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1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97最新文献

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Definition sets for the direct kinematics of parallel manipulators 并联机械臂直接运动学的定义集
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620282
P. Wenger, D. Chablat
{"title":"Definition sets for the direct kinematics of parallel manipulators","authors":"P. Wenger, D. Chablat","doi":"10.1109/ICAR.1997.620282","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620282","url":null,"abstract":"The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129584594","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
Network inversion based neural controller for robot manipulations 基于网络反演的机器人操作神经控制器
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620295
L. Behera
{"title":"Network inversion based neural controller for robot manipulations","authors":"L. Behera","doi":"10.1109/ICAR.1997.620295","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620295","url":null,"abstract":"This paper proposes an indirect adaptive control scheme using the concept of network inversion. The neural model of the robot manipulator was obtained by training a radial basis function network from the input-output data generated from the plant. A query based learning algorithm has been proposed to improve the model prediction which uses an extended Kalman filtering based network inversion technique. A control scheme is designed incorporating the network inversion technique. The controller ensures Lyapunov stability of the dynamic system. The proposed control scheme is implemented on a two-link manipulator through simulation. Simulation results indicate that the control scheme is robust and stable and corresponding trajectory tracking is accurate.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"15 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130955403","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
Analysis of multi-resolution image registration algorithms in real time applications 分析了多分辨率图像配准算法在实时中的应用
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620247
Ying Cui, P. Lawrence
{"title":"Analysis of multi-resolution image registration algorithms in real time applications","authors":"Ying Cui, P. Lawrence","doi":"10.1109/ICAR.1997.620247","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620247","url":null,"abstract":"As machine vision develops and shows increasing power in solving problems, it is given a more important role in many applications, such as teleoperation. One of the proposed systems is to have wide field of view and high resolution at low cost, by using slaved high resolution insert on top of a low resolution wide field of view background. In such a system, there is a need to register images with rotational/scale/translational (RST) changes introduced by two different cameras. Then two pictures are fused or projected to give a wide field of view with high resolution insert in the area of interest (AOI). For real time implementation of such software, there are a number of factors that have an impact on the performance index such as the estimation accuracy, reliability, and the computational cost. Our analysis show that the relations between these factors and the estimation performance can be quantified and used as guidelines in the implementation. Both a correlation-based approach and a feature-based approach are investigated in this paper.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130405566","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
Three-dimensional silicon micromechanical parts manufactured by electro-discharge machining 用电火花加工制造三维硅微机械零件
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620190
P. Heeren, D. Reynaerts, H. Van Brussel
{"title":"Three-dimensional silicon micromechanical parts manufactured by electro-discharge machining","authors":"P. Heeren, D. Reynaerts, H. Van Brussel","doi":"10.1109/ICAR.1997.620190","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620190","url":null,"abstract":"Currently, nearly all microcomponents are fabricated by micro-electronic production technologies like etching, deposition and other (photo)lithographic techniques. In this way, the main emphasis has been put on surface micromechanics. The major challenge for the future will be the development of real three-dimensional microstructures that could be used as components for microrobots. Electro-discharge machining is a versatile technique which is very well suited for machining complex microstructures. This paper presents an overview of the applicability, of micro electro-discharge machining for manufacturing silicon micromechanical parts. Also, practical examples are provided.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130460725","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
Experiments with an automated visual inspection system 用自动视觉检测系统进行实验
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620298
E.C. Chalfont, B. Bon, W.S. Kim
{"title":"Experiments with an automated visual inspection system","authors":"E.C. Chalfont, B. Bon, W.S. Kim","doi":"10.1109/ICAR.1997.620298","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620298","url":null,"abstract":"Experiments were performed with the JPL automated visual inspection system that detects potential flaws in the exterior of the Space Station by comparing reference and comparison images. The imaging system consists of cameras, strobe lights, an image processor, and a simulated sunlight source. Two color CCD cameras with electronic shuttering (Toshiba IK-M41A) and two strobe lights (EG&G MVS5000) are mounted on the end of a seven DOF Robotics Research Corporation arm as part of an integrated multi-sensor end effector. The entire robot arm is mounted on a l DOF mobile rail platform. Three main components evaluated are: 1) image-differencing-based ambient light compensation, 2) electronic-shuttering-based ambient light rejection, and 3) image registration. The results indicate that the ambient light compensation algorithm yields 0.01% to 0.4% false flaws with lab-simulated sunlight changing front 25%; to 100% intensity. Electronic shuttering with synchronized strobe lighting reduces false flaws considerably. As exposure shortens from 1/60 (fully open) to 1/1000 second, false flaws decrease 100-fold from 0.4% to 0.004%. The current registration algorithm corrects a very limited range of misregistration, correcting approximately 4 pixels of pure translational shifts over the inspection surface. A more robust image registration algorithm that can correct both translational and rotational shifts over 10 pixels misregistration would be highly desirable.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127912982","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 robot task design and management system for industrial applications 工业应用机器人任务设计与管理系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620256
