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

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On the design of the kinematic structure of seven-axes redundant manipulators for maximum conditioning 基于最大调节的七轴冗余度机械手运动结构设计
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220242
J. Angeles, F. Ranjbaran, Rajnikant V. Patel
{"title":"On the design of the kinematic structure of seven-axes redundant manipulators for maximum conditioning","authors":"J. Angeles, F. Ranjbaran, Rajnikant V. Patel","doi":"10.1109/ROBOT.1992.220242","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220242","url":null,"abstract":"The kinematic design of redundant seven-axis manipulators is addressed. It is shown that isotropic seven-axis manipulators are possible. Three different optimum solutions are presented: first, a nonlinear minimization problem is solved which, in effect, renders the Jacobian matrix fully isotropic. Next, it is argued that, despite the fully isotropic feature of the first solution, some of its structural features can be improved. This leads to pre-assigning some of the parameters defining the structure of the manipulator, resulting in a system of 21 nonlinear equations in 21 unknowns. As the second solution, the Hartenberg-Denavit parameters of an isotropic manipulator are then obtained by solving the said system of nonlinear equations. Further constraints to make the manipulator structure anthropomorphic yield a third solution. This last solution gave rise to a manipulator which is not fully isotropic but is very close to isotropy, and exhibits a greater resemblance to the structure of the human arm.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"240 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":"124038158","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: 70
Some important considerations in force control implementation 力控实施中的一些重要考虑
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220074
E. Paljug, T. Sugar, Vijay R. Kumar, X. Yun
{"title":"Some important considerations in force control implementation","authors":"E. Paljug, T. Sugar, Vijay R. Kumar, X. Yun","doi":"10.1109/ROBOT.1992.220074","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220074","url":null,"abstract":"The authors address force control in overconstrained dynamic systems with special emphasis on robot control. Previous approaches to force control are studied, and many of these are shown to be unsuitable for dynamic force control. Practical and theoretical considerations for designing force control algorithms are discussed. Experimental and simulation results that validate the theoretical findings are presented for a single-degree-of-freedom pneumatic force controller.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"88 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":"126202969","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
Steering car-like systems with trailers using sinusoids 用正弦波来操纵带有拖车的类似汽车的系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219988
D. Tilbury, J. Laumond, R. Murray, S. Sastry, G. Walsh
{"title":"Steering car-like systems with trailers using sinusoids","authors":"D. Tilbury, J. Laumond, R. Murray, S. Sastry, G. Walsh","doi":"10.1109/ROBOT.1992.219988","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219988","url":null,"abstract":"Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"21 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":"126449632","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: 91
Compliance design method using linear programming 顺应性设计的线性规划方法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220079
S. Matsuo, S. Iwaki
{"title":"Compliance design method using linear programming","authors":"S. Matsuo, S. Iwaki","doi":"10.1109/ROBOT.1992.220079","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220079","url":null,"abstract":"An approach for designing compliance matrices using linear programming is presented. Compliance is treated as a linear mapping from a force to a corrected motion and is constructed on the basis of geometric information. The four conditions required of an appropriate compliance matrix (stability, feasibility, velocity dependency and error correctivity) are discussed. These conditions are formulated as a set of linear inequalities, and the compliance matrix design problem is reduced to a linear programming problem, with this set of inequalities as constraints. The usefulness of this method is shown by simulation and some experimental assembly tasks.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"60 4 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":"128010342","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
A systematic derivation of on-line motion constraint identification equations for model-based compliant motions 基于模型的柔性运动在线约束识别方程的系统推导
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220037
H. Bruyninckx, J. Schutter
{"title":"A systematic derivation of on-line motion constraint identification equations for model-based compliant motions","authors":"H. Bruyninckx, J. Schutter","doi":"10.1109/ROBOT.1992.220037","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220037","url":null,"abstract":"The authors derive a theoretical framework, based on the feature frame formalism, in which the tracking equations for any general motion constraint configuration are derived in a systematic way. The resulting equations are compared to previous research, which applied intuitively derived tracking equations to simple constrained motion tasks. Their applicability to complex tasks is shown. The authors describe the elements of a kinestatic model for ideal motion constraints, and introduce one possible representation: The Jacobian, or virtual manipulator representation. The modeling of uncertainties and their influence on the Jacobian representation are discussed. Observation and identification are considered. The enhanced observation and identification potential of the feature frame formalism with respect to the task frame formalism is discussed.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"122 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":"128161076","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: 8
