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

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Backward assembly planning with assembly cost analysis 逆向装配计划与装配成本分析
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220107
Sukhan Lee
{"title":"Backward assembly planning with assembly cost analysis","authors":"Sukhan Lee","doi":"10.1109/ROBOT.1992.220107","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220107","url":null,"abstract":"The author considers automatic assembly planning by developing a backward assembly planner which handles the case where an assembly sequence is not the same as the reverse of a disassembly sequence; improving planning efficiency with the reduction of search space by merging and grouping parts based on interconnection feasibility and special process precedence constraints; establishing assembly process planning by incorporating such special processes as testing, cleaning, etc., in assembly planning; and providing subassembly evaluation criteria with a direct connection to assembly cost. A method for the stability and directionality of an assembly is presented through which the required number of holding devices and reorientations during assembly are identified.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"35 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":"115455443","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: 58
Control of multiple arms with rolling constraints 具有滚动约束的多臂控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219932
X. Yun, Vijay R. Kumar, N. Sarkar, E. Paljug
{"title":"Control of multiple arms with rolling constraints","authors":"X. Yun, Vijay R. Kumar, N. Sarkar, E. Paljug","doi":"10.1109/ROBOT.1992.219932","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219932","url":null,"abstract":"The authors present a unified formulation for the control problem of multiple arm systems which accommodates both holonomic and nonholonomic constraints. Several unique control properties of nonholonomic systems are discussed. Several useful results regarding input-output linearization and the zero dynamics in such systems are proved. The analysis and controller design are discussed for multi-arm systems. Results from computer simulations are presented to demonstrate the control algorithms. Simulation results illustrate that rolling and sliding can be effectively controlled.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"118 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":"115459758","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: 41
CT ARM-I: coupled tendon-driven manipulator model I-design and basic experiments CT ARM-I:耦合肌腱驱动机械臂模型i -设计及基础实验
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219972
Shugen Ma, H. Yoshinada, S. Hirose
{"title":"CT ARM-I: coupled tendon-driven manipulator model I-design and basic experiments","authors":"Shugen Ma, H. Yoshinada, S. Hirose","doi":"10.1109/ROBOT.1992.219972","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219972","url":null,"abstract":"A nine-degree-of-freedom multijoint manipulator called the CT ARM-I has been developed. The CT ATM-I is based on the concept of coupled drive and the connected differential mechanism, and thus the force for lifting a payload does not concentrate on one actuator but is distributed among all actuators. This manipulator has a specific tendon traction force transmission mechanism in which a pair of tendons for driving a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism uses the coupled drive function of the tendon traction forces and thus enables the lightweight manipulator to exhibit high payload capability. Through the experimental study, it was demonstrated that the CT ARM-I has an active compliance arm and offers payload capability far superior to conventional designs.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"409 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":"116036267","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: 28
Robot modeling and control over extended configurational manifold 扩展构型流形的机器人建模与控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220243
C. Mladenova
{"title":"Robot modeling and control over extended configurational manifold","authors":"C. Mladenova","doi":"10.1109/ROBOT.1992.220243","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220243","url":null,"abstract":"All problems connected with manipulator modeling and control are treated on the group-configurational manifold Q/sub ct/ in place of the standard configurational space Q. This possibility is a result of the vector-parametrization of the SO (3) Lie group which has a simple composition law. The suggested approach makes it possible to apply the powerful methods of Lie group theory to the treatment of the controllability and observability of manipulator systems.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"37 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":"115455821","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
Cooperative control schemes for multiple robot manipulator systems 多机器人操纵系统的协同控制方案
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219928
P. Chiacchio, S. Chiaverini, B. Siciliano
{"title":"Cooperative control schemes for multiple robot manipulator systems","authors":"P. Chiacchio, S. Chiaverini, B. Siciliano","doi":"10.1109/ROBOT.1992.219928","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219928","url":null,"abstract":"Three schemes are developed which are aimed at achieving cooperative control of multiple arm systems manipulating a common object. The first scheme operates wholly on the object task space variables. The second scheme operates on the joint space variables that can be derived via a kinematic inversion from the cooperative task space variables. The third scheme combines the features of the two by solving the cooperation at the inverse kinematic level and acting the control at the object level. Simulation results are provided for a two-arm planar system to investigate the behavior of the controlled system in the case of inaccurate object modeling.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"36 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":"123500323","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
Dynamic robot manipulation using visual tracking 基于视觉跟踪的动态机器人操纵
