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Proceedings 1992 IEEE International Conference on Robotics and Automation最新文献

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A semi-automatic assembly sequence planner 半自动装配顺序规划器
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220100
Jacob J. Waarts, N. Boneschanscher, W. Bronsvoort
{"title":"A semi-automatic assembly sequence planner","authors":"Jacob J. Waarts, N. Boneschanscher, W. Bronsvoort","doi":"10.1109/ROBOT.1992.220100","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220100","url":null,"abstract":"To assist the user in determining feasible assembly sequences, an assembly sequence planner has been developed and implemented. With the aid of this planner, the user first groups the parts of the product into subassemblies and clusters. Next, the feasible sequences for each group are determined. A feasible sequence consists of valid assemblies and valid assembly actions only. An assembly is valid if it is accessible to the part to be assembled. These criteria, stability and accessibility, are used by the sequence planner to check whether an assembly sequence is feasible. The user may always overrule the result of these checks, and can thus direct the planning process. The basic algorithms that the planner uses and implementation results are discussed.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116646782","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: 23
Path planning: an approach based on connecting all the minimizers and maximizers of a potential function 路径规划:一种基于连接一个潜在函数的所有最小化和最大化的方法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219915
Shashikala H, N. Sancheti, S S Keerthi
{"title":"Path planning: an approach based on connecting all the minimizers and maximizers of a potential function","authors":"Shashikala H, N. Sancheti, S S Keerthi","doi":"10.1109/ROBOT.1992.219915","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219915","url":null,"abstract":"An improved potential-based method for robot path planning is developed by connecting all the local minima and local maxima of the potential function defined in the configuration space of the robot. The authors construct an adjacency graph of the local minima and maxima of the potential function. An edge connecting a local minimum and a local maximum has an associated pair of perturbations which gives a way of moving between them. The method is based on the stability theory of dynamical systems. The usefulness of the method was demonstrated on a two-dimensional piano mover's problem with three degrees of freedom.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116898946","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
Recognition of contact state based on geometric model 基于几何模型的接触状态识别
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220038
S. Hirai, K. Iwata
{"title":"Recognition of contact state based on geometric model","authors":"S. Hirai, K. Iwata","doi":"10.1109/ROBOT.1992.220038","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220038","url":null,"abstract":"The estimation of contact states by using force information acquired in the mating process is discussed, and a method for generating the state classifiers based on geometric models of workpieces on a computer is developed. A symbolic representation of contact states is addressed. Static behavior of workpieces at each contact state is analyzed by applying the theory of polyhedral convex cones. State classifiers that discriminate contact states are formulated by using the polyhedral convex cones, which directly provide a set of discriminant functions. To reduce real-time computations, the classifiers are simplified to a minimum set by using reduction rules of polyhedral convex cones. The algorithm to generate the state classifiers was implemented on a computer. An experiment to identify the current contact state from the measured reaction force is described to demonstrate the usefulness of the approach.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117187569","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: 47
Modelling the actions of an intervention robot 模拟干预机器人的动作
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219998
P. Freedman
{"title":"Modelling the actions of an intervention robot","authors":"P. Freedman","doi":"10.1109/ROBOT.1992.219998","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219998","url":null,"abstract":"Reviews the inadequacies of models of robot actions, proposed in the literature for intervention tasks. The STRIPS-inspired model of robot actions defined in terms of pre-conditions and post-conditions is extended by defining conditions which qualify the execution contexts of the actions. It is demonstrated that when all of the conditions are defined in terms of state variables and their possible values it becomes possible to study the soundness of the specifications of the possible actions to be performed, and the soundness of the interrelationships between these specifications. To this end, a particular kind of Petri net is proposed. An example of a mobile robot is also presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117347899","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
Developments of new force reflecting control schemes and an application to a teleoperation training simulator 新型力反射控制方案的发展及其在遥操作训练模拟器中的应用
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220152
W. Kim
{"title":"Developments of new force reflecting control schemes and an application to a teleoperation training simulator","authors":"W. Kim","doi":"10.1109/ROBOT.1992.220152","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220152","url":null,"abstract":"Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes permitted high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the force reflecting control schemes combined with compliance control, as presented, resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126038028","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: 89
Improved computed torque control for industrial robots 改进的工业机器人计算转矩控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220238
