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IEEE Conference on Robotics, Automation and Mechatronics, 2004.最新文献

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Collision control of a single-link flexible arm 单连杆柔性臂的碰撞控制
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438061
Y. Sawada
{"title":"Collision control of a single-link flexible arm","authors":"Y. Sawada","doi":"10.1109/RAMECH.2004.1438061","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438061","url":null,"abstract":"Damage avoidance of flexible manipulators, in collision phenomenon with unlooked-for obstacles is a significant problem in industry and space programs. This paper presents a method of control for minimizing damage and/or undesirable vibration of a single-link flexible arm due to collision using a collision detection function based on an innovation process of a Kalman filter constructed for a system without the collision input term. The controller is constructed for rotating the arm to the desired position in normal operations and interrupting its motion when the collision is detected.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130137611","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
Workspace analysis and optimal design of cable-driven planar parallel manipulators 缆索驱动平面并联机器人的工作空间分析与优化设计
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438920
C. Pham, S. Yeo, Guilin Yang
{"title":"Workspace analysis and optimal design of cable-driven planar parallel manipulators","authors":"C. Pham, S. Yeo, Guilin Yang","doi":"10.1109/RAMECH.2004.1438920","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438920","url":null,"abstract":"A cable-driven parallel manipulator (CDPM) possesses a number of promising advantages over the conventional rigid-link manipulators, such as simple and lightweight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid link manipulators cannot be directly applied to CDPM because of the unilateral property of cables. This paper focuses on the workspace analysis and optimal design of a specific type of CDPM, i.e. a completely restrained symmetric cable-driven planar parallel manipulator (CDPPM). The tension plays a key role in building up the workspace. In the analysis, performance criteria such as tension bound and stiffness condition are considered to construct the feasible workspace. Moreover, simplex search method is employed to obtain the optimal feasible workspace with respect to the locations of the connecting points and suspending points. Computation results have shown that the optimal workspace can be always obtained at configurations where either the base or the platform is degenerated to a line.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131330599","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: 37
Adaptively combining multiple sampling strategies for probabilistic roadmap planning 自适应组合多采样策略的概率路线图规划
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438016
David Hsu, Zheng Sun
{"title":"Adaptively combining multiple sampling strategies for probabilistic roadmap planning","authors":"David Hsu, Zheng Sun","doi":"10.1109/RAMECH.2004.1438016","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438016","url":null,"abstract":"Several sophisticated sampling strategies have been proposed recently to address the narrow passage problem for probabilistic roadmap (PRM) planning. They all have unique strengths and weaknesses in different environments, but in general, none seems sufficient on its own. In this paper, we present a new approach that adaptively combines multiple sampling strategies for PRM planning. Using this approach, we describe an adaptive hybrid sampling (AHS) strategy using two component samplers: the bridge test, a specialized sampler for narrow passages, and the uniform sampler. We tested the AHS strategy on robots with two to eight degrees of freedom. These preliminary tests show that the AHS strategy achieves consistently good performance, compared with fixed-weight hybrid sampling strategies.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114212350","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
A review of master-slave robotic systems for surgery 手术用主从机器人系统综述
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1142/S0219843606000904
S. C. Low, L. Phee
{"title":"A review of master-slave robotic systems for surgery","authors":"S. C. Low, L. Phee","doi":"10.1142/S0219843606000904","DOIUrl":"https://doi.org/10.1142/S0219843606000904","url":null,"abstract":"For decades, men have used robots to overcome their natural limitation in their dealing with the environment. In recent years, robots have been developed to assist surgeons in performing surgeries. Since these robots are meant for surgeons' use, the design and considerations for safety, reliability and human-robot interface become important. One of the most common modes of controlling surgery robots is using a master and slave layout. This paper explores the latest development in the area of master-slave robotic system for surgery.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114887017","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: 41
A high performance precision machine 高性能精密机床
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438056
K. Low, M. Keck
{"title":"A high performance precision machine","authors":"K. Low, M. Keck","doi":"10.1109/RAMECH.2004.1438056","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438056","url":null,"abstract":"In the area of precision engineering industries, high performance positioning precision machines are increasingly employed to improve the productivity and to lower the manufacturing cost. In many applications such as actuaphotonics or biomedical products, there are increasingly demands for machines that have positioning accuracy of several micrometers. In this paper, we present a prototype precision machine that has a positioning accuracy of 1 /spl mu/m and a peak speed above 1 m/s. The precision positioning machine uses a three phase permanent magnet linear motor as the actuator. As it is capable of producing linear motion directly, it eliminates the needs of mechanical transmission from the rotary to the linear motion. High closed loop performance has been achieved by using a state space based model predictive controller and a dynamic friction compensation system. The friction and the control system have been optimally identified and tuned using the genetic algorithm. Experimental results have verified the effectiveness of the developed approach.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128295451","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
