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Proceedings of International Conference on Robotics and Automation最新文献

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Design of cooperating spherical RPR robots 协同球形RPR机器人的设计
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619275
P. Larochelle
{"title":"Design of cooperating spherical RPR robots","authors":"P. Larochelle","doi":"10.1109/ROBOT.1997.619275","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619275","url":null,"abstract":"This paper uses the kinematic mapping into the image space of spherical displacements to design a cooperating spherical robot system for workpiece orientating. The kinematic chain formed by the cooperating robots grasping the workpiece forms a multi degree of freedom closed chain which is also known as a robotic mechanism. The spherical robots considered are spherical RPR open chains and they rigidly grasp the workpiece to form a 9 degree of freedom closed chain. The design problem considered is to determine the base locations and grasp points that enable the cooperating robots to guide a workpiece, through an arbitrary number of desired orientations. An example of the design of a cooperating spherical RPR robot system for six (6) desired orientations is presented.","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":"133598781","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
On parameter identification of robot manipulators 机器人操作手的参数辨识
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619067
F. Reyes‐Cortes, R. Kelly
{"title":"On parameter identification of robot manipulators","authors":"F. Reyes‐Cortes, R. Kelly","doi":"10.1109/ROBOT.1997.619067","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619067","url":null,"abstract":"This paper is focused on estimating the dynamic parameters of robot manipulators. A new hybrid identification scheme based on the supplied energy regression model is proposed. Experimental results on a two degrees of freedom direct-drive robot are presented.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"21 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":"133410842","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
Experimental comparison of hybrid and external control structures for a mobile manipulator 移动机械臂混合控制与外部控制结构的实验比较
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606889
C. Perrier, L. Cellier, P. Dauchez
{"title":"Experimental comparison of hybrid and external control structures for a mobile manipulator","authors":"C. Perrier, L. Cellier, P. Dauchez","doi":"10.1109/ROBOT.1997.606889","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606889","url":null,"abstract":"A mobile manipulator, composed of a manipulator mounted on a vehicle, is a very useful system to achieve tasks in dangerous environments. Unfortunately it is a very complicated system to model and control. One solution is to control the manipulator and the vehicle independently with advanced control schemes. In particular motions of the vehicle on uneven terrains induce disturbances on the arm behaviour that must be either taken into account or rejected by the arm control scheme. The aim of this paper is to compare the robustness of hybrid position/force and external force control structures with respect to external disturbances, for a manipulator mounted on a vehicle. The principles of both control structures are recalled. Some theoretical analysis tends to prove the superiority of the external control structure. This is confirmed by experiments with our real testbed. Results are presented in the form of graphs.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"93 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":"132284999","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
Sensor-based planning with the freespace assumption 基于传感器的规划与自由空间假设
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606883
Sven Koenig, Y. Smirnov
{"title":"Sensor-based planning with the freespace assumption","authors":"Sven Koenig, Y. Smirnov","doi":"10.1109/ROBOT.1997.606883","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606883","url":null,"abstract":"A popular technique for getting to a goal location in unknown terrain is planning with the freespace assumption. The robot assumes that the terrain is clear unless it knows otherwise. It always plans a shortest path to the goal location and re-plans whenever it detects an obstacle that blocks its path or, more generally, when it detects that its current path is no longer optimal. It has been unknown whether this sensor-based planning approach is worst-case optimal, given the lack of initial knowledge about the terrain. We demonstrate that planning with the freespace assumption can make good performance guarantees on some restricted graph topologies (such as grids) but is not worst-case optimal in general. For situations in which its performance guarantee is insufficient, we also describe an algorithm, called Basic-VECA, that exhibits good average-case performance and provides performance guarantees that are optimal up to a constant (user-defined) factor.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"6 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":"132455981","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: 29
Kinematic calibration of a re-configurable robot (RoboTwin) 可重构机器人RoboTwin的运动学标定
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606772
Nitin Juneja, A. Goldenberg
{"title":"Kinematic calibration of a re-configurable robot (RoboTwin)","authors":"Nitin Juneja, A. Goldenberg","doi":"10.1109/ROBOT.1997.606772","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606772","url":null,"abstract":"This paper presents the calibration methodology developed for calibrating the RoboTwin (a re-configurable robot system). A steel bar of known length is used for calibrating the robot. The length of the bar is calculated using the nominal robot geometry and compared with the actual length to determine the error in the length. A method is developed to express the error in the bar length in terms of the kinematic parameters of the robot. This error is then minimized using a least squares algorithm iteratively to determine the real robot parameters. The calibration results are presented for a 3 DOF robot system.","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":"132505672","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
