发布求助
文献互助 智能选刊 最新文献

Proceedings of International Conference on Robotics and Automation最新文献

筛选
英文 中文
Motion strategies for maintaining visibility of a moving target 保持运动目标可见性的运动策略
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620122
S. LaValle, H. González-Baños, C. Becker, J. Latombe
{"title":"Motion strategies for maintaining visibility of a moving target","authors":"S. LaValle, H. González-Baños, C. Becker, J. Latombe","doi":"10.1109/ROBOT.1997.620122","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620122","url":null,"abstract":"We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satisfied. Additional criteria, such as the total distance traveled, can be optimized. The general problem is divided into two categories, on the basis of whether the target is predictable. For the predictable case, an algorithm that computes optimal, numerical solutions is presented. For the more challenging case of a partially-predictable target, two online algorithms are presented that each attempt to maintain future visibility with limited prediction. One strategy maximizes the probability that the target will remain in view in a subsequent time step, and the other maximizes the minimum time in which the target could escape the visibility region. We additionally discuss issues resulting from our implementation and experiments on a mobile robot system.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"170 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":"134103621","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: 248
Nonprehensile manipulation for orienting parts in the plane 在平面上定向部件的非抓握性操作
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619326
N. Zumel, M. Erdmann
{"title":"Nonprehensile manipulation for orienting parts in the plane","authors":"N. Zumel, M. Erdmann","doi":"10.1109/ROBOT.1997.619326","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619326","url":null,"abstract":"The authors previously (1996) presented a model of nonprehensile manipulation, using two one-degree-of-freedom palms. Under the assumptions of low friction and quasistatic motion, we developed a planning method for part reorientation with our model, starting from a known initial state. Our method finds feasible paths through the space of equivalent state configurations of the object in the palms, without requiring that the palms maintain stable support of the object over the entire path. We have shown that such a device can reliably orient parts in the plane. In this paper we extend our method to the case of reorienting a part to a desired goal from an unknown initial state. In addition to the all sliding contacts case which the model is based upon, we look at extensions to rolling contacts. We include the results of tests with example plans.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"94 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":"134400430","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: 18
Nonlinear adaptive control of a flexible manipulator for automated deburring 柔性机械臂自动去毛刺的非线性自适应控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606718
Ling-Hui Chang, L. Fu
{"title":"Nonlinear adaptive control of a flexible manipulator for automated deburring","authors":"Ling-Hui Chang, L. Fu","doi":"10.1109/ROBOT.1997.606718","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606718","url":null,"abstract":"The goal of the automated deburring can be achieved by maintaining a constant force on the grinding tool in the direction normal to the constraint surface while following the positional trajectory in the direction tangential to the surface. In this paper, the dynamics of both the deburring process and the flexible manipulator are investigated in detail, and a singular perturbation technique is then utilized to separate the system into a slow subsystem and a fast subsystem, whereby an adaptive hybrid position/force controller is derived for the slow subsystem whereas a dynamic feedback controller is developed for the fast subsystem. It is shown that the motional tracking error and the force regulation error converge to a small residual set. Finally, computer simulations and experiments of a 2-link flexible manipulator confirm the effectiveness of the proposed controller.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"72 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131894185","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: 13
Experimental study on robust force control of a flexible arm with a symmetric rigid tip body 对称刚体柔性臂的鲁棒力控制实验研究
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606765
F. Matsuno, S. Umeyama, S. Kasai
{"title":"Experimental study on robust force control of a flexible arm with a symmetric rigid tip body","authors":"F. Matsuno, S. Umeyama, S. Kasai","doi":"10.1109/ROBOT.1997.606765","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606765","url":null,"abstract":"In this paper, an experimental study on robust control of bending and torsional vibrations and contact force of a one-link flexible arm is discussed. The flexible arm carries a symmetric rigid tip body, of which the mass center lies on the center axis of the arm. We derive dynamic equations of the joint angle, the vibrations of the flexible link, and the contact force. On the basis of a finite-dimensional modal model of a distributed-parameter system, robust controllers are constructed. Some experimental results are shown.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"64 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":"132791293","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: 8
A sensor-based automation system for handling nuclear materials 用于处理核材料的基于传感器的自动化系统
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620063
W. Drotning, H. Kimberly, W. Wapman, D. Darras, D. Homan, P. Johnson, B. Kast, J. Kuhlmann, R. Lennox, Carla Montoya
{"title":"A sensor-based automation system for handling nuclear materials","authors":"W. Drotning, H. Kimberly, W. Wapman, D. Darras, D. Homan, P. Johnson, B. Kast, J. Kuhlmann, R. Lennox, Carla Montoya","doi":"10.1109/ROBOT.1997.620063","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620063","url":null,"abstract":"An automated system is being developed for handling large payloads of radioactive nuclear materials in an analytical laboratory. The automation system performs unpacking and repacking of payloads from shipping and storage containers, and delivery of the payloads to the stations in the laboratory. The system uses machine vision and force/torque sensing to provide sensor-based control of the automation system in order to enhance system safety, flexibility, and robustness, and achieve easy remote operation. The automation system also controls the operation of the laboratory measurement systems and the coordination of them with the robotic system. Particular attention has been given to system design features and analytical methods that provide an enhanced level of operational safety. Independent mechanical gripper interlock and tool release mechanisms were designed to prevent payload mishandling. An extensive failure modes and effects analysis of the automation system was developed as a safety design analysis tool.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"52 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":"130746030","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: 2
A robotic system for 3D model acquisition from multiple range images 从多距离图像中获取三维模型的机器人系统
