links and rigid/flexible joints. For each subsystem (rigid body or rigid/flexible joint), independent control design and parameter adaptation are performed, and a non-negative accompanying function is assigned. The dynamic interactions between the subsystems are completely represented by virtual power flows. Both a rigid joint and a flexible joint have the same dynamic interactions with their connected links. Lyapunov asymptotic stability is guaranteed. Finally, simulation verification is conducted.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124462614","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: 55
Automatic generation of dynamics for modular robots with hybrid geometry 混合几何模块机器人动力学的自动生成
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619303
I. Chen, Guilin Yang
{"title":"Automatic generation of dynamics for modular robots with hybrid geometry","authors":"I. Chen, Guilin Yang","doi":"10.1109/ROBOT.1997.619303","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619303","url":null,"abstract":"Manual derivation of the dynamic model of a modular robot is almost impossible because it may have very different geometries and DOFs through module reconfiguration. This paper presents an algorithm to automatically generate the closed-form equation of motion of a modular robot from a kinematic graph based representation of the assembly configuration. We consider modular robots with the more general branching geometry. The formulation of the dynamic model is started with recursive Newton-Euler algorithm. The generalized velocity, acceleration, and forces are expressed in terms of linear operations on se(3), the Lie algebra of the Euclidean group SE(3). Based on the equivalence relationship between the recursive formulation and the closed-form Lagrangian formulation, we use the accessibility matrix of the kinematic graph to assist the construction of the closed-form equation of motion of a modular robot. Applications of the closed-form dynamic model of a branching robot are in robot design, calibration, and motion optimization.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124263481","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
Robustness and performance trade-offs in torque control of robots with harmonic drive transmission 谐波传动机器人转矩控制的鲁棒性与性能权衡
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619315
M. Moghaddam, A. Goldenberg
{"title":"Robustness and performance trade-offs in torque control of robots with harmonic drive transmission","authors":"M. Moghaddam, A. Goldenberg","doi":"10.1109/ROBOT.1997.619315","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619315","url":null,"abstract":"This paper focuses on designing torque control laws for robots equipped with harmonic drive transmissions. A nominal linear model of the joint is first identified from input-output experimental tests. Subsequently, by varying the input signal amplitude level, a set of models, incorporating the effect of nonlinearities in the system, can be extracted. The differences between the nominal model and this set are formulated as uncertainty bounds for control design purposes. Utilizing the uncertainty bounds, an H/sub /spl infin//-based optimal controller is designed. Experiments are performed for different uncertainty levels on the IRIS facility (a versatile, modular and reconfigurable prototype robot developed at the Robotics and Automation Laboratory of the University of Toronto).","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127217041","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
Virtual tele-operation of underwater robots 水下机器人的虚拟远程操作
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614269
Qingping Lin, C. Kuo
{"title":"Virtual tele-operation of underwater robots","authors":"Qingping Lin, C. Kuo","doi":"10.1109/ROBOT.1997.614269","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614269","url":null,"abstract":"Existing approaches of tele-operation of underwater robots using a video camera are very inefficient due to poor visibility around the worksite and limited camera field of view. This paper describes research work which attempts to overcome the problem by introducing a virtual telepresence operation approach. This virtual telepresence interface takes the robot's position and orientation data from a sonar navigation system, and generates 3D synthetic images of the worksite based on its CAD model using virtual reality technology. It provides the robot operators with a full perception of its spatial location, flexible options of viewpoints and functions for tele-operation of underwater robots. The interface can also be used for training of the robot operators. The main conclusion is that virtual telepresence incorporated with a robot safety domain concept not only can improve the efficiency of operation of underwater robots, but also forms the basis for supervisory control and fully automated control of the robots.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125116404","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: 77
Adhesion-type micro end effector for micromanipulation 用于显微操作的黏附型微型末端执行器
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614346
F. Arai, T. Fukuda
{"title":"Adhesion-type micro end effector for micromanipulation","authors":"F. Arai, T. Fukuda","doi":"10.1109/ROBOT.1997.614346","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614346","url":null,"abstract":"Micro manipulation is required for assembly and maintenance of micro machines and their parts. In this paper, we propose a new pick up and release method for micromanipulation. The proposed method utilizes pressure change based on temperature change inside the micro holes made on the end-effector surface. In order to pick up the micro object, the end-effector temperature is increased to exceed room temperature before touching the object. After contact with the object, its temperature is decreased and negative pressure is generated inside the micro holes to pick it up. To release it, the end-effector temperature is increased again. This method realizes quick response due to its scale advantage as long as it is miniaturized in micro order. We made a prototype end-effector by Si surface micromachining. We analyzed the static performance of this end-effector and conducted experiments. Finally, effectiveness of the proposed method is shown.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125927619","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: 36
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