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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 control of manipulator with considering flexibility 考虑柔性的机械手力控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583848
F. Matsuno, S. Shibata, Y. Sakawa
{"title":"Force control of manipulator with considering flexibility","authors":"F. Matsuno, S. Shibata, Y. Sakawa","doi":"10.1109/IROS.1993.583848","DOIUrl":"https://doi.org/10.1109/IROS.1993.583848","url":null,"abstract":"A simple model that considers the flexibility of constrained manipulators by introducing a set of equivalent springs is proposed. On the basis of the model, the authors derive a controller, which compensates the vibrations of the contact force. For measuring the vibrations and the contact force, accelerometers and a force sensor are used. Output signals of the sensors are fed back to the driving motors for controlling the position of the end-effector and the contact force. Experimental results are shown.","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":"122996286","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
A model reference approach to adaptive impedance control of robot manipulators 机械臂自适应阻抗控制的模型参考方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583146
Zlatko M. Soitrov, Roumen G. Botev
{"title":"A model reference approach to adaptive impedance control of robot manipulators","authors":"Zlatko M. Soitrov, Roumen G. Botev","doi":"10.1109/IROS.1993.583146","DOIUrl":"https://doi.org/10.1109/IROS.1993.583146","url":null,"abstract":"A new formulation of the impedance control problem which is suitable for passivity based adaptive controllers for robot manipulators is proposed. A reference model architecture leading to a desired error dynamics and an adaptation procedure which is independent of the initial state error is used. The reference model dynamics represents the desired dynamics relationship between position error, velocity error and external force. It also allows for the adaptation procedure to be tuned independently of the desired impedance behavior of the manipulator. The proposed control algorithm is shown to be globally stable, computationally simple and easy to implement. The theoretical results are verified through computer simulations.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"99 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":"123029265","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
A grasp abstraction hierarchy for recognition of grasping tasks from observation 从观察中识别抓取任务的抓取抽象层次
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583177
S. B. Kang, K. Ikeuchi
{"title":"A grasp abstraction hierarchy for recognition of grasping tasks from observation","authors":"S. B. Kang, K. Ikeuchi","doi":"10.1109/IROS.1993.583177","DOIUrl":"https://doi.org/10.1109/IROS.1993.583177","url":null,"abstract":"This work focuses on the abstraction hierarchy for a grasp which has been recognized from low-level hand-object interaction data. Previous work done on grasp classification and recognition is discussed. The proposed abstraction hierarchy is presented with illustrations, implementation issues, as well as experimental results. Issues pertaining to the conceptual analysis of the other aspects of recognizing grasping tasks are also presented. The authors report on the current status of the project and future work.","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":"121607217","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: 21
Asymptotic convergence of feedback error learning method and improvement of learning speed 反馈误差学习方法的渐近收敛性及学习速度的提高
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583156
F. Arai, L. Rong, T. Fukuda
{"title":"Asymptotic convergence of feedback error learning method and improvement of learning speed","authors":"F. Arai, L. Rong, T. Fukuda","doi":"10.1109/IROS.1993.583156","DOIUrl":"https://doi.org/10.1109/IROS.1993.583156","url":null,"abstract":"Deals with the improvement of learning speed based on the analysis of the convergence of the feedback error learning method. The authors derive the condition for the asymptotic convergence of the feedback error learning method for each trial. This condition is the relationship between the learning rate and the /spl alpha/ function, which is calculated from the input-output relationship of the system. Using the /spl alpha/ function obtained above, a high-speed learning method for a trajectory control system is obtained. Simulations results are given for the trajectory control of a 1 link robot manipulator in two cases: (1) using a general feedback error learning method and (2) using the proposed high-speed learning method. The simulation results show the effectiveness of the proposed conditions and learning 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":"122159304","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
Flexible joint control: Robustness analysis of the collocated and non-collocated feedbacks 柔性关节控制:配置与非配置反馈的鲁棒性分析
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583920
D. Alazard, J. Chretien
{"title":"Flexible joint control: Robustness analysis of the collocated and non-collocated feedbacks","authors":"D. Alazard, J. Chretien","doi":"10.1109/IROS.1993.583920","DOIUrl":"https://doi.org/10.1109/IROS.1993.583920","url":null,"abstract":"The robustness and performance properties of a proportional-derivative controller applied to a very flexible joint are discussed. Because of a flexible mode due to in-joint compliance, the classical collocated control does yield good rigid mode dynamics with a correct phase margin in low and high frequency, and noncollocated control does not allow correct damping of the rotor mode. The simultaneous analysis of discrete root loci and Nicholas plots leads to a phase control law with a derivative term built from both input and output velocities. Simulations taking into account various real nonlinearities and measurement imperfections are proposed to validate this improved control design.","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":"128020650","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: 10
Robot programming by human demonstration: Subtask compliance controller identification 人工示范机器人编程:子任务遵从性控制器识别