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619338
Michael K. Reed, P. Allen
{"title":"A robotic system for 3D model acquisition from multiple range images","authors":"Michael K. Reed, P. Allen","doi":"10.1109/ROBOT.1997.619338","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619338","url":null,"abstract":"This paper describes a robotic system that builds a 3D CAD model of an object incrementally from multiple range images. It motivates the generation of a solid model at each stage of the modeling process, allowing the use of well-defined geometric algorithms to perform the merging and integration task. The data from each imaging operation is represented by a mesh, which is then extruded in the viewing direction to form a solid model. These solids are merged as they are acquired into a composite model of the object. We describe an algorithm that builds a solid model from a mesh surface and present experimental results of reconstructing a complex object. In addition, we discuss an approach to completely automating the model acquisition process by integration with previous sensor-planning results.","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":"130930313","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: 17
Planning and control of self-calibrated manipulation for a robot on a mobile platform 移动平台上机器人自校准操作的规划与控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614334
D. Xiao, B. Ghosh, N. Xi, T. Tarn
{"title":"Planning and control of self-calibrated manipulation for a robot on a mobile platform","authors":"D. Xiao, B. Ghosh, N. Xi, T. Tarn","doi":"10.1109/ROBOT.1997.614334","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614334","url":null,"abstract":"The essence of our scheme is to extend our earlier (Ghosh et al., 1996) proposed multi-sensor based observation scheme to a situation where the location of the mobile platform is unknown. A new self-calibrated manipulation scheme is proposed to determine the position and orientation of the part with respect to the coordinate system attached to the base of the robot manipulator. The novelties of the proposed approach can be summarized as (i) multi-sensor fusion scheme based on complementary data for the purpose of part localization, (ii) part tracking and grasping control based on parallel tracking, and (iii) self-calibration of the location of the mobile platform using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are described as follows. (i) It renders possible reconfiguring a manufacturing workcell without recalibrating the robot based coordinate frame. This significantly reduces the setup time of the workcell. (ii) It significantly reduces the requirement on the image processing speed. Experimental study of the proposed scheme has been carried out and the results are reported in this paper.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"19 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":"132883141","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
A discrete model for the configuration control of hyper-redundant manipulators 超冗余机械臂组态控制的离散模型
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620033
K. Zanganeh, R. Lee, P. Hughes
{"title":"A discrete model for the configuration control of hyper-redundant manipulators","authors":"K. Zanganeh, R. Lee, P. Hughes","doi":"10.1109/ROBOT.1997.620033","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620033","url":null,"abstract":"The macroscopic geometric shape of a hyper-redundant manipulator can be described by a curve which is called the reference or backbone curve (BBC). In this paper, a discrete model with compliance is developed for the BBC that is a practical approximation to a continuous elastic cord. Based on the proposed model, kinematic redundancy is resolved through shape optimization: minimizing the elastic potential energy of the BBC. The formulation introduced here is general and can be efficiently used for the configuration control of hyper-redundant manipulators. Moreover, the proposed discrete model is well suited for a class of variable-geometry-truss (VGT) manipulators that are made up of double-octahedral modules. The effectiveness of the model is verified by numerical simulations and hardware experiments.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"38 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":"133480204","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
Assistance system for crane operation using multimodal display 使用多模式显示的起重机操作辅助系统
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620013
M. Yoneda, F. Arai, T. Fukuda, K. Miyata, T. Naito
{"title":"Assistance system for crane operation using multimodal display","authors":"M. Yoneda, F. Arai, T. Fukuda, K. Miyata, T. Naito","doi":"10.1109/ROBOT.1997.620013","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620013","url":null,"abstract":"We apply the interactive adaptation interface to an operation system. Such a system can adapt to an operator considering the following two points. One is the operator's psychological state and the other is the operator's skill. For adaptation to an operator, the system tunes the time constant of the operation controller by recursive fuzzy inference, and has a \"multimodal display\" which consists of various types of operational assistance such as visual display, acoustic display, force display, etc. In this paper, we propose many types of operational assistance for a rough terrain crane system. We propose a good control pattern which can suppress the payload's oscillation. The operational assistance becomes more effective by using the control pattern. We made a computer simulation and a joystick for the proposed crane system, and did operational experiments on this simulator. We show the effectiveness of the proposed assistance system for crane operation.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"105 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":"133482026","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: 14
Neural network based identification of robot dynamics used for neuro-fuzzy controller 基于神经网络的机器人动力学辨识应用于神经模糊控制器
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614286
K. Kumbla, M. Jamshidi
{"title":"Neural network based identification of robot dynamics used for neuro-fuzzy controller","authors":"K. Kumbla, M. Jamshidi","doi":"10.1109/ROBOT.1997.614286","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614286","url":null,"abstract":"A technique of identifying the dynamics of a robotics system using neural network is presented. The identified model is used by a fuzzy controller to evaluate the range of the control variables and also the performance of the adaptive control laws on the identified model. An overview of the neuro-fuzzy control architecture is also discussed. This architecture uses two neural networks, one which identifies the system dynamics and another classifies the temporal response of the robotic system. The information from the neural networks is used to make suitable adjustments in the parameter of the fuzzy controller. This paper however concentrates on the theory and operation of identifying the dynamics of a Adept-Two industrial robot. Simulation results are presented.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"153 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":"133581096","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: 13
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信