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

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A grasp planning approach for visual servo controlled robot manipulators 一种视觉伺服控制机器人机械手抓取规划方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620199
F. Janabi-Sharifi, W. Wilson
{"title":"A grasp planning approach for visual servo controlled robot manipulators","authors":"F. Janabi-Sharifi, W. Wilson","doi":"10.1109/ICAR.1997.620199","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620199","url":null,"abstract":"Robotic visual servoing holds a great promise for providing flexible robotic systems. This paper introduces a grasp planning approach for visual servo controlled robots with a single camera mounted at the end-effector. Sensory-control, mechanical, and geometrical issues in the design of such an automatic grasp planner are discussed and the corresponding constraints are highlighted. Also some quality measures are introduced to rate the candidate grasps. The grasp planning strategy and its implementation are described. Simulation results are presented to verify the effectiveness of the approach in dealing with dynamic situations, e.g. grasping a moving object.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"420 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":"133716609","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
Optimal robot decomposition for fast path planning 机器人最优分解快速路径规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620204
Arjang Hourtash, M. Tarokh
{"title":"Optimal robot decomposition for fast path planning","authors":"Arjang Hourtash, M. Tarokh","doi":"10.1109/ICAR.1997.620204","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620204","url":null,"abstract":"The paper presents a method for path planning by decomposition and parallel search. The manipulator is decomposed into chains of consecutive links and joints. A set of postures is defined to represent the motions of each chain. A collision table combines these sets and identifies collisions of the robot. A two phase online planning method constructs a path for each chain independently, and then synthesizes them into a collision free robot path. A backtracking scheme is introduced to improve the success rate, and a prescription is given for optimal decomposition of a robot for reduced planning time and improved success rate. An example of a 7-DOF robot is given to demonstrate the method, and to show its short online planning time.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"53 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":"133849219","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: 1
Fast collision detection for realistic multiple moving robots 真实多运动机器人的快速碰撞检测
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620181
M. Pérez-Francisco, A. del Pobil, B. Martinez
{"title":"Fast collision detection for realistic multiple moving robots","authors":"M. Pérez-Francisco, A. del Pobil, B. Martinez","doi":"10.1109/ICAR.1997.620181","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620181","url":null,"abstract":"Practical robot motion planning for multiple moving objects in large complex scenarios requires very fast collision detection. We present an approach to collision detection between multiple moving objects for robot motion planning. It is based on a spherical hierarchy of detail. The objects can be non-convex and curved and they are not decomposed into convex ones. We present results that show the stability of the approach with respect to the number of polygons used to model the scene. Numerical evidence of the efficiency of the algorithm is also shown with several experiments, obtaining average intersection detection times of a few milliseconds for two closely moving robots involving 1,900 polygons. A parallel version of the algorithm is also described with which computation times of around one millisecond are obtained in an average case.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"43 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":"133983869","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: 5
Geometric approach to feedback stabilization of a hopping robot in the flight phase 跳跃机器人飞行阶段反馈镇定的几何方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620236
F. Rehman, H. Michalska
{"title":"Geometric approach to feedback stabilization of a hopping robot in the flight phase","authors":"F. Rehman, H. Michalska","doi":"10.1109/ICAR.1997.620236","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620236","url":null,"abstract":"Using a model of a hopping robot it is shown that a previously introduced novel approach for the synthesis of time-varying stabilizing feedback control for drift free systems, which is based on the trajectory intersection idea and primarily applies to systems whose controllability Lie algebra is finite dimensional, is also applicable to systems whose controllability algebra is infinite dimensional. The original model of the hopping robot is first approximated to yield a simplified model whose controllability Lie algebra is finite dimensional. A time varying stabilizing feedback law is then constructed for the simplified model. The latter can be viewed as a composition of a standard stabilizing feedback control for a Lie algebraic extension of the system and a periodic continuation of a parametrized solution to a certain open-loop, finite horizon trajectory interception problem which is stated and solved in logarithmic coordinates of flows. An adequately large stability robustness margin for the extended controlled system can always be insured and is shown to guarantee that the constructed feedback control is also stabilizing for the original model.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"30 19 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":"130314139","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: 5
Surface-based geometric modeling using teaching trees in consideration of backprojection 考虑反向投影的基于教学树的曲面几何建模
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620301
A. Nakamura, T. Ogasawara, H. Tsukune, M. Oshima
{"title":"Surface-based geometric modeling using teaching trees in consideration of backprojection","authors":"A. Nakamura, T. Ogasawara, H. Tsukune, M. Oshima","doi":"10.1109/ICAR.1997.620301","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620301","url":null,"abstract":"In motion planning of robots, geometric modeling plays an important role. Generally, the shapes of objects such as factory products can be stored in a database, so the elements that need to be decided are positions and orientations. In this paper, surface-based geometric modeling using teaching trees in consideration of backprojection is proposed. In this modeling, teaching trees representing combinations of surfaces for deciding positions and orientations are used. The operator can choose easily one combination out of several compared with the obtained data. Moreover the teaching trees are depth-first based on backprojection which is a method of motion planning, so a geometric model suited to robot motion can be obtained.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"35 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":"129191619","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
