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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)最新文献

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Experiments on cooperative motion of a space robot 空间机器人协同运动实验
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583927
H. Fujii, H. Yoneoka, K. Uchiyama
{"title":"Experiments on cooperative motion of a space robot","authors":"H. Fujii, H. Yoneoka, K. Uchiyama","doi":"10.1109/IROS.1993.583927","DOIUrl":"https://doi.org/10.1109/IROS.1993.583927","url":null,"abstract":"The dynamics of a space robot is studied experimentally using the Micro-Gravity Emulation System for Space Robots, by suspending the manipulators of a space robot model through wires whose tension is controlled so as to be constant. The movement of the main body is controlled using numerically processed data. The cooperative motion of the suspension system for the manipulator is realized in order to cancel the gravitational force acting on the manipulator, while the cooperative motion of the suspension system for the main body of the space robot is executed in order to emulate the internal force of the manipulator acting on the main body. In cooperative motion, an algorithm is necessary to analyze the mutual motion between the suspension systems of the manipulator and the main body. Analyses of a scheme for the cooperative motion of the suspension systems and experimental results are reported.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123065896","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: 11
Inverse kinematics for robot manipulators based on incremental unit computation method 基于增量单元计算法的机器人机械手运动学逆解
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583855
Seo-Wook Park, Jun-Ho Oh
{"title":"Inverse kinematics for robot manipulators based on incremental unit computation method","authors":"Seo-Wook Park, Jun-Ho Oh","doi":"10.1109/IROS.1993.583855","DOIUrl":"https://doi.org/10.1109/IROS.1993.583855","url":null,"abstract":"This paper adopts an incremental unit computation method to obtain the inverse kinematics of a three-axis articulated robot. This method starts by defining incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Furthermore, the incremental direct kinematics can be solved by using a digital differential analyzer integrator. The hardware architecture to implement the algorithm is also described. Through applying the hardware realized by an erasable programmable logic device to the straight-line trajectory of an experimental robot, the end effector's maximum speed of 12.6 m/s has been obtained.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"2013 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127373911","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
Image processing and motion control of a lane mark drawing robot 车道标线绘制机器人的图像处理与运动控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583289
S. Kotani, S. Yasutomi, X. Kin, H. Mori, S. Shigihara, Y. Matsumuro
{"title":"Image processing and motion control of a lane mark drawing robot","authors":"S. Kotani, S. Yasutomi, X. Kin, H. Mori, S. Shigihara, Y. Matsumuro","doi":"10.1109/IROS.1993.583289","DOIUrl":"https://doi.org/10.1109/IROS.1993.583289","url":null,"abstract":"The authors propose a method for detecting and following a half-faded lane mark on an asphalt road using image processing. It ensures reliable detection and high speed following in the actual outdoor environment. The method is based on a template matching between a lane mark model and a detected lane mark. The authors built a testbed robot, which aims to repaint a half-faded lane mark semi-automatically. The details of this testbed robot and experimental results of a half-faded lane mark detection and following are described. Experimental results (trajectories of this robot) for a actual half-faded lane mark show the availability of this method.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124906529","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: 9
Simultaneous computation of robot kinematics and differential kinematics with automatic differentiation 机器人运动学和微分运动学的自动微分同时计算
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583160
D. Pai, Tony H. S. Ser
{"title":"Simultaneous computation of robot kinematics and differential kinematics with automatic differentiation","authors":"D. Pai, Tony H. S. Ser","doi":"10.1109/IROS.1993.583160","DOIUrl":"https://doi.org/10.1109/IROS.1993.583160","url":null,"abstract":"Describes the computation of derivatives of functions defined on a robot's kinematic quantities using the efficient adjoint technique for automatic differentiation. Implemented software called RAD (Robot Automated Differentiation), which can generate optimized C programs for computing these quantities from concise descriptions of the robot and the required kinematic quantities, is also described. In addition to automatic differentiation, the RAD software provides a symbolic formulation of the kinematics and simplification of trigonometric algebraic expressions using Mathematica and pattern matching. The authors illustrate the utility of the software with a 2-link robot and a PUMA robot.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123336167","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
On the dynamics of a neural network for robot trajectory tracking 机器人轨迹跟踪的神经网络动力学研究
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583106
Peter C. Y. Chen, J. Mills, Kenneth C. Smith
{"title":"On the dynamics of a neural network for robot trajectory tracking","authors":"Peter C. Y. Chen, J. Mills, Kenneth C. Smith","doi":"10.1109/IROS.1993.583106","DOIUrl":"https://doi.org/10.1109/IROS.1993.583106","url":null,"abstract":"In this paper, the dynamic behavior of a three-layer feedforward neural network as a uncertainty compensator for robotic control is investigated. The investigation is conducted in the context of the robot trajectory tracking problem, where the neural network (with the error-backpropagation algorithm) is used as a uncertainty compensator in conjunction with the feedback linearization control (i.e. computed torque) and a PD control. Through computer simulation, it is verified that the dynamics of the neural network has a specific pattern when the learning rate is sufficiently small, and that such a specific pattern of weight variation in the neural network represents a sufficient condition for closed-loop system performance improvement.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125325158","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
Manipulator control by using servoing with the stereo vision 机械手控制采用带立体视觉的伺服控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583889
N. Maru, H. Kase, S. Yamada, A. Nishikawa, F. Miyazaki