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219959
Rajeev Sharma, J. Hervé, P. Cucka
{"title":"Dynamic robot manipulation using visual tracking","authors":"Rajeev Sharma, J. Hervé, P. Cucka","doi":"10.1109/ROBOT.1992.219959","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219959","url":null,"abstract":"The authors consider the multiple applications of vision in the solution of dynamic robot and positioning problems such as catching, hitting, and intercepting a moving object. They propose a framework for qualitative reasoning about such problems, and then present a robust vision-based control strategy that uses a Kalman filter to track image features. In the formulation, a given positioning problem is transformed into one of constrained trajectory planning on a topological surface defined by the relationship between positions of the robot and observable image features. By considering only the qualitative properties of this surface, the need for precise calibration of the various components of the system is eliminated.<<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":"123687532","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: 42
A new software environment for design of automated workcells 为自动化工作单元的设计提供了一种新的软件环境
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220175
Bernd G. Welz, T. Lüth
{"title":"A new software environment for design of automated workcells","authors":"Bernd G. Welz, T. Lüth","doi":"10.1109/ROBOT.1992.220175","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220175","url":null,"abstract":"The authors present the automatic system configurator (ASC), a software environment for the design of automated workcells. ASC consists of a number of tools which provide support at various stages of the planning of complex machine tools and workcells. It contains three tools for configuration and one layout planning tool. The tools can be used and stand-alone basis or in an integrated fashion via an information management system. Each ASC tool is a contribution to CIM in its own right. The configuration tools are knowledge based and stress in particular the knowledge acquisition aspects. The layout planning can be fully automatic, taking into account kinematic aspects for the layout planning of robots cells.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"688 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":"123826709","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
Architecture of behavior-based mobile robot in dynamic environment 动态环境下基于行为的移动机器人体系结构
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219996
Mutsumi Watanabe, K. Onoguchi, I. Kweon, Y. Kuno
{"title":"Architecture of behavior-based mobile robot in dynamic environment","authors":"Mutsumi Watanabe, K. Onoguchi, I. Kweon, Y. Kuno","doi":"10.1109/ROBOT.1992.219996","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219996","url":null,"abstract":"The authors are developing a compact cart-type robot system which moves around an office. They propose a behavior-based architecture with three clustered (reflexive, purposive, and adaptive) agents that realizes efficiency in attaining the mission of the robot, and robustness against the various kinds of failures that may occur in a dynamic environment. The reflexive-level group consists of agents with contact, infrared, and ultrasonic sensors which maintain minimal safety of the robot. The role of the purposive-level group is to achieve the global mission of the robot, such as 'if the robot detects a small fire in the office, find and reach a fire extinguisher as soon as possible'. The adaptive-level group stands by to recover from failure in the purposive-level group or in a deadlock situation. Experimental results showed the effectiveness of the method.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"9 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":"124695294","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: 39
Automatic guidance and control laws for helicopter obstacle avoidance 直升机避障自动制导与控制律
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220254
V. Cheng, T. Lam
{"title":"Automatic guidance and control laws for helicopter obstacle avoidance","authors":"V. Cheng, T. Lam","doi":"10.1109/ROBOT.1992.220254","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220254","url":null,"abstract":"The authors describe the implementation of a full-function guidance and control system for automatic obstacle avoidance in helicopter nap-of-the-earth (NOE) flight. The guidance function assumes that the helicopter is sufficiently responsive so that the flight path can be readily adjusted at NOE speeds. The controller, basically an autopilot for following the derived flight path, was implemented with parameter values to control a generic helicopter model used in the simulation. Evaluation of the guidance and control system with a 3-dimensional graphical helicopter simulation suggests that the guidance has the potential for providing good and meaningful flight trajectories.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"1 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":"128908892","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: 22
Stability and convergence of neurologic model based robotic controllers 基于神经模型的机器人控制器的稳定性与收敛性
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219979
M. K. Ciliz, C. Isik
{"title":"Stability and convergence of neurologic model based robotic controllers","authors":"M. K. Ciliz, C. Isik","doi":"10.1109/ROBOT.1992.219979","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219979","url":null,"abstract":"The authors investigate the local convergence properties of an artificial-neural-network (ANN)-based learning controller, using linearization techniques. The controller utilizes generic multilayer ANNs to adaptively approximate the manipulator dynamics over a specified region of the state space for a given desired trajectory. This generic neural network structure can be viewed as a nonlinear extension of a deterministic autoregressive model which is commonly used in model matching problems for linear systems.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"1 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":"129633459","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
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