Proceedings of International Conference on Robotics and Automation最新文献_第3页

Supervisory control of an automated disassembly workcell based on blocking topology 基于块拓扑的自动拆卸工作单元监控

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614355

Kok-Meng Lee, M. Kuren

{"title":"Supervisory control of an automated disassembly workcell based on blocking topology","authors":"Kok-Meng Lee, M. Kuren","doi":"10.1109/ROBOT.1997.614355","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614355","url":null,"abstract":"An important aspect in recycling and reuse for environmentally conscious manufacturing is disassembly. Although disassembly systems contain the same basic elements as assembly system, the disassembly problem differs significantly from the assembly problem due to the fact that the incoming disassembly product is not controlled. In addition, complete dismantling of products is not necessarily required for disassembly whereas assembly builds a product completely. This paper describes a model for automated disassembly that accounts for work cell interaction and used product constraints. The model provides an essential means to determine, in real-time, the next component for disassembly using the knowledge of the product design and sensor feedback to minimize the steps to removing goal components. Sets of components for removal were resolved by minimizing set-up time for disassembling the component. Simulation results based on real product, vision sensor measure, and process input are presented and discussed. It is expected that the concepts demonstrated through this product can provide useful insights to other mechanical assembly.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"1 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":"128638321","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

Cerebellar learning for control of a two-link arm in muscle space 小脑学习在肌肉空间控制双连杆臂

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619359

A. Fagg, N. Sitkoff, A. Barto, J. Houk

引用次数: 40

Performance improvement of flexible material handling robot by error detection and replanning 基于错误检测和重新规划的柔性物料搬运机器人性能改进

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606733

F. Arai, Hidekazu Niu, Toshio Fukuda

引用次数: 4

A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients 一种可重新配置的完整全向移动床，为卧床病人提供统一的座位(RHOMBUS)

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614313

S. Mascaro, J. Spano, Haruhiko H. Asada

{"title":"A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients","authors":"S. Mascaro, J. Spano, Haruhiko H. Asada","doi":"10.1109/ROBOT.1997.614313","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614313","url":null,"abstract":"A hybrid wheelchair/bed system for bedridden persons is developed and tested. A powered wheelchair can be docked to a bed portion and reconfigured to a flat stationary bed so that the bedridden person does not have to change seating when transferring between the chair and bed. Moreover the wheelchair can also be docked to a toilet directly and automatically. A holonomic omnidirectional vehicle with a ball wheel mechanism is used for the wheelchair. The high maneuverability and holonomic nature of the vehicle allow the chair to be docked easily and precisely against a fixture. The wheelchair is equipped with teleconferencing facility so that the bedridden patient may communicate face-to-face with a distal caregiver, friends and relatives. This paper describes the basic concept of the reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS). Issues on the mechanical design of the vehicle, chair, and bed are addressed, followed by control issues. A force-guided docking control method using force sensors embedded in the bumper of the vehicle is developed. A prototype system is designed and tested.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"3 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":"130672646","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: 57

Locomotion of a biped robot with compliant ankle joints 具有柔性踝关节的两足机器人的运动

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620038

K. Yi

引用次数: 10

Parallel force/position control with stiffness adaptation 具有刚度自适应的平行力/位置控制

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614290

S. Chiaverini, B. Siciliano, L. Villani

引用次数: 10

Control of a walking robot with feet following a reference trajectory derived from ballistic motion 基于弹道运动的足部参考轨迹行走机器人的控制

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614281

C. Chevallereau, A. Formal'sky, B. Perrin

引用次数: 30

Adaptive position/force control of BDC-RLED robots without velocity measurements 无速度测量的BDC-RLED机器人自适应位置/力控制

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620090

M. Queiroz, D. Dawson, H. Canbolat

引用次数: 11

Modeling of Sawyer planar sensor and motor dependence on planar yaw angle rotation 基于平面偏航角旋转的Sawyer平面传感器及电机建模

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606877

J. Ish-Shalom

引用次数: 17

Obstacle location estimation using planar projection stereopsis method 基于平面投影立体视觉的障碍物定位估计

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619345

K. Onoguchi, N. Takeda, Mutsumi Watanabe

引用次数: 9