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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)最新文献

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Hybrid position/force control of two cooperative flexible manipulators working in 3D space 三维空间中两个协同柔性机械臂的位置/力混合控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677240
M. Yamano, Jin-Soo Kim, M. Uchiyama
{"title":"Hybrid position/force control of two cooperative flexible manipulators working in 3D space","authors":"M. Yamano, Jin-Soo Kim, M. Uchiyama","doi":"10.1109/ROBOT.1998.677240","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677240","url":null,"abstract":"In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129401727","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: 12
Towards exact localization without explicit localization with the generalized Voronoi graph 用广义Voronoi图求精确定位而不显式定位
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676421
K. Nagatani, H. Choset, S. Thrun
{"title":"Towards exact localization without explicit localization with the generalized Voronoi graph","authors":"K. Nagatani, H. Choset, S. Thrun","doi":"10.1109/ROBOT.1998.676421","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676421","url":null,"abstract":"Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130687154","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: 57
An improved sculptured part surface design with jerk continuity for a smooth machining 一种改进的具有抽动连续性的雕刻零件表面设计，用于光滑加工
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680709
T. Lee, Yueh-Jaw Lin
{"title":"An improved sculptured part surface design with jerk continuity for a smooth machining","authors":"T. Lee, Yueh-Jaw Lin","doi":"10.1109/ROBOT.1998.680709","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680709","url":null,"abstract":"Presents an investigation of jerk continuity in milling operations for the sculptured surface of parts. It has long been realized that chattering of machine tools during machining operations can cause detrimental effects on the quality of machined parts as well as on the cutting tool's life. One of the major reasons causing chattering is known to be the rough transition of cutter acceleration changes during machining of different part surfaces. The problem becomes serious when machining sculptured surfaces of parts. In this work, an effective computer aided sculptured surface design technique is proposed. The ultimate goal is to achieve a smooth and near chattering-free machining for producing precision parts. The proposed surface design scheme models part's sculptured surfaces in such a way that it warrants a smooth jerk transition at the boundaries of common surface patches on the part. This results in a drastic reduction of large step changes of cutter accelerations during machining operations which will in turn eliminate a good portion of chattering effects. Three theorems concerning the necessary jerk continuity conditions for surface patches connections are developed and their proofs are presented. Examples of an airfoil and a concept car model are implemented using the proposed modeling approach to demonstrate its effectiveness.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130798764","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
Very fast collision detection for practical motion planning. I. The spatial representation 非常快速的碰撞检测实际运动规划。一、空间表征
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677042
Begoña Martínez-Salvador, A. P. Pobil, M. Pérez-Francisco
{"title":"Very fast collision detection for practical motion planning. I. The spatial representation","authors":"Begoña Martínez-Salvador, A. P. Pobil, M. Pérez-Francisco","doi":"10.1109/ROBOT.1998.677042","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677042","url":null,"abstract":"Practical robot motion planning for multiple moving objects in complex scenarios requires very fast collision detection. The efficiency of the algorithms is critically dependent on the representation that is used to model the objects. We present a hierarchical spatial representation based on spheres that is very adequate for speeding up collision detection. The objects can be non-convex and curved and they are not partitioned into convex ones. We present results that show some of its main features: spatial balance, stability and convergence. Comparative results in terms of quality and time are provided.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131151686","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: 23
Manipulating biological and mechanical micro-objects using LIGA-microfabricated end-effectors 使用liga微制造末端执行器操纵生物和机械微物体
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677430
M. Carrozza, P. Dario, A. Menciassi, A. Fenu
{"title":"Manipulating biological and mechanical micro-objects using LIGA-microfabricated end-effectors","authors":"M. Carrozza, P. Dario, A. Menciassi, A. Fenu","doi":"10.1109/ROBOT.1998.677430","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677430","url":null,"abstract":"We first discuss some general aspects of micromanipulation and possible different approaches. Then, we present new results in the micromanipulation of mechanical and biological objects. The apparatus we use is a purposely developed workstation comprising macro- and micro-manipulators. The most innovative component of the workstation is a micro-gripper fabricated using LIGA technology and actuated by piezoelectric actuators. We describe the design, fabrication and performance of a few prototypes of LIGA micro-grippers. Results are presented which demonstrate the ability of the system to manipulate effectively both micro-mechanical and biological micro-objects.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131156731","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: 61
Analytic nonlinear H/sub /spl infin// optimal control for robotic manipulators 机械臂解析非线性H/sub /spl / in//最优控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680755