{"title":"Manipulator control by using servoing with the stereo vision","authors":"N. Maru, H. Kase, S. Yamada, A. Nishikawa, F. Miyazaki","doi":"10.1109/IROS.1993.583889","DOIUrl":"https://doi.org/10.1109/IROS.1993.583889","url":null,"abstract":"A new method of visual servoing with the stereo vision to control the position and orientation of the manipulator with respect to an object is presented. Conventional control methods by visual servoing use a monocular camera and have several problems. For example, either shape information or desired distance of the target object from the camera must be given. Furthermore, a stability problem arises unless the initial positional error of features in the image is sufficiently small. These problems are caused by the image Jacobian matrix, that is, its provisional value at a desired position is used instead of the correct one. By using stereo vision, the image Jacobian matrix can be calculated correctly at any position, so neither shape information nor desired distance of the target object is required. Also, stability is assured even if the initial error is not small. Both simulation and experimental results are presented to demonstrate the effectiveness of this method.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126613921","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: 24
Avoiding obstacles by using a proximity US/IR sensitive skin 通过使用近距离的US/IR敏感皮肤来避开障碍物
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583934
E. Guglielmelli, V. Genovese, P. Dario, G. Morana
{"title":"Avoiding obstacles by using a proximity US/IR sensitive skin","authors":"E. Guglielmelli, V. Genovese, P. Dario, G. Morana","doi":"10.1109/IROS.1993.583934","DOIUrl":"https://doi.org/10.1109/IROS.1993.583934","url":null,"abstract":"The problem of developing a sensing system for robots moving in a partially or completely unknown environment is investigated. A model of a generalized sensitive skin based on different types of sensors to be located on the whole surface of a robot is illustrated. A logic and hardware structure of the low-level layer of the skin is proposed to guarantee modularity and consistency of sensory data. A configuration including ultrasonic and infrared proximity sensors was chosen for the implementation of a prototype of the skin. A possible physical layout for obtaining a conformable skin to be used on any kind of robot surface is also presented. Local and general rules for low-level sensory data fusion are defined, and possible improvements of real-time obstacle avoidance path planning strategies are discussed by introducing sensor-based instinctive behaviors. A simulation of a modified potential field-based real-time planner for a mobile robot operating in a partially unknown environments is discussed to demonstrate the feasibility of this approach.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115221296","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: 17
Efficient communication method in the cellular robotic system 细胞机器人系统中的高效通信方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583319
T. Fukuda, K. Sekiyama, T. Ueyama, F. Arai
{"title":"Efficient communication method in the cellular robotic system","authors":"T. Fukuda, K. Sekiyama, T. Ueyama, F. Arai","doi":"10.1109/IROS.1993.583319","DOIUrl":"https://doi.org/10.1109/IROS.1993.583319","url":null,"abstract":"Presents a new approach to communication in an autonomous distributed system, focusing on the cellular robotic system (CEBOT). The CEBOT is a self-organizing robotic system composed of a large number of robotic units (cells) with a simple function. In order for cellular robots to implement a task efficiently, cooperation and coordination among cells are of great importance and require efficient communication. Since communication takes place in the process of task execution, it is likely to be intensive and biased by the small number of cells related to the task. This could decrease communication efficiency. To deal with these problems of robot communication, the authors propose demand-based intensive communication (DBIC), and show its effectiveness with simulation and experimental results for the prototype CEBOT Mark IV.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122883806","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: 15
Quasi-dynamic manipulation of constrained object by robot fingers in assembly tasks 装配任务中机器人手指对受限物体的准动态操纵
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583092
Y. Yokokohji, Yong Yu, N. Nakasu, T. Yoshikawa
{"title":"Quasi-dynamic manipulation of constrained object by robot fingers in assembly tasks","authors":"Y. Yokokohji, Yong Yu, N. Nakasu, T. Yoshikawa","doi":"10.1109/IROS.1993.583092","DOIUrl":"https://doi.org/10.1109/IROS.1993.583092","url":null,"abstract":"The authors discuss how to manipulate an object in contact with the fixed environment with robot-fingers to perform a planned assembly operation successfully. First, the region of possible fingertip force to balance the reaction force from the environment (quasi-static analysis) is explicitly represented to ensure that the moving object is manipulated correctly. Next, by considering the assembly operation in quasi-dynamic way (i.e., assuming that the velocity of the motion is small enough to be neglected but its acceleration is not negligible), the region of feasible fingertip forces to operate the object is described. According to the region of possible finger forces, the corresponding feasible range of the fingertip positions on the object surface can be obtained. And the difference between the fingertip position obtained by the quasi-dynamic analysis and the fingertip position obtained by the quasi-static analysis is shown. Lastly, the validity of this quasi-dynamic method is verified by serval experiments., All discussions are on the assumptions that objects are polyhedra and their notions are planar and frictionless, and its velocity is small enough.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114127484","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: 11
Information and power flow during skill acquisition for the Intelligent Assisting System-IAS 智能辅助系统(ias)技能获取过程中的信息和能量流
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583005
M. Buss, H. Hashimoto
{"title":"Information and power flow during skill acquisition for the Intelligent Assisting System-IAS","authors":"M. Buss, H. Hashimoto","doi":"10.1109/IROS.1993.583005","DOIUrl":"https://doi.org/10.1109/IROS.1993.583005","url":null,"abstract":"This paper discusses information and power flow in the Intelligent Assisting System (IAS). The IAS includes an intelligent manipulation assistant to a human operator, where information as well as forces between the operator, the IAS and the task environment are exchanged. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level and intelligently assist the operator. As a first approach to the IAS the authors have been developing a skill acquisition and transfer system using a sensor glove for force feedback to the human operator. The dynamic behavior of the grip transformation matrix is regarded as the essence of the performed manipulation skill shown with a simple manipulation example. A detailed analysis of force transformations between hand and object space yields a method for acquisition of the grip transform dynamic behavior accumulated in the skill database. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114263223","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: 16
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