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

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A dynamic analysis for robotic interception of a moving target 机器人拦截运动目标的动力学分析
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620227
J. Kovecses, R. G. Fenton, W. Cleghorn
{"title":"A dynamic analysis for robotic interception of a moving target","authors":"J. Kovecses, R. G. Fenton, W. Cleghorn","doi":"10.1109/ICAR.1997.620227","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620227","url":null,"abstract":"In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain's principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"66 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":"133104039","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
Path planning for mobile and hyper-redundant robots using Pythagorean hodograph curves 基于毕达哥拉斯轨迹曲线的移动和超冗余机器人路径规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620243
H. Bruyninckx, D. Reynaerts
{"title":"Path planning for mobile and hyper-redundant robots using Pythagorean hodograph curves","authors":"H. Bruyninckx, D. Reynaerts","doi":"10.1109/ICAR.1997.620243","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620243","url":null,"abstract":"Pythagorean hodograph curves (PH curves) have a number of advantages over other splines commonly used in planar robot path planning: (1) the integral of curvature is small; (2) the curve, its length, curvature and total \"bending energy\" are known in closed-form; (3) start and end positions and directions are straightforwardly usable as boundary conditions; and (4) length can be traded off against curvature quite easily. These facts make PH curves especially interesting for the planning of car-like mobile robot paths, as well as for the calculation of the \"backbone curve\" in the inverse kinematics of hyper-redundant robots.","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":"129295937","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: 48
Stability and performance comparison of the force reflecting haptic manipulator 力反射式触觉机械手的稳定性和性能比较
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620249
G. Luecke, Y. Chai
{"title":"Stability and performance comparison of the force reflecting haptic manipulator","authors":"G. Luecke, Y. Chai","doi":"10.1109/ICAR.1997.620249","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620249","url":null,"abstract":"The stability and the theoretical performance limits of feedback controlled force reflecting haptic manipulator have been discussed. All the virtual environment which interact physically with the haptic system have its own stable performance limit. Three different realization of the interfaces have been compared using the driving point admittance. The haptic system which is separated from the human hand or finger is superior to its stable interaction provided that there is a means to apply a direct damping between the haptic manipulator and the human finger. Electromagnetic force is used for its digital implementation of the simple separated type haptic device. The stable limits of a virtual wall is calculated and experimental results show that there is performance limits in this implementation.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1909 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":"128627266","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
A simple method of finding a visible region for the optimal camera position 一个简单的方法找到一个可见区域的最佳相机位置
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620241
G. Chu, Wonpil Yu, M. Chung
{"title":"A simple method of finding a visible region for the optimal camera position","authors":"G. Chu, Wonpil Yu, M. Chung","doi":"10.1109/ICAR.1997.620241","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620241","url":null,"abstract":"There are many applications that use a camera to find, locate, and track a target object, such as spray painting, spot welding, pick-and-place, part insertion, material handling and so on. The most important thing in such a vision task is that the camera should be able to observe the target object at a good position. The more complicated a workspace is, the more difficult it is to find the regions where the camera should be located for observation of the target object. In order to relieve the difficulty to find a visible region in 3D space, we suggest a simple method to find the visible region using object expansion method and projection onto the spherical coordinates.","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":"128571983","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
Random probing to approximate medial axes and plan safe motion 随机探测近似内轴线和计划安全运动
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620206
S. Guha, D. Suri, I. Suzuki
{"title":"Random probing to approximate medial axes and plan safe motion","authors":"S. Guha, D. Suri, I. Suzuki","doi":"10.1109/ICAR.1997.620206","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620206","url":null,"abstract":"We propose a novel approach to planning the safe motion of a robot - the motion is considered safe if the robot stays as distant as possible from the nearest obstacle. The approach is based on approximating the medial axis of the free configuration space through randomized probes of the full configuration space. Experiments with 2- and 3-DOF manipulators show that the approach generates longer but significantly safer motion when compared with naive planning to simply finds a shortest motion. In addition, once preprocessing is complete our approach spends much less time planning motion than the naive one. As it is based on probing randomly, rather than at points on a grid, our approach promises to extend effectively to robots with many DOF.","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":"129383568","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: 3
Non-model-based impedance control of an industrial robot 工业机器人非基于模型的阻抗控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620214
T. Tan, M. Ang, C. Teo