K. Kanayama, M. Mizukawa, S. Iwaki, S. Matsuo, T. Okada, Y. Nakamura
{"title":"A robot task design and management system for industrial applications","authors":"K. Kanayama, M. Mizukawa, S. Iwaki, S. Matsuo, T. Okada, Y. Nakamura","doi":"10.1109/ICAR.1997.620256","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620256","url":null,"abstract":"A new robot task design and management system has been developed for tool manipulation tasks done by a sensor-based robot. This design and management system can be used for all processes from teaching to task execution. A task description can be generated easily and intuitively by using graphical user interface, without precise geometrical workpiece models. Task conditions are inputted interactively by arranging iconized structured task components in accordance with the task procedure. A robot system to deburr the outside of an aluminum-cast workpiece was developed as one example of an application of this system. The results of a system evaluation experiment confirmed that the system enables the systematic task description and control of a task to be performed by a sensor-based robot system.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128766090","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
Development of an anthropomorphic force-controlled manipulator WAM-10 拟人力控机械手WAM-10的研制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620258
T. Morita, S. Sugano
{"title":"Development of an anthropomorphic force-controlled manipulator WAM-10","authors":"T. Morita, S. Sugano","doi":"10.1109/ICAR.1997.620258","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620258","url":null,"abstract":"This paper describes the development and evaluation of an anthropomorphic force-controlled manipulator WAM-10 (Waseda Automatic Manipulator-10). The manipulator consists of a seven degree-of-freedom (DOF) arm and a thirteen-DOF four-fingered hand. The goal of WAM-10 is the realization of human-robot symbiosis and collaboration for ensuring collision safety. The developed arm employs an original joint mechanism, called the mechanical impedance adjuster, which can realize ideal compliance and safety motion. The hand is designed with consideration of human interactive tasks. Results of the evaluation experiments show that the WAM-10 has the capability of realizing high performance in compliant motion control.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125417042","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
Dynamic force/torque sensors: theory and experiments 动态力/扭矩传感器:理论与实验
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620262
A. Bicchi, A. Caiti, D. Prattichizzo
{"title":"Dynamic force/torque sensors: theory and experiments","authors":"A. Bicchi, A. Caiti, D. Prattichizzo","doi":"10.1109/ICAR.1997.620262","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620262","url":null,"abstract":"Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123829821","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: 11
Cooperative motion control of a six-legged walking robot equipped with a manipulator 带机械手的六足步行机器人协同运动控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620165
H. Hoshino, E. Muro, T. Fukuda, Y. Adachi
{"title":"Cooperative motion control of a six-legged walking robot equipped with a manipulator","authors":"H. Hoshino, E. Muro, T. Fukuda, Y. Adachi","doi":"10.1109/ICAR.1997.620165","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620165","url":null,"abstract":"This paper describes an omni-directional walking robot equipped with a 4 DOF manipulator. The walking mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators and six extendable legs fixed to the frames. This working robot is a redundant mechanism with 10 DOF since the manipulator has 4 DOF and walking mechanism has 6. The walking mechanism and the control method of this robot are presented in this paper. Cooperative motion control experiments of the leg and the manipulator were performed with an experimental prototype model, and desired movement was attained.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124925807","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
Service robotics in logistic automation: ROBOLIFT: vision based autonomous navigation of a conventional fork-lift for pallet handling 物流自动化中的服务机器人:ROBOLIFT:基于视觉的传统叉车自主导航，用于托盘处理
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620270
G. Garibotto, S. Masciangelo, Marco Ilic, P. Bassino
{"title":"Service robotics in logistic automation: ROBOLIFT: vision based autonomous navigation of a conventional fork-lift for pallet handling","authors":"G. Garibotto, S. Masciangelo, Marco Ilic, P. Bassino","doi":"10.1109/ICAR.1997.620270","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620270","url":null,"abstract":"The paper describes an integrated mobile robot which has been designed and realised on top of a conventional fork lift carrier, to perform autonomous missions as well as to keep all the conventional drive actuators for the human driver. The most challenging goal of the project has been to provide the vehicle with the sensory capability and local intelligence, which is typical of the human driver, without altering the conventional driving control, such as the pedal control of the accelerator (forward and backward), the emergency brake, the direct steering wheel control. Computer vision is proved to be the main sensory system for both autonomous navigation and pallet recognition. ROBOLIFT is the result of a joint co-operation between Elsag Bailey Telerobot and Fiat OM Carrelli Elevatori SpA.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116783599","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: 16
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