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

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Development of a robotic assembly complex 机器人装配综合体的发展
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220198
D. E. Okhotsimsky, V. A. Kartashev
{"title":"Development of a robotic assembly complex","authors":"D. E. Okhotsimsky, V. A. Kartashev","doi":"10.1109/ROBOT.1992.220198","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220198","url":null,"abstract":"The authors discuss experience gained in developing robotic complexes for the assembly of some components in the machine building industry. Design of assembly cells is discussed. The importance of introducing check operations into the assembly process is pointed out. One rather simple and efficient checking method is described. The module-method of designing the control software is briefly outlined. The assembly process for a vacuum cleaner turbine using a Puma-type robot is presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"92 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":"122577984","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
Progress in spatial robot juggling 空间机器人杂耍的进展
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220275
A. Rizzi, D. Koditschek
{"title":"Progress in spatial robot juggling","authors":"A. Rizzi, D. Koditschek","doi":"10.1109/ROBOT.1992.220275","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220275","url":null,"abstract":"The authors review their progress to date in eliciting dynamically dexterous behaviors from a 3-d.o.f. direct drive robot manipulator whose real-time stereo cameras provide 60 Hz sampled images of multiple freely falling bodies in highly structured lighting conditions. At present, the robot is capable of forcing a single ping-pong ball into a specified steady-state (near) periodic vertical motion by repeated controlled impacts with a rigid paddle. The robot sustains the steady-state behavior over long periods (typically many thousands of impacts) and is capable of recovering from significant unexpected adversarial perturbations of the ball's flight phase. Gain tuning experiments corroborate the authors' contention that the stability mechanism underlying the robot's reliability can be attributed to the same nonlinear dynamics responsible for analogous behavior in a previous 1-d.o.f. robot.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"19 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":"122159773","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: 95
Sensor-based error recovery for robotic task sequences using fuzzy Petri nets 基于传感器的机器人任务序列模糊Petri网误差恢复
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220207
T. Cao, A. Sanderson
{"title":"Sensor-based error recovery for robotic task sequences using fuzzy Petri nets","authors":"T. Cao, A. Sanderson","doi":"10.1109/ROBOT.1992.220207","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220207","url":null,"abstract":"The authors address the problem of representing and automatically invoking error recovery sequences in response to sensed error during execution. The approach is based on the use of a fuzzy Petri net model in which sensory verification operations determine fuzzy values of tokens in the net. The outcome of a sensory verification operation changes the fuzzy values of tokens and leads to an altered firing sequence and resulting error recovery. An algorithm is described for adding sensory verification transitions and associated fuzzy transition rules which implement error recovery through retry or alternative sequence mechanisms.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"10 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":"122229758","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: 52
Computation of certain measures of proximity between convex polytopes: a complexity viewpoint 凸多面体之间某些接近度量的计算:一种复杂性观点
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220064
N. Sancheti, S. Keerthi
{"title":"Computation of certain measures of proximity between convex polytopes: a complexity viewpoint","authors":"N. Sancheti, S. Keerthi","doi":"10.1109/ROBOT.1992.220064","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220064","url":null,"abstract":"The quantification of proximity between a pair of objects whose point descriptions are given is considered. Four problems of proximity between two convex polytopes in R/sup 3/ are considered. The convex polytopes are represented as convex hulls of finite sets of points. The authors discuss the complexity of solving the four problems. They analyze algorithms for the four problems in terms of two complexity types. Let the total number of points in the two finite sets be n. It is shown that three of the proximity problems, checking intersection, checking whether the polytopes are just touching, and finding the distance between them, can be solved in O(n) time for fixed s and in polynomial time for varying s. It is also shown that the fourth proximity problem of finding the intensity of collision for varying s is NP-complete.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"11 6 Suppl 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":"129518829","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
Learning hybrid force and position control of robot manipulators 学习机械臂的混合力与位置控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220146
Doyoung Jeon, M. Tomizuka
{"title":"Learning hybrid force and position control of robot manipulators","authors":"Doyoung Jeon, M. Tomizuka","doi":"10.1109/ROBOT.1992.220146","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220146","url":null,"abstract":"A hybrid force and position controller with a feedforward compensator is designed in the constraint coordinates. When the operation is periodic, the learning control is applied to enhance the performance of the hybrid force and position control as the feedforward compensator is updated in each cycle by the force and position error in the preceding trials. This scheme is proved to be stable. In the experiments, a two-degree-of-freedom SCARA-type direct-drive robot manipulator was used. The deburring tool mounted on the upper link of the robot could follow a flat, tilted flat, and curved 1/4 inch aluminum plate with a desired contact force of 10 N, and with desired tangential velocity. Considering the loss of contact observed at the initial trial, the performance of the system improved significantly.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"31 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":"128437968","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: 145
Cooperating robot with visual and tactile skills 具有视觉和触觉技能的协作机器人