M. Uebel, I. Minis, K. Cleary
{"title":"Improved computed torque control for industrial robots","authors":"M. Uebel, I. Minis, K. Cleary","doi":"10.1109/ROBOT.1992.220238","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220238","url":null,"abstract":"The authors examine the computed torque control problem for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators due to the dynamics introduced by the joint drive systems. The proposed approach overcomes this problem by combining a novel computed torque algorithm with simple torque controllers at each joint of the robot. The control scheme is applied to a seven degree-of-freedom industrial manipulator, and the system performance in standard tasks is evaluated using both dynamic simulation and actual experiments. The results show that the proposed controller leads to improved tracking performance over a conventional PD (proportional plus derivative) controller.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123289765","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
Theory and implementation of sliding mode control with perturbation estimation (SMCPE) 带摄动估计的滑模控制理论与实现
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219969
H. Elmali, N. Olgaç
{"title":"Theory and implementation of sliding mode control with perturbation estimation (SMCPE)","authors":"H. Elmali, N. Olgaç","doi":"10.1109/ROBOT.1992.219969","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219969","url":null,"abstract":"A novel approach, sliding mode control with perturbation estimation (SMCPE), is presented to remove the restrictions of SMC about the a priori upperbound knowledge for the perturbations and to improve the tracking performance. It does not require the a priori knowledge of the upper bounds of the uncertainties and it offers much better tracking accuracies. However, SMCPE requires that the control loop speeds be reasonably faster than the perturbation dynamics. The success of SMCPE applications is closely related to the precision of the state measurements. Experimental justifications are presented from the applications of SMCPE on a SCARA-type Hitachi robot.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123591606","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: 179
Noise rejection for ultrasonic sensors in mobile robot applications 移动机器人应用中超声波传感器的噪声抑制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220129
J. Borenstein, Y. Koren
{"title":"Noise rejection for ultrasonic sensors in mobile robot applications","authors":"J. Borenstein, Y. Koren","doi":"10.1109/ROBOT.1992.220129","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220129","url":null,"abstract":"The authors categorize different types of noise and discuss methods for rejecting each type of noise. They introduce a method called error eliminating rapid ultrasonic firing (EERUF). EERUF combines different noise rejection techniques and optimizes them for rapid firing. EERUF almost completely rejects crosstalk. Its unique noise rejection capability allows multiple mobile robots to collaborate in the same environment, even if their ultrasonic sensors operate at the same frequencies. For each noise category methods are described to identify and reject the resulting errors. These individual rejection measures were combined into one error rejection method which was then combined with a fast firing algorithm. The resulting combination was EERUF. The EERUF method was implemented on a mobile robot and experimental results are presented. With EERUF, a mobile robot was able to traverse an obstacle course of densely spaced, pencil-thin poles at up to 1 m/s.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123800468","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: 80
SSS: a hybrid architecture applied to robot navigation SSS:应用于机器人导航的混合架构
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219995
J. Connell
{"title":"SSS: a hybrid architecture applied to robot navigation","authors":"J. Connell","doi":"10.1109/ROBOT.1992.219995","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219995","url":null,"abstract":"Describes a three-layer architecture, SSS, for robot control. It combines a servo-control layer, a subsumption layer, and a symbolic layer in a way that allows the advantages of each technique to be fully exploited. The key to this synergy is the interface between the individual subsystems. The design of situation recognizers that bridge the gap between the servo and subsumption layers, and event detectors that link the subsumption layers and symbolic layers are discussed. The development of such a combined system is illustrated by a fully implemented indoor navigation example. The resulting robot was able to automatically map office building environments, and smoothly navigate through them at the rapid speed of 2.6 feet per second.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126926474","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: 347
Two miniature pan-tilt devices 两个微型倾斜装置
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220292
B. Bederson, R. Wallace, E. Schwartz
{"title":"Two miniature pan-tilt devices","authors":"B. Bederson, R. Wallace, E. Schwartz","doi":"10.1109/ROBOT.1992.220292","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220292","url":null,"abstract":"The authors investigate two small robotic pan-tilt devices that differ from the conventional motor-on-motor design. The Platform Pantilt is based on a parallel linkage actuated by two small DC linear stepper motors. The spherical pointing motor (SPM) is a two-axis actuator built using three orthogonal motor windings. The SPM is controlled open-loop and is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities up to 600 degrees /sec. It is 4*5*6 cm and weight 160 grams. A subminiature camera consisting of a single CCD sensor chip and a lens assembly that fits on the rotor of this motor have also been built.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122392053","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
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