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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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Force-controlled assembly with a two-arm robot: How and where to perform it within the workspace 双臂机器人的力控装配:在工作空间内如何及在何处执行
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583904
Y. Bouffard-Vercelli, P. Dauchez, X. Delebarre
{"title":"Force-controlled assembly with a two-arm robot: How and where to perform it within the workspace","authors":"Y. Bouffard-Vercelli, P. Dauchez, X. Delebarre","doi":"10.1109/IROS.1993.583904","DOIUrl":"https://doi.org/10.1109/IROS.1993.583904","url":null,"abstract":"The use of a two-arm robot for assembling two objects, with each being held by one arm, is presented. More precisely, the authors propose some solutions for determining how and where such an assembly task should be performed. For the approach phase (before contact), they define the motion of one end-effector with respect to the other, without reference to any fixed frame. This allows them to take advantage of the two-arm robot redundancy. For the insertion phase, they use a symmetric hybrid control scheme. Real experiments with two PUMA robots have shown that the success of the assembly is highly dependent on the location where the assembly is performed. This is due to the control of contact forces between the objects, which can be done more or less properly. This problem is treated by using the concept of manipulability, represented by ellipsoids.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"93 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":"127212599","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: 6
Intelligence in control of complex robotic systems 控制复杂机器人系统的智能
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583140
M. Cotsaftis
{"title":"Intelligence in control of complex robotic systems","authors":"M. Cotsaftis","doi":"10.1109/IROS.1993.583140","DOIUrl":"https://doi.org/10.1109/IROS.1993.583140","url":null,"abstract":"In order to give complex mechanical systems more capabilities in their dynamic behavior, it is recognized that they belong to a class of systems for which the classical approach has to be amended to comply with their very structure. This means that, as they exhibit a complicated and mixed pattern of displacements and deformations, their trajectories become exceedingly complicated and no structured information can be obtained from them. This leads to the concept of functional control, which is precisely aimed at globally controlling the system from its accessible previous rigid variables without entering the (unusable) detail of exact trajectories. Milder asymptotic convergence of the solution of the error equation is obtained than with (inapplicable) classical trajectory control (typically, polynomial vs. exponential decay). A possible improvement is obtained by adding a learning-type control, allowing past trajectory information to be accounted for by setting its parameters so that a converging fixed point property can be obtained.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"50 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":"126112403","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
Intelligent drilling system for geological sensing 地质传感智能钻井系统
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583151
J. Hill, T. W. Smelser, S. Signer, G. G. Miller
{"title":"Intelligent drilling system for geological sensing","authors":"J. Hill, T. W. Smelser, S. Signer, G. G. Miller","doi":"10.1109/IROS.1993.583151","DOIUrl":"https://doi.org/10.1109/IROS.1993.583151","url":null,"abstract":"The US Bureau of Mines is developing ways of detecting changes in rock strata and using this information to control equipment and optimize support selection. One system being developed is discussed that monitors the drilling operation and uses pattern recognition and analytical formulas to evaluate geologic information so that an expert system can make decisions on support selection. Eventually this information will be used for equipment control, support selection, and input to long-term mine designs.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"7 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":"126380909","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
Identification of partially occluded objects using object chain code 使用对象链代码识别部分遮挡的对象
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583884
P. Lopes, E. Oliveira
{"title":"Identification of partially occluded objects using object chain code","authors":"P. Lopes, E. Oliveira","doi":"10.1109/IROS.1993.583884","DOIUrl":"https://doi.org/10.1109/IROS.1993.583884","url":null,"abstract":"A means of identifying partially occluded objects by inspecting only their visible border is presented. If one or more segments of the objects can be viewed by a top camera, then their lengths can be measured and the relative angles computed. By comparing these values with prerecorded object chain code, namely, sequences of alternate length-angle associated with each stable state of any known object, an identification may be obtained. Correct measurements of the border segments as well as their absolute angle were achieved using an especially modified Hough transform with postprocessing algorithms.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"29 10 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":"126575855","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
Incorporating learning in motion planning techniques 结合学习运动规划技术
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583141
L. Gambardella, M. Haex
{"title":"Incorporating learning in motion planning techniques","authors":"L. Gambardella, M. Haex","doi":"10.1109/IROS.1993.583141","DOIUrl":"https://doi.org/10.1109/IROS.1993.583141","url":null,"abstract":"Robot motion planning in a cluttered environment requires knowledge about robot shape and size. These robot characteristics influence system performance even though most motion planning methods do not consider them. This paper presents an ongoing study of general motion planning techniques in combination with knowledge related to robot shape and size. The system acquires knowledge and learns strategies to avoid local collisions and to make global decisions. A neural network is presented that learns local behavior and a learning technique based on a reinforcement method is presented to overcome problems of local minimum.","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":"123691442","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
Modelling and simulation of an angular scan LED array-based range imaging sensor 基于角度扫描LED阵列的距离成像传感器建模与仿真
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583885