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219984
D. Vischer
{"title":"Cooperating robot with visual and tactile skills","authors":"D. Vischer","doi":"10.1109/ROBOT.1992.219984","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219984","url":null,"abstract":"The goal of the project was the design of a robot able to work in unstructured environments with a human operator. One benchmark problem chosen for this robot was to clear dishes from the trays in the canteen and put them into a dishwasher. Another benchmark test was aimed at the sorting sorting of parcels. The project includes the development of a tactile gripper, controlled by a neural network, as well as safety and interface concepts for the cooperation between operator and robot. A vision system using software and hardware tools to analyze complex 3D scenes and a fast, precise range-image sensor to capture 3D images are presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"5 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":"128504920","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: 29
A probabilistic framework for dynamic motion planning in partially known environments 部分已知环境下动态运动规划的概率框架
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220096
Rajeev Sharma
{"title":"A probabilistic framework for dynamic motion planning in partially known environments","authors":"Rajeev Sharma","doi":"10.1109/ROBOT.1992.220096","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220096","url":null,"abstract":"Current approaches to robot motion planning are limited in their ability to deal with an uncertain and dynamically changing environment. The author discusses the difficulties involved in modeling the situation and proposes a probabilistic model based on discrete events that abstracts the dynamic interaction between the mobile robot and the unknown part of the environment. The resulting framework makes it possible to design and evaluate motion planning strategies that consider both the known portion of the environment and the portion that is unknown but satisfies a probability distribution. Studies of instances of the general model that have yielded useful results in designing efficient motion planning algorithms vis-a-vis parameters representing a robot's environment and the reactive component of its behavior are summarized.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"2 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":"129268282","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
Inspecting specular lobe objects using four light sources 使用四个光源检查镜面瓣物体
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220132
F. Solomon, K. Ikeuchi
{"title":"Inspecting specular lobe objects using four light sources","authors":"F. Solomon, K. Ikeuchi","doi":"10.1109/ROBOT.1992.220132","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220132","url":null,"abstract":"The authors propose a noncontact method of measuring surface shape and surface roughness. The method uses four lights which sequentially illuminate the object under inspection, and a video camera for taking images of the object. Conceptually, the problem has three parts: shape extraction, pixel segmentation, and roughness extraction. The shape information is produced directly by three-light and four-light photometric stereo methods. After shape information is obtained, statistical segmentation techniques can be applied to determine which pixels are specular and which are nonspecular. Then, the specular pixels and shape information, and a simplified Torrance-Sparrow reflectance model can be used to determine the surface roughness. The method has successfully been applied to a number of synthetic and real objects.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"7 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":"124184028","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
A walking prescription for statically-stable walkers based on walker/terrain interaction 基于步行者/地形相互作用的静态稳定步行者行走处方
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220320
P. Nagy, W. Whittaker, S. Desa
{"title":"A walking prescription for statically-stable walkers based on walker/terrain interaction","authors":"P. Nagy, W. Whittaker, S. Desa","doi":"10.1109/ROBOT.1992.220320","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220320","url":null,"abstract":"The walker/terrain interaction phenomena for the control of a statically stable walking machine are described. The algorithms, measures, and knowledge of walker/terrain interaction phenomena are then combined to form a prescription for how to walk on general terrain. This prescription consists of two parts: nominal control and reactive control. The function of nominal control is the evaluation and execution of planned motions, based on predicted foot force redistributions, to achieve reliable locomotion. The function of reactive control is the monitoring of walker/terrain interaction in real-time to detect anomalous conditions and then respond with the appropriate reflexive actions. Simulations and experiments have been used to test and verify various aspects of the walking prescription.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"326 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114010918","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: 25
An architecture for application oriented robot programming 面向应用的机器人编程体系结构
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220199
K. Nilsson, Lars Nielsen
{"title":"An architecture for application oriented robot programming","authors":"K. Nilsson, Lars Nielsen","doi":"10.1109/ROBOT.1992.220199","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220199","url":null,"abstract":"Application-oriented programming of industrial robots is considered. The authors formulate the problems and suggest one approach towards a solution. The problem is motivated by some typical examples that are outlined. These examples show some requirements from different applications. Even a very mature application like spot welding needs special care to obtain best possible performance in the short moves between spots. In more complicated sensor-based applications the need is even greater. An architecture called the open robot control (ORC) architecture is proposed for this type of application-oriented programming. Solutions to the examples using ORC are discussed. A brief discussion of related works is given. Some implementation aspects are presented.<<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":"124486712","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
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