Impedance control of a teleoperated mini excavator 遥控小型挖掘机的阻抗控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620156
S. E. Salcudean, S. Tafazoli, Pareena G. Lawrence, I. Chau
{"title":"Impedance control of a teleoperated mini excavator","authors":"S. E. Salcudean, S. Tafazoli, Pareena G. Lawrence, I. Chau","doi":"10.1109/ICAR.1997.620156","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620156","url":null,"abstract":"A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis. Steady-state position and force tracking of the closed loop system is also studied. Then, the desired impedance of the end-effector (bucket of the excavator) is mapped onto the hydraulic cylinders using the arm Jacobian and accurate estimates of the arm inertial and gravity terms. A nonconservative method is presented for predicting stability of the multivariable closed loop system. Experiments with an instrumented mini excavator (for the single cylinder case) show that the designed impedance controller has a good performance.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"65 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":"127749969","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: 52
Human hand trajectory analysis in point-and-direct telerobotics 点直遥控机器人中人手轨迹分析
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620292
T.T. Blackmon, M. C. Cavusoglu, Fuji Lai, L. Stark
{"title":"Human hand trajectory analysis in point-and-direct telerobotics","authors":"T.T. Blackmon, M. C. Cavusoglu, Fuji Lai, L. Stark","doi":"10.1109/ICAR.1997.620292","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620292","url":null,"abstract":"Human hand trajectories have been recorded and analyzed in an experimental supervisory control interface for a telerobot manipulator. Using a six degree-of-freedom tracking device to control the gripper of a computer graphics simulation model of the telerobot, human operators were instructed to command the telerobot under a variety of visual conditions. Analysis of the human hand trajectories shows considerable distortion and adaptation effects in the virtual environments. Also, the nature of the 3D hand trajectories for the reaching task lends support for a sampled-data model of human neurological control; this has design implications for telerobotic interfaces.","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":"130112493","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
Development of a redundant macro-micro manipulator for compliant motion 柔性运动冗余宏微机械臂的研制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620259
K. Nagai, Seisaku Iwasa, Y. Nakagawa, K. Ohno
{"title":"Development of a redundant macro-micro manipulator for compliant motion","authors":"K. Nagai, Seisaku Iwasa, Y. Nakagawa, K. Ohno","doi":"10.1109/ICAR.1997.620259","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620259","url":null,"abstract":"The development of a redundant macro-micro manipulator for compliant motion is discussed. Redundant macro-micro manipulators under an appropriate control scheme can have numerous advantages including: suitability to compliant motion using micro manipulators, and a wide motion range as a result of macro manipulators. However, we have to design these mechanisms carefully in order to obtain the desired merits of this system, because the performance of the control scheme is affected by the properties of this mechanism. In this paper, the development of a micro manipulator for a given macro manipulator is presented. The experimental results show how the developed mechanism produces compliant motion.","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":"129622274","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
A new graphics simulator for RCCL and its use in undergraduate robotics instruction 一种新的RCCL图形模拟器及其在大学机器人教学中的应用
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620277
M. Stein, S. Falchetti
{"title":"A new graphics simulator for RCCL and its use in undergraduate robotics instruction","authors":"M. Stein, S. Falchetti","doi":"10.1109/ICAR.1997.620277","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620277","url":null,"abstract":"Wilkes University employs the public domain package RCCL (Robot Control C Language) to control a PUMA 760 robot. This paper describes the use of RCCL in an undergraduate Robotics course for mechanical engineers offered in the Fall of 1996. This paper also describes the substitution of a graphics model created using the Inventor package of Silicon Graphics Inc. This package provides the ability to create a high quality graphics image of both the robot and its environment. Performance of the simulation and a description of its use in the robotics course are presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"32 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":"121454348","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 passivity-based motion control of redundant manipulators using weighted decomposition of joint space 基于关节空间加权分解的冗余度机械臂无源运动控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620172
Yonghwan Oh, W. Chung, Y. Youm, I. Suh
{"title":"A passivity-based motion control of redundant manipulators using weighted decomposition of joint space","authors":"Yonghwan Oh, W. Chung, Y. Youm, I. Suh","doi":"10.1109/ICAR.1997.620172","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620172","url":null,"abstract":"In this paper, a passivity-based motion tracking controller for kinematically redundant manipulator is proposed. Based on the weighted inner product in joint space, a minimal parametrization of the null-space can be achieved. Combining this minimal set of null-motion with kinematic relation, we obtain new extended task space formulation. Employing the inertia matrix as a metric, an inertially decoupled dynamics between the task space and null-space can be obtained and a trajectory tracking control law is proposed based on the passivity. The performance of the proposed controller is verified through experiments with a planar three-link direct-drive manipulator.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"89 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":"122438863","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
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