{"title":"Non-model-based impedance control of an industrial robot","authors":"T. Tan, M. Ang, C. Teo","doi":"10.1109/ICAR.1997.620214","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620214","url":null,"abstract":"This paper introduces the various non-model-based impedance control schemes. One of the simplest approaches, the straightforward method, is presented which utilises force feedback only to determine the position adjustment necessary for controlling the dynamic behaviour of the manipulator under position control. An analysis is done to determine the stability and steady-state response of the impedance control model as well as the overall closed-loop system. The detailed impedance control algorithm, developed from the theory, is presented to facilitate the implementation and software development. Experiments are conducted to verify the desired inertia, damping and stiffness of the end-effector, as well as to compare the effects of the manipulator impedance on the position and force response during transition from free space to contact.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"3 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":"116835008","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
WireMan: a portable wire manipulator for touch-rendering of bas-relief virtual surfaces WireMan:用于触摸渲染浅浮雕虚拟表面的便携式导线机械手
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620155
C. Bonivento, A. Eusebi, C. Melchiorri, M. Montanari, G. Vassura
{"title":"WireMan: a portable wire manipulator for touch-rendering of bas-relief virtual surfaces","authors":"C. Bonivento, A. Eusebi, C. Melchiorri, M. Montanari, G. Vassura","doi":"10.1109/ICAR.1997.620155","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620155","url":null,"abstract":"An haptic interface actuated by parallel wires is under development. Differently from other known wire-based haptic devices, the proposed system explicitly addresses the capability to be tailored on a human body in order to obtain a portable interface, that should be used for achieving haptic perception by visually impaired people. The device is based on a system of three concurrent wires connected to the operator's finger, obtaining 3D mobility capabilities. The paper shows in particular how this device can be efficiently used in the exploration of bas-relief virtual surfaces in spite of its intrinsic manipulability limits. This capability has been fully confirmed by preliminary 2D tests, whose results are presented and discussed.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"64 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":"115624332","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: 44
Passive compliance of flexible link robots. I. A new computation method 柔性连杆机器人的被动柔度。一种新的计算方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620184
Wei Wang, R. Loh, Marcelo H ANG Jr
{"title":"Passive compliance of flexible link robots. I. A new computation method","authors":"Wei Wang, R. Loh, Marcelo H ANG Jr","doi":"10.1109/ICAR.1997.620184","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620184","url":null,"abstract":"The compliance of a robot is an important factor in many robotic tasks which require force in either measurement or control in addition to position control. The compliance of a robot is usually described by the compliance matrix at its end-effector. In this paper, we present a novel framework for computing the end-effector compliance from the compliance offered by the limbs of a serial robot. The new method is computationally more efficient but not less accurate than the existing finite element method. The computational efficiency of the method arises from the fact that external forces are experienced by the end-effector alone and that there are no other external forces applied to the internal limbs. As an approximation computation, this method is also applicable to robots with very flexible links.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"30 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":"115774406","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
Embedding statistics and Fourier transform towards the harmonic modelling of robot manipulators 机器人机械臂谐波建模的嵌入统计和傅立叶变换
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620225
J. Machado, A. Galhano
{"title":"Embedding statistics and Fourier transform towards the harmonic modelling of robot manipulators","authors":"J. Machado, A. Galhano","doi":"10.1109/ICAR.1997.620225","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620225","url":null,"abstract":"A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and point out structural characteristics of the trajectory planning algorithms.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"69 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":"114143725","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: 3
Dynamic modelling of a class of tendon driven manipulators 一类肌腱驱动机械臂的动力学建模
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620287
G. Prisco, M. Bergamasco
{"title":"Dynamic modelling of a class of tendon driven manipulators","authors":"G. Prisco, M. Bergamasco","doi":"10.1109/ICAR.1997.620287","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620287","url":null,"abstract":"This paper deals with the n-DOF serial manipulators which have n rotary actuators located on the base link, each driving a revolute joint via a pair of opposed tendons. With a Lagrangian approach, the dynamic equations of such class of manipulators are derived. In particular it is investigated how the torques and angular displacement of the actuators are related to those of the joints. In addition to rigid link dynamics and DC electrical motor dynamics, the present work takes also into account the viscous-elastic properties of the tendons, the inertia of the pulleys guiding the tendons and the fact that the tendon transmission driving a joint is routed over all the precedent joints. The proposed analysis is especially the design of high performance tendon driven manipulators.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"76 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":"115319243","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: 46
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