New visual feedback guidance of a mobile robot via vanishing point 基于消失点的移动机器人视觉反馈导引
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438908
S. Lili, S. Uchikado
{"title":"New visual feedback guidance of a mobile robot via vanishing point","authors":"S. Lili, S. Uchikado","doi":"10.1109/RAMECH.2004.1438908","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438908","url":null,"abstract":"We consider a problem about navigation of a mobile robot with a camera in indoor environment. A new visual control method using a vanishing point of parallel lines at both sides of the corridor is introduced, and we call this the vanishing point visual control method. This method gives a lot of useful information on the design. Therefore we can't need a priori information except both widths of the corridor and the robot, but we can easily design the visual feedback system for guidance and obstacle avoidance by using this method. The idea is based on perspective geometry such as perspective projection, epipolar geometry, vanishing point, and projective transformation.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134040120","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
Integrating systems in robotics 机器人技术中的集成系统
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1437992
José Luis Fernández-Pérez, A. C. Domínguez-Brito, D. Hernández-Sosa, J. Cabrera-Gámez
{"title":"Integrating systems in robotics","authors":"José Luis Fernández-Pérez, A. C. Domínguez-Brito, D. Hernández-Sosa, J. Cabrera-Gámez","doi":"10.1109/RAMECH.2004.1437992","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1437992","url":null,"abstract":"Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming efforts, aiming at the generation of modular and robust applications, and promoting software reuse. The techniques which are of common use today in other areas are not adequate to deal with the complexity associated with these systems. This document presents CoolBOT, a component oriented framework for programming robotic systems, based on a port automata model that fosters controllability and observability of software components. A simple demonstrator illustrates the benefits of using the proposed approach.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133022412","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
Sliding mode neural controller for nonlinear systems with higher-order and uncertainties 高阶不确定非线性系统的滑模神经控制器
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438060
Tri P. Nguyen, H. Nguyen, Q. Ha
{"title":"Sliding mode neural controller for nonlinear systems with higher-order and uncertainties","authors":"Tri P. Nguyen, H. Nguyen, Q. Ha","doi":"10.1109/RAMECH.2004.1438060","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438060","url":null,"abstract":"In this paper, we propose a new neural controller architecture which is derived from an adaptive sliding mode control framework for a SISO nonlinear system with higher-order and uncertainties. This neural controller can overcome some disadvantages inherent in sliding mode controllers such as the chattering problem, complex calculation of the equivalent control term and unavailable knowledge of the upper bounds of system uncertainties. Experimental results for a coupled drives CE8 system show that a real-time neural controller has been implemented successfully.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132577592","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 regional point descriptor for global topological localization in flooded subterranean environments 地下淹水环境下全局拓扑定位的区域点描述子
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438960
David M. Bradley, David Silver, S. Thayer
{"title":"A regional point descriptor for global topological localization in flooded subterranean environments","authors":"David M. Bradley, David Silver, S. Thayer","doi":"10.1109/RAMECH.2004.1438960","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438960","url":null,"abstract":"A regional point descriptor for global localization using natural landmarks in flooded subterranean environments is presented. Global localization in underwater environments is complicated by a lack of sensors that land robots depend on for position estimation such as GPS, LADAR, and wheel odometry. This descriptor, the slide image, is designed to take advantage of orientation references available in subterranean voids while tolerating expected pose estimation errors in the horizontal plane. It serves as the basis of a robust topological navigation system for Minefish, an untethered, borehole deployable AUV designed to map flooded mines. Results are presented from tests on sonar data collected in the Wakulla springs tunnel system in Florida.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125996693","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 rank condition for /spl rho/-exponential stabilization of dynamic Caplygin systems 动态capplygin系统/spl rho/-指数镇定的秩条件
IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI: 10.1109/RAMECH.2004.1438059
Ti-Chung Lee, Jing-Sin Liu
{"title":"A rank condition for /spl rho/-exponential stabilization of dynamic Caplygin systems","authors":"Ti-Chung Lee, Jing-Sin Liu","doi":"10.1109/RAMECH.2004.1438059","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438059","url":null,"abstract":"The paper investigates the global /spl rho/-exponential stability of dynamic nonholonomic Caplygin systems, which is composed of double integrator cascading nonholonomic constraints. A novel decomposition of state is assumed first so that the constraints are linear in certain state variables. A simple and easily verified rank condition for the global /spl rho/-exponential stability of Caplygin systems is derived. A feature of our design is that all parameters can be explicitly determined from the constraint function or an important class of Caplygin systems in which one of the decomposed states is scalar, the rank condition can be explicitly represented as the conditions relating to the degree and non-zero property of the lowest degree polynomials of the Taylor series expansion of the constraint function at the origin. Moreover, an alternative form of Caplygin system in different coordinates is presented so that the proposed coordinate-dependent criterion can be applied. Examples such as extended power form, the rolling wheel and hopping robot systems are shown to belong to this class of Caplygin systems and thus their /spl rho/-exponential stability can be checked by the proposed test.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122245012","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
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