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583008
N. Delson, H. West
{"title":"Robot programming by human demonstration: Subtask compliance controller identification","authors":"N. Delson, H. West","doi":"10.1109/IROS.1993.583008","DOIUrl":"https://doi.org/10.1109/IROS.1993.583008","url":null,"abstract":"A programming by human demonstration (PHD) method playback of compliance trajectory is presented which utilizes compliance control to duplicate the human position and force trajectories when the parts being assembled are in the same location as during the demonstration, and will successfully adapt to certain variations in part location. To identify an appropriate compliance that will guarantee successful assembly, a second approach is presented that is based on multiple demonstrations. A criterion for selecting a compliance matrix is identified so that the robot errors in position and the maximum contact force will be less than those of the human, and that the robot will be able to achieve this level of performance as long as variation in workpiece location is not larger than during the demonstrations. The analysis is restricted to tasks which are demonstrated with a consistent sequence of subtasks, where each subtask consists of straight line translational motion.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"12 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":"129843583","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: 30
Advanced graphics interfaces for telerobotic servicing and inspection 用于远程机器人维修和检查的高级图形界面
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583115
W. Kim, P. Schenker, A. Bejczy, S. Hayati
{"title":"Advanced graphics interfaces for telerobotic servicing and inspection","authors":"W. Kim, P. Schenker, A. Bejczy, S. Hayati","doi":"10.1109/IROS.1993.583115","DOIUrl":"https://doi.org/10.1109/IROS.1993.583115","url":null,"abstract":"Recent advances in real-time 3-D computer graphics and hierarchically structured graphical user interfaces (GUI) enable development of very efficient graphics-based operator interfaces for telerobotic operations. This paper addresses potential benefits of such advanced graphics interfaces to telerobotic servicing and inspection, emphasizing operator efficiency and system safety. Specifically, the authors report on calibrated 3-D graphics displays and GUIs developed and applied to an advanced teleoperation system and a remote surface inspection system at the Jet Propulsion Laboratory.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"103 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":"122407361","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
Stiffness analysis of multi-fingered robot hands 多指机械手的刚度分析
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583240
Hyoukryeol Choi, W. Chung, Y. Youm
{"title":"Stiffness analysis of multi-fingered robot hands","authors":"Hyoukryeol Choi, W. Chung, Y. Youm","doi":"10.1109/IROS.1993.583240","DOIUrl":"https://doi.org/10.1109/IROS.1993.583240","url":null,"abstract":"The stiffness of a grasp is analyzed on the basis of the generalized virtual stiffness (GVS) model. Considering that the normal and lateral stiffness of the finger usually are not decoupled due to kinematics and mechanical design, GVS is formulated as coupled virtual springs. The authors relate GVS to the effective fingertip stiffness including the additional stiffness at the joint space. Based on the grasp stiffness formulation, simulations were carried out, focusing on the grasp stability.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"42 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":"125119940","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
Trajectory control of Cartesian type industrial manipulators with flexible joints 具有柔性关节的直角型工业机械臂轨迹控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583001
T. Yoshikawa, K. Hosoda, K. Harada, M. Ichikawa
{"title":"Trajectory control of Cartesian type industrial manipulators with flexible joints","authors":"T. Yoshikawa, K. Hosoda, K. Harada, M. Ichikawa","doi":"10.1109/IROS.1993.583001","DOIUrl":"https://doi.org/10.1109/IROS.1993.583001","url":null,"abstract":"In this paper, a method for PTP and trajectory control of Cartesian type three DOF industrial manipulator with flexible joints are proposed. The elasticity of the manipulator is modeled using the spring-mass model. To establish the equation of motion, the Lagrangian formulation is used. The state equation is derived. Then it is linearized approximately. The PTP control system is formulated. A minimal order observer is used in this PTP control system, and the trajectory control is realized based on the optimal control theory. Furthermore, the desired trajectory is modified to improve the tracking performance. Finally, computer simulation results are given to show the validity of the proposed tracking controller.","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":"126799671","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
Visual programming for capturing of human manipulation skill 用于捕捉人类操纵技能的可视化编程
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583077
S. Tso, K. Liu
{"title":"Visual programming for capturing of human manipulation skill","authors":"S. Tso, K. Liu","doi":"10.1109/IROS.1993.583077","DOIUrl":"https://doi.org/10.1109/IROS.1993.583077","url":null,"abstract":"The paper describes a visual programming approach to transferring the operator's manipulation skill directly to the robot. The objective is to let the robot learn by observing the human expert moving in his/her own work space. High-speed and high-precision acquisition of the location information is expedited by a marker-based visual system mounted on a conic tool surface, assisted by transputer calculation. Possible violation of the robot physical constraint is checked online with the provision of computer graphic facilities in the system which are also used for subsequent automatic path refinement.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"14 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":"127954744","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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