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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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Large payload manipulation by space robots 空间机器人操纵大载荷
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583918
E. Papadopoulos
{"title":"Large payload manipulation by space robots","authors":"E. Papadopoulos","doi":"10.1109/IROS.1993.583918","DOIUrl":"https://doi.org/10.1109/IROS.1993.583918","url":null,"abstract":"Kinematic models for multiple manipulator space robotic systems are developed, as functions of body-fixed barycentric vectors. These models are used to define workspaces for single- and multi-manipulator free-floating systems. It is shown that following the capture of a large payload, the location of these workspaces in space changes, and their size is reduced. These effects, common in single- and multi-manipulator systems, must be taken into account during the planning of manipulation tasks in space. A procedure for manipulating a large payload is proposed. Given a payload and its desired path in space, this procedure yields an optimum grasping posture to ensure successful manipulation of the payload.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"59 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":"114301069","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
An approach to the autonomous grasping problem by the vibrating potential method 用振动势法研究机器人的自主抓取问题
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583895
H. Yokoi, Y. Kakazu
{"title":"An approach to the autonomous grasping problem by the vibrating potential method","authors":"H. Yokoi, Y. Kakazu","doi":"10.1109/IROS.1993.583895","DOIUrl":"https://doi.org/10.1109/IROS.1993.583895","url":null,"abstract":"This paper proposes potential field techniques for control of a link mechanism based on a decentralized management and an approach to describing a mathematical model of autonomous machines. To control the group of machines, there are two categories of method, one was based on central control and the other on parallel distributed control. A popular method for control machines is the so-called potential method, which has been applied to navigation for automatically guided vehicles in a stable working space. Since the potential function of the working space must be determined at every instant for an unstable working space, an efficiency of the potential method becomes low. To modify the potential function local, an approach called the vibrating potential method (VPM) is introduced. With this method, there are many cases where high-performance information processing can be attained without supervision. This paper proposes a new control method based on VPM and discusses its application to the grasping problem of free form objects.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"24 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":"116680170","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
Novel manipulator for micro object handling as interface between micro and human worlds 一种新型的微物体处理机械手，作为微世界与人类世界的接口
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583862
Tomomasa Sato, K. Koyano, M. Nakao, Y. Hatamura
{"title":"Novel manipulator for micro object handling as interface between micro and human worlds","authors":"Tomomasa Sato, K. Koyano, M. Nakao, Y. Hatamura","doi":"10.1109/IROS.1993.583862","DOIUrl":"https://doi.org/10.1109/IROS.1993.583862","url":null,"abstract":"A manipulator system for micro-object handling is presented and the design concepts used for system construction are described. The manipulator consists of two robots (right- and left-hand robots) and a optical stereo microscope. The right-hand robot has a working tool and a three-axis force sensor and is equipped with two orientational DOF; the left-hand one has a work table and is equipped with two orientational and three translational DOF. This manipulator system has a wide range of translational and orientational motions. Since all axes of the orientational DOF intersect at the tip of the tool, and this tip coincides with the focus area, micro-object handling operations can subsequently be executed within the focus area. A micro air turbine (diameter = 502 /spl mu/m) comprised of three parts was successfully assembled by the manipulator system. A sucking tool composed of a drawn glass pipe and vacuum pump were used for its assembly.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1 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":"128360171","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: 59
Modeling and simulation of space robots 空间机器人建模与仿真
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583911
S. Saha
{"title":"Modeling and simulation of space robots","authors":"S. Saha","doi":"10.1109/IROS.1993.583911","DOIUrl":"https://doi.org/10.1109/IROS.1993.583911","url":null,"abstract":"A method based on the natural orthogonal complement is proposed for the development of dynamic models of space robots. As an illustration, the method is used to develop a computer simulation of a space manipulator that moves on a plane. The simulation results can be displayed using an animation program that has been developed in parallel to this research.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"27 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":"129445663","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
Mobile robot guidance control with nonlinear observer based state estimation 基于非线性观测器状态估计的移动机器人制导控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583942
N. Matsumoto, A. Toyoda, S. Ito
{"title":"Mobile robot guidance control with nonlinear observer based state estimation","authors":"N. Matsumoto, A. Toyoda, S. Ito","doi":"10.1109/IROS.1993.583942","DOIUrl":"https://doi.org/10.1109/IROS.1993.583942","url":null,"abstract":"This study focuses on a mobile robot guidance control system in which a mobile robot tracks the reference trajectory parallel to a guide wall. A laboratory mobile robot which has two driving wheels and two distance measurement sensors on each side to measure distances from the guide wall is considered. Because measured distances are influenced by noise such as guide wall undulations and mobile robot vibrations, a nonlinear observer based on the extended linearization method is adopted to estimate state variables in mobile robot motion dynamics. A mobile robot heading angle and lateral deviation estimation algorithm based on this nonlinear observer are proposed, and the observer stability condition is derived. The estimation algorithm combined with state feedback controller comprises the mobile robot guidance control system. Estimation and control performance of the system are evaluated with a simulation model and the laboratory mobile robot.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1 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":"129900183","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