J. Marszalec
{"title":"Modelling and simulation of an angular scan LED array-based range imaging sensor","authors":"J. Marszalec","doi":"10.1109/IROS.1993.583885","DOIUrl":"https://doi.org/10.1109/IROS.1993.583885","url":null,"abstract":"A fast triangulation photoelectric range scanner is proposed that uses an array of LED chips and a lateral-effect position-sensing detector. The essential advantages of the scanner are construction without any moving parts, small size, good stability, and low cost. A range map is obtained by means of fast electronic scanning of the chips in the integrated LED array. The operating principle of the scanner is illustrated, and the development of the theoretical model for the scanner and its simulation results are presented. An approach for designing a sensor prototype is also briefly reported.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"94 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":"123752141","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
Experimental comparison of model-based robot position control strategies 基于模型的机器人位置控制策略的实验比较
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583082
G. Alici, R. Daniel
{"title":"Experimental comparison of model-based robot position control strategies","authors":"G. Alici, R. Daniel","doi":"10.1109/IROS.1993.583082","DOIUrl":"https://doi.org/10.1109/IROS.1993.583082","url":null,"abstract":"An experimental comparison of model-based joint space position control (JSPC) and Cartesian space position control (CSPC) strategies for the same manipulator, trajectory, sample rate, and dynamic model is presented. It is shown that the achievable tracking performance (in terms of the peak tracking error) and disturbance rejection capability of JSPC was experimentally better than that of CSPC for the same sample rate. High feedback gains for CSPC were found to be unachievable, which the authors suggest is due to the incompatibility between actuation and control space. The effect of varying the trajectory velocity, and of using a diagonal or full mass matrix in the control torque computation on the performance of the both strategies is also presented.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"31 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":"125065391","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
On the development of a fuzzy model for nonlinear systems 非线性系统模糊模型的发展
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583260
J. Lai, J. Shieh, Y.-C. Lin
{"title":"On the development of a fuzzy model for nonlinear systems","authors":"J. Lai, J. Shieh, Y.-C. Lin","doi":"10.1109/IROS.1993.583260","DOIUrl":"https://doi.org/10.1109/IROS.1993.583260","url":null,"abstract":"The authors propose a fuzzy algorithm for modeling nonlinear physical systems. Each of the nonlinear coefficients in the system dynamic equation is modeled by a set of fuzzy rules. An identification algorithm incorporating a recursive least-squares method and an optimum search process is then used to optimize the parameters of the fuzzy rules. This ensures that all unknown fuzzy parameters can be predicted systematically. The feasibility of such an algorithm is demonstrated by two examples, a 2-link manipulator and a servovalve-controlled pneumatic chamber. Both computer simulation and experimental results show that the proposed fuzzy algorithm is very useful for modeling nonlinear systems, as the predicted system responses match the actual ones very well.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"86 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":"126249817","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
A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination 一种航天器姿态/机械臂运动协调的冗余自由飞行空间机器人控制器
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583921
D. Nenchev
{"title":"A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination","authors":"D. Nenchev","doi":"10.1109/IROS.1993.583921","DOIUrl":"https://doi.org/10.1109/IROS.1993.583921","url":null,"abstract":"A resolved acceleration type controller for free-flying space robots with a kinematically redundant manipulator arm is presented. The arm is controlled to track a desired end-effector trajectory and at the same time to change the attitude of the system in a desired manner and without activating jet thrusters and/or reaction wheels. The formulation is based on the fixed-attitude restricted (FAR) Jacobian matrix which was introduced for path planning and control at the velocity level. A reformulation in terms of accelerations allows the author to address the issue of end-effector velocity step-change response, caused, for example, by a collision between the end-effector and the target. It is shown that when the FAR Jacobian is applied, the joint acceleration is mainly derived from the null space of the manipulator-link inertia matrix, and hence there is very little disturbance of the spacecraft attitude. As a consequence, there is a loose dependence on spacecraft mass and inertia.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"49 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":"128373767","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: 19
Remote intervention, robot autonomy, and teleprogramming: generic concepts and real-world application cases 远程干预、机器人自主和远程编程:一般概念和实际应用案例
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583117
G. Giralt, R. Chatila, R. Alami
{"title":"Remote intervention, robot autonomy, and teleprogramming: generic concepts and real-world application cases","authors":"G. Giralt, R. Chatila, R. Alami","doi":"10.1109/IROS.1993.583117","DOIUrl":"https://doi.org/10.1109/IROS.1993.583117","url":null,"abstract":"The authors consider the class of intervention robots that have to perform tasks in remote environments which may impose painful, harsh or utterly dangerous conditions to humans. They informally characterize this class of problems and briefly discuss several basic concepts which underlie the current approaches. The remote autonomous robot concept that they have developed fulfills the requirements deduced of these basic ideas. The authors illustrate the real world possibilities of the concept by describing the features of two application projects (AMR, VAP) that they believe to be significant and demonstrative. The last section is devoted to the description of a generic experiment carried on with ADAM, an all-terrain full size rover. It includes the system architecture implementation and some of the experimental results.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"45 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":"121079083","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: 26
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