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

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Integrated hybrid system for planning and control of concurrent tasks in manufacturing systems 制造系统并发任务规划与控制的集成混合系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677256
Mumin Song, T. Tarn, N. Xi
{"title":"Integrated hybrid system for planning and control of concurrent tasks in manufacturing systems","authors":"Mumin Song, T. Tarn, N. Xi","doi":"10.1109/ROBOT.1998.677256","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677256","url":null,"abstract":"This paper presents a novel approach for solving the challenging problem in intelligent control of manufacturing systems. The proposed max-plus algebra model combined with event-based planning and control provides a mechanism to efficiently integrate task scheduling, sensing, planning and real-time execution so that the task scheduling which usually deals with discrete types of events, as well as action planning which usually deals with continuous events, can be treated systematically in a unified analytical model. The unique feature of this approach is that interactions between discrete and continuous events can be considered in a unified framework. This feature allows the manufacturing system to intelligently cope with unexpected events and uncertainties so that the efficiency and reliability of the task schedule and action plan can increase significantly. A robotic manufacturing system is used to illustrate the proposed approach. The experimental results demonstrate the advantages of the proposed approach.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"15 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":"123208898","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
VFH+: reliable obstacle avoidance for fast mobile robots VFH+:可靠的避障快速移动机器人
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677362
Iwan Ulrich, J. Borenstein
{"title":"VFH+: reliable obstacle avoidance for fast mobile robots","authors":"Iwan Ulrich, J. Borenstein","doi":"10.1109/ROBOT.1998.677362","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677362","url":null,"abstract":"This paper presents further improvements on the earlier vector field histogram (VFH) method developed by Borenstein-Koren (1991) for real-time mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added in VFH+ is a better approximation of the mobile robot trajectory, which results in higher reliability.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"18 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":"123505190","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: 751
Removing the singularities of serial manipulators by transforming the workspace 通过变换工作空间来消除串行机械手的奇异性
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680733
J. Lloyd
{"title":"Removing the singularities of serial manipulators by transforming the workspace","authors":"J. Lloyd","doi":"10.1109/ROBOT.1998.680733","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680733","url":null,"abstract":"A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized workspace W*. Robotic motions can then be planned anywhere in W*, subject to limits on spatial velocity and acceleration, and the resulting joint velocities and accelerations will be well-behaved and bounded. W* differs from W only near a singularity surface, where a deformation is applied in the direction normal to the surface. While the technique does not handle self-motion singularities and may not be practical in some cases, it is very easy to implement for certain manipulators, such as the PUMA, which is studied in the paper. When applicable, the method offers various advantages when compared with other methods of singularity control.","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":"122070651","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
Two performance measures for evaluating human control strategy 评价人类控制策略的两个性能指标
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680658
Jingyan Song, Yangsheng Xu, M. Nechyba, Y. Yam
{"title":"Two performance measures for evaluating human control strategy","authors":"Jingyan Song, Yangsheng Xu, M. Nechyba, Y. Yam","doi":"10.1109/ROBOT.1998.680658","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680658","url":null,"abstract":"In the last few years, modeling dynamic human control strategy (HCS) is becoming an increasingly popular paradigm in a number of different research areas, such as the intelligent vehicle highway system, virtual reality and robotics. Usually, these models are derived empirically, rather than analytically, from real human input-output control data. As such, there is a great need to develop adequate performance criteria for these models, as few guarantees exist about their theoretical performance. It is our goal in this paper to develop several such criteria. In this paper, we first collect driving data from different individuals through a real-time graphic driving simulator. We then model each individual's control strategy through the flexible cascade neural network learning architecture. Next, we develop two performance measures for evaluating the resulting HCS models, one dealing with obstacle avoidance, the other with tight-turning behavior. Finally, we evaluate the relative skill of different HCS models through the proposed performance criteria.","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":"122088699","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
Visuo-motor coordination of a robot manipulator based on neural networks 基于神经网络的机械臂视觉-运动协调
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677417
Liping Sun, C. Doeschner