Motion planning amidst dynamic obstacles in three dimensions 三维动态障碍物中的运动规划
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583791
K. Fujimura
{"title":"Motion planning amidst dynamic obstacles in three dimensions","authors":"K. Fujimura","doi":"10.1109/IROS.1993.583791","DOIUrl":"https://doi.org/10.1109/IROS.1993.583791","url":null,"abstract":"Motion planning amidst moving obstacles in three dimensions is considered. Each obstacle is a polyhedron in three dimensions that moves with a constant speed at a fixed direction. Three basic properties are established for time-minimal motions in three dimensions amidst slowly moving obstacles. Representing moving three-dimensional objects with full generality would require space-time for four dimensions. The discussion is based on the idea of three-dimensional collision fronts and does not make explicit use of the time dimension. This makes it possible to treat the problem as in the case of stationary obstacles.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"2 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":"130353448","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
The design of software development system for multiple robots 多机器人软件开发系统的设计
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583331
Toyomi Fujita, H. Kimura
{"title":"The design of software development system for multiple robots","authors":"Toyomi Fujita, H. Kimura","doi":"10.1109/IROS.1993.583331","DOIUrl":"https://doi.org/10.1109/IROS.1993.583331","url":null,"abstract":"The authors present the design of an advanced software development system for dozens of robots with tight cooperation among robots. The system is based on Smalltalk-80 and extended for the purpose of the multiple robots control. The principle for the extension are very simple, making it easy to implement virtual machines for the multiple processors and the multiple robots.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"112 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":"121187952","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
Fuzzy control of group with a leader and their behaviors 有领导群体及其行为的模糊控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583325
K. Kurosu, T. Furuya, M. Soeda
{"title":"Fuzzy control of group with a leader and their behaviors","authors":"K. Kurosu, T. Furuya, M. Soeda","doi":"10.1109/IROS.1993.583325","DOIUrl":"https://doi.org/10.1109/IROS.1993.583325","url":null,"abstract":"A method is proposed for analyzing group behaviors described by the dynamic equations of the individual members guided by a leader. Behaviors described by fuzzy rules were studied to see whether the leader can guide the individual members. The simulation results lead to the following conclusions: (1) Simple rules make it possible for members to form a group. (2) A leader with a fuzzy controller can guide the members or confine the members in a circle. (3) Some members placed far from the group are susceptible to straying. (4) The position of the front of the group is a greater determinant of guidance control than the center of the gravity. (5) Zigzag movements can make the group move slowly, enabling a delayed member to catch up to the group. (6) Parameter changes cause apparent effects on the behaviors of the group.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"5 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":"116271079","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
Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm 采用受电弓主臂和冗余从臂的先进主从机械手的研制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583859
N. Matsuhira, M. Asakura, Hiroyuki Bamba, M. Uenohara
{"title":"Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm","authors":"N. Matsuhira, M. Asakura, Hiroyuki Bamba, M. Uenohara","doi":"10.1109/IROS.1993.583859","DOIUrl":"https://doi.org/10.1109/IROS.1993.583859","url":null,"abstract":"A new master-slave manipulator (MSM) with different configurations and different degrees of freedom (DOF) has been developed. It consists of a general master arm using pantograph mechanisms and a seven degree of freedom slave arm with a redundant joint. Symmetric bilateral control using a virtual internal model and redundant arm control with a singular configuration are used to improve the maneuverability of the MSM. The developed MSM has been confirmed to have good maneuverability from basic experiments. This paper describes the mechanisms, control methods, and experimental results of the MSM.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"13 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114019389","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: 18
Tracking control of multiple flexible link robots 多柔性连杆机器人的跟踪控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583179
Yuchen Zhou
{"title":"Tracking control of multiple flexible link robots","authors":"Yuchen Zhou","doi":"10.1109/IROS.1993.583179","DOIUrl":"https://doi.org/10.1109/IROS.1993.583179","url":null,"abstract":"Deals with joint tracking control of multiple flexible link robots. The dynamics of such robots are examined, and some important dynamic properties are presented. A joint tracking controller is designed using the computed torque concept. The control objective is to achieve asymptotic convergence of the joint tracking error and, ultimately, uniform boundedness of the elastic coordinates. Using the dynamic properties presented in this paper, a Lyapunov-type analysis shows that, with proper passive structural damping, the computed torque controller provides asymptotically stable joint tracking and a certain computable elastic coordinate boundedness. Numerical simulations validate the theoretical analysis.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"43 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":"124532400","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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