Reactive multi-agent based control of redundant manipulators 基于反应性多智能体的冗余机械臂控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614276
Petra Bohner, R. Lüppen
{"title":"Reactive multi-agent based control of redundant manipulators","authors":"Petra Bohner, R. Lüppen","doi":"10.1109/ROBOT.1997.614276","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614276","url":null,"abstract":"In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called \"joint agent\". The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-DOF redundant manipulator covered with tactile sensors.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"2 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":"133131577","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
Improved model reference adaptive control using the Euler operator 采用欧拉算子改进模型参考自适应控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614374
P. Oh
{"title":"Improved model reference adaptive control using the Euler operator","authors":"P. Oh","doi":"10.1109/ROBOT.1997.614374","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614374","url":null,"abstract":"Systems discretized using the conventional z-transform and zero-order-hold will lead to sampling zeros lying outside the unit circle upon fast sampling. The Euler operator has been shown to be an alternative to discretizing systems. The resulting discrete-time form approaches its original continuous-time form as the sampling interval approaches zero. A model reference adaptive controller is designed using the Euler operator. Simulations and experiment were performed on an electrohydraulic servo valve. The resulting controller is applied to a Stewart platform for simulating ship motion.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"2 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":"131310621","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
Nonlinear modeling and robust H/sub /spl infin//-based control of flexible joint robots with harmonic drives 谐波驱动柔性关节机器人的非线性建模与鲁棒控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606764
M. Moghaddam, A. Goldenberg
{"title":"Nonlinear modeling and robust H/sub /spl infin//-based control of flexible joint robots with harmonic drives","authors":"M. Moghaddam, A. Goldenberg","doi":"10.1109/ROBOT.1997.606764","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606764","url":null,"abstract":"Motion control of manipulators relies on the ability of the actuation system to provide desired joint torques. For robotic manipulators, particularly those equipped with harmonic drives (HD), this ability is considerably restricted by the inherent nonlinearity, friction and flexibility in the actuator-transmission systems. In this work, a joint torque feedback scheme is used for torque control. The design of this method requires that the actuation system is modeled accurately. The motion control design consists of two parts. In the first part, the error dynamic model of the rigid robot arm is derived, followed by obtaining a computed torque control law based on H/sub /spl infin//. The control torque must be provided accurately. The second part of the control design addresses this issue. It has to perform robustly in the presence of hysteresis, nonlinearity and friction. Describing function and conic sector bounded nonlinearity methods are proposed to model the effect of hysteresis, friction and nonlinear stiffness in the control design.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"162 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":"131421892","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: 10
A robustness bound of computed torque linearization for control of a manipulator in contact task 接触任务下机械臂控制的计算力矩线性化鲁棒性界
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614328
Sang-Moo Lee
{"title":"A robustness bound of computed torque linearization for control of a manipulator in contact task","authors":"Sang-Moo Lee","doi":"10.1109/ROBOT.1997.614328","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614328","url":null,"abstract":"This paper suggests a robustness bound of modeling errors in computed torque linearization for control of a manipulator in a contact task. Modelling errors due to sensing and estimation errors can cause instability of the overall control. A stability condition for the modelling errors is derived from the error dynamics using the operator theory and the small gain theorem. The result is a single equation, which gives an allowable bound in a combined form of the inertia modelling error and Jacobian estimation error. It shows that the Jacobian estimation errors degrade the stability when the force feedback is used in the computed torque linearization. Especially for control of a manipulator in a stiff environment, the Jacobian should be estimated accurately. The Coriolis and nonlinear terms are not as critical factors as inertia and Jacobian estimation. The bound can be used in controller design, which is insensitive to the modelling errors.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"14 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":"131896977","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
Freeform fabrication of polymer-matrix composite structures 聚合物基复合材料结构的自由成形
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620057
S. G. Kaufman, B. Spletzer, T. Guess
{"title":"Freeform fabrication of polymer-matrix composite structures","authors":"S. G. Kaufman, B. Spletzer, T. Guess","doi":"10.1109/ROBOT.1997.620057","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620057","url":null,"abstract":"We have developed, prototyped, and demonstrated the feasibility of a novel robotic technique for rapid fabrication of composite structures. Its chief innovation is that, unlike all other available fabrication methods, it does not require a mold. Instead, the structure is built patch by patch, using a rapidly reconfigurable forming surface, and a robot to position the evolving part. Both of these components are programmable, so only the control software needs to be changed to produce a new shape. Hence it should be possible to automatically program the system to produce a shape directly from an electronic model of it. It is therefore likely that the method will enable faster and less expensive fabrication of composites.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"36 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":"133785374","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: 6
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