{"title":"Visuo-motor coordination of a robot manipulator based on neural networks","authors":"Liping Sun, C. Doeschner","doi":"10.1109/ROBOT.1998.677417","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677417","url":null,"abstract":"A visuo-motor coordination scheme is proposed for a robot manipulator in the paper. The motion determination problem is learned by this scheme using neural networks. The motion process consists of basic motion and adjusting motion. A basic network is employed to determine the gross configuration of the robot end-effector using the visual information from two fixed cameras. An adjusting network serves to adjust the configuration of the robot finely using the visual information from two end-effector mounted cameras, so that the robot can handle an object according to the task. The efficiency and the adaptability of the basic network is shown in the simulation. The proposed scheme essentially regards complex calibration and geometric calculations as a simple mapping of the neural networks. The efficiency of this scheme will lead to expanding the application of the robot in a flexible environment.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":" 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120827910","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
Design of haptic interface through stiffness modulation for endosurgery: theory and experiments 基于刚度调制的内窥镜触觉界面设计:理论与实验
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677219
A. Faraz, S. Payandeh, Andon Salvarinov
{"title":"Design of haptic interface through stiffness modulation for endosurgery: theory and experiments","authors":"A. Faraz, S. Payandeh, Andon Salvarinov","doi":"10.1109/ROBOT.1998.677219","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677219","url":null,"abstract":"In endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In the paper, a novel design of an electromechanical system is considered which can enhance the force-reflecting capability of endosurgical graspers. The type synthesis of such a haptic interface leads to the application of a tunable spring. The design of the tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"45 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":"124040950","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
Design of a compact 6-DOF haptic interface 紧凑的六自由度触觉界面设计
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680730
Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama
{"title":"Design of a compact 6-DOF haptic interface","authors":"Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama","doi":"10.1109/ROBOT.1998.680730","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680730","url":null,"abstract":"In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over /spl plusmn/70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"22 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":"125927785","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: 130
Nanorobotic assembly of two-dimensional structures 二维结构的纳米机器人组装
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680958
A. Requicha, C. Baur, A. Bugacov, B. Gazen, B. Koel, A. Madhukar, T. Ramachandran, R. Resch, P. Will
{"title":"Nanorobotic assembly of two-dimensional structures","authors":"A. Requicha, C. Baur, A. Bugacov, B. Gazen, B. Koel, A. Madhukar, T. Ramachandran, R. Resch, P. Will","doi":"10.1109/ROBOT.1998.680958","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680958","url":null,"abstract":"Precise control of the structure of matter at the nanometer scale will have revolutionary implications for science and technology. Nanoelectromechanical systems (NEMS) will be extremely small and fast, and have applications that range from cell repair to ultrastrong materials. This paper describes the first steps towards the construction of NEMS by assembling nanometer-scale objects using a scanning probe microscope as a robot. Our research takes an interdisciplinary approach that combines knowledge of macrorobotics and computer science with the chemistry and physics of phenomena at the nanoscale. We present experimental results that show how to construct arbitrary patterns of gold nanoparticles on a mica or silicon substrate, and describe the underlying technology. We also discuss the next steps in our research, which are aimed at producing connected structures in the plane, and eventually three-dimensional nanostructures.","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":"125987669","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: 75
Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace 平移工作空间中并联机器人关节速度极值的有效计算
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680605
J. Merlet
{"title":"Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace","authors":"J. Merlet","doi":"10.1109/ROBOT.1998.680605","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680605","url":null,"abstract":"This paper presents an efficient algorithm for computing, with a guaranteed error, the maximal and minimal articular velocities of a parallel manipulator so that whatever is the location of the end-effector in a given volume it may perform a motion at a given Cartesian/angular velocity, under the assumption that its orientation is kept constant over the volume. This algorithm is much more faster and safe than the classical discretisation method.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"16 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":"124824517","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
Decentralized control of cooperating mobile manipulators 协作移动机械手的分散控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680672
T. Sugar, Vijay R. Kumar
{"title":"Decentralized control of cooperating mobile manipulators","authors":"T. Sugar, Vijay R. Kumar","doi":"10.1109/ROBOT.1998.680672","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680672","url":null,"abstract":"This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators. In this architecture, a lead robot plans, based on available sensory information, and follows a suitable trajectory. The other robots follow a desired formation with respect to the leader while maintaining a stable grasp. There are three main contributions in this paper. We present the real time control system and our approach to rapidly prototype the control code. We describe a novel, forklift-like arm and a control scheme that allows us to easily control the Cartesian stiffness or impedance. Finally, we describe the details of an experimental testbed and results that demonstrate the robustness of the control scheme.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"155 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":"128694012","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: 116
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