Jonghoon Park, W. Chung, Y. Youm
{"title":"Analytic nonlinear H/sub /spl infin// optimal control for robotic manipulators","authors":"Jonghoon Park, W. Chung, Y. Youm","doi":"10.1109/ROBOT.1998.680755","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680755","url":null,"abstract":"Recent successes in nonlinear H/sub /spl infin// control design has been applied to control of robot manipulator systems. It is known that the existence of H/sub /spl infin// optimal control reduces to solvability of the Hamilton-Jacobi-Isaacs partial differential equation, which is very difficult to solve. In this article, a robust control in the sense of L/sub 2/-gain attenuation from an external disturbance and one due to model uncertainties is designed for a class of Euler-Lagrange system based on a class of analytic solution to the associated Hamilton-Jacobi-Isaacs equation.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131254267","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: 13
Schedule execution using perturbation analysis 使用摄动分析安排执行
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680761
L. Bongaerts, H. Brussel, P. Valckenaers
{"title":"Schedule execution using perturbation analysis","authors":"L. Bongaerts, H. Brussel, P. Valckenaers","doi":"10.1109/ROBOT.1998.680761","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680761","url":null,"abstract":"In a holonic shop floor control (SFC) architecture, a reactive scheduler co-operates with an autonomous online SFC system to combine high performance with reactivity against disturbances. To take its decisions, the online SFC system uses the existing schedule as advice. This \"schedule execution\" (SE) problem is not trivial, because the decisions taken by the online SFC system are local decisions in a combinatorial optimisation problem. By representing the schedule as a graph, this paper presents an algorithm for SE, based on perturbation analysis. It tackles the nonlinearities in the production system by a combination of linearisation and feedback control.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130744739","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: 28
Control of a car-like robot using a dynamic model 基于动态模型的类车机器人控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680943
M. Egerstedt, Xiaoming Hu, A. Stotsky
{"title":"Control of a car-like robot using a dynamic model","authors":"M. Egerstedt, Xiaoming Hu, A. Stotsky","doi":"10.1109/ROBOT.1998.680943","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680943","url":null,"abstract":"A solution to the problem of controlling a car-like nonholonomic robot is proposed using a \"virtual\" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which, for instance, the side slip angles are taken into account.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"02 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130997785","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
Learning a linear association of drilling profiles in stapedotomy surgery 学习镫骨切开术中钻孔剖面的线性关联
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677056
V. Kaburlasos, V. Petridis, P. Brett, D. Baker
{"title":"Learning a linear association of drilling profiles in stapedotomy surgery","authors":"V. Kaburlasos, V. Petridis, P. Brett, D. Baker","doi":"10.1109/ROBOT.1998.677056","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677056","url":null,"abstract":"The two-level fuzzy-lattice (2L-FL) learning scheme is introduced for application on an intelligent surgical (mechatronic) drill in the stapedotomy surgical procedure in the ear. The 2L-FL scheme learned from past cases to evaluate pointedly the thickness of a stapes bone using a force/torque pair of drilling profiles. Hence it is possible, in principle, to drill safely a hole through supple stapes by retracting automatically the drill upon bone breakthrough. The 2L-FL scheme was applied on two different partly ordered sets defined on a set of square matrices mapping features of two different data profiles to one another. Results are presented comparatively on experimental drilling data. The authors also discuss extension of their techniques to other surgical and industrial applications especially ones involving fusion of disparate sensory data where effective learning could compensate for the lack of accurate analytical models.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131155752","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 study of autonomous mobile system in outdoor environment. 2. Sign guided autonomous transportation system 户外环境下自主移动系统研究。2. 标志引导的自主交通系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680702
J. Takiguchi, K. Iwama, H. Sugie, Masanori Kato, T. Kiyonaga, T. Hashizume, F. Inoue, Kyoji Yoshino, Y. Omote
{"title":"A study of autonomous mobile system in outdoor environment. 2. Sign guided autonomous transportation system","authors":"J. Takiguchi, K. Iwama, H. Sugie, Masanori Kato, T. Kiyonaga, T. Hashizume, F. Inoue, Kyoji Yoshino, Y. Omote","doi":"10.1109/ROBOT.1998.680702","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680702","url":null,"abstract":"This paper presents an autonomous mobile system in an outdoor environment especially applied to a construction site. The system consists of an autonomous vehicle and signs. The autonomous vehicle recognizes instructions given in the signs using a vision system, then it moves or handles materials according to the instruction. The system is adaptable to the changeable environment of the construction site because transportation paths can be easily changed by altering the contents or placement of the signs. Experimental results obtained in the outdoor environment show feasibility of the system.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131199890","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
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