Proceedings of International Conference on Robotics and Automation最新文献_第4页

Stable poses of 3-dimensional objects 三维物体的稳定姿态

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620069

R. Mason, E. Rimon, J. Burdick

引用次数: 29

Neural network adaptive sliding mode control and its application to SCARA type robot manipulator 神经网络自适应滑模控制及其在SCARA型机械臂中的应用

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606732

M. Ertugrul, O. Kaynak

引用次数: 26

Real-time model-based obstacle detection for the NASA Ranger Telerobot NASA Ranger远程机器人基于实时模型的障碍物检测

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614366

B. Bon, H. Seraji

引用次数: 16

A motion planning based approach for inverse kinematics of redundant robots: the kinematic roadmap 一种基于运动规划的冗余机器人运动学逆解方法:运动学路线图

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606894

J. Ahuactzin, K. Gupta

{"title":"A motion planning based approach for inverse kinematics of redundant robots: the kinematic roadmap","authors":"J. Ahuactzin, K. Gupta","doi":"10.1109/ROBOT.1997.606894","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606894","url":null,"abstract":"We propose a new approach to solving the point-to-point inverse kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph like structure. The standard formulation of inverse kinematics problem is then solved using this roadmap. Our current implementation, based on Ariadne's clew algorithm, is composed of two sub-algorithms: EXPLORE, a simple algorithm that builds the kinematic roadmap by placing landmarks in the configuration space; and SEARCH, a local planner that uses this roadmap to reach the desired end-effector configuration. Our implementation of SEARCH is an extremely efficient closed form solution, albeit local, to inverse kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-DOF manipulator have been extremely successful.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"39 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":"127921750","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

Design of a minimum surface-effect three degree-of-freedom micromanipulator 最小表面效应三自由度微机械臂的设计

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614345

M. Goldfarb, J. Speich

引用次数: 11

The BUGS "Basic UXO Gathering System" project for UXO clearance & mine countermeasures 用于未爆弹药清除和地雷对抗的BUGS“基本未爆弹药收集系统”项目

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620059

Christopher K. DeBolt, Chris O'Donnell, Craig Freed, Tuan Nguyen

引用次数: 22

Autonomous robot navigation for precision horticulture 用于精确园艺的自主机器人导航

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619062

T. Hague, J. Marchant, N. Tillett

{"title":"Autonomous robot navigation for precision horticulture","authors":"T. Hague, J. Marchant, N. Tillett","doi":"10.1109/ROBOT.1997.619062","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619062","url":null,"abstract":"Certain experimental horticultural operations require an autonomous vehicle capable of navigating through a field of crop plants. Since the vehicle must be able to operate in many fields to be economic, artificial navigation beacons and detailed prior maps are disadvantageous. A novel navigation scheme has been devised, which allows the crop rows themselves to be used as a navigation aid. The commanded path of the vehicle through the field is expressed by path curvature as a function of forward distance; parts of the path are marked as being aligned with crop rows. Data from image analysis is combined with that from a solid state compass and dead reckoning using an extended Kalman filter (EKF). Rather than position in an arbitrary Cartesian coordinate frame, the EKF estimates position and orientation error from the commanded path, which may be used directly for feedback control of vehicle motion. The method has been implemented on a small horticultural vehicle, allowing it to follow crop rows and turn at the end of the rows fully autonomously. The system has been tested in the field, and results showing the accuracy of guidance along crop rows are presented.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"35 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":"121461560","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: 26

A new inter-phalangeal actuator for dexterous micro-grippers 一种用于灵巧微爪的指骨间致动器

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614408

N. Troisfontaine, P. Bidaud, G. Morel

引用次数: 18

On the improvement of tracking performance of flexible robot arm using FFT method 用FFT方法改进柔性机械臂的跟踪性能

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619343

L. Cai, Xiaoqi Tang

引用次数: 0

A database server architecture for agile manufacturing 用于敏捷制造的数据库服务器体系结构

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606751

Sungkil Lee, Huang-Cheng Kuo, N. H. Balkir, G. Özsoyoglu

引用次数: 11