Perception for a roadheader in automatic selective cutting operation 掘进机自动选择切削作业的感知
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220222
J. Orteu, J. Catalina, M. Devy
{"title":"Perception for a roadheader in automatic selective cutting operation","authors":"J. Orteu, J. Catalina, M. Devy","doi":"10.1109/ROBOT.1992.220222","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220222","url":null,"abstract":"The authors show how color and texture image segmentation, automatic image classification, camera calibration, and 3D scene representation can cooperate to solve a complex problem such as selective cutting. Attention is focused on the field of ore recognition, where significant improvement has been obtained by texture information. The research project considered involves the automation of the cutting operation of a roadheader for selective cutting in an underground potash mine near Barcelona in Spain. The system described is based on the use of computer vision to discriminate the different ore types found in the face (sylvinite, carnalite, and salt). Using the information about the ore distribution, paths are then planned for the computer-controlled cutting boom. It was shown that color information was important for minerals identification but texture information was absolutely necessary to get a good identification in all cases. The two kinds of information cooperate in an automatic image classification algorithm, which has been validated on many images of the mine face.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"26 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":"125479870","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
Integrated planning and execution control of autonomous robot actions 自主机器人动作的综合规划与执行控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219999
R. Chatila, R. Alami, B. Degallaix, H. Laruelle
{"title":"Integrated planning and execution control of autonomous robot actions","authors":"R. Chatila, R. Alami, B. Degallaix, H. Laruelle","doi":"10.1109/ROBOT.1992.219999","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219999","url":null,"abstract":"The authors describe an implemented integrated system allowing a mobile robot to plan its actions, taking into account temporal constraints, and to control their execution in real time. The general architecture has three levels, and the approach is related to hierarchical planning: the plan produced by the temporal planner is further refined at the control level, which in turn supervises its execution by a functional level. The framework of the French Mars Rover project VAP is used as an illustration of the various aspects discussed.<<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":"121789628","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: 68
Modelling of communications and control in an auction-based manufacturing control system 基于拍卖的制造控制系统中的通信和控制建模
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220173
K. J. Tilley, David J. Williams
{"title":"Modelling of communications and control in an auction-based manufacturing control system","authors":"K. J. Tilley, David J. Williams","doi":"10.1109/ROBOT.1992.220173","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220173","url":null,"abstract":"A model to predict the performance of the contract net approach to distributed scheduling in a discrete parts manufacturing environment is presented. This extends previous work by explicitly considering the computational resource constraints both in the scheduling systems and its underlying communication network. The model was used to demonstrate that the main constraint on the operation of such a scheduling system was the time taken by the machines to process the task managers. This constraint placed restrictions on the type of task descriptions which can be used successfully in such systems.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"474 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":"115938083","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: 11
A collision-avoidance robot mounting LDM stereo vision 一种安装LDM立体视觉的避碰机器人
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220127
J. Takeno, S. Hachiyama
{"title":"A collision-avoidance robot mounting LDM stereo vision","authors":"J. Takeno, S. Hachiyama","doi":"10.1109/ROBOT.1992.220127","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220127","url":null,"abstract":"The authors have developed an almost real-time stereo vision system that enables the collision avoidance of mobile robots with moving obstacles. The visual system was capable of real-time processing by the LDM (laminated difference method), a technology for internal processing with the same hardware construction as that of conventional stereo vision systems. LDM is based on the comparison of brightness between picture elements to avoid occlusion problems and to achieve high-speed processing. Using a heuristic method to find solutions that satisfy the geometrical conditions in 3-D space pictures, it reduces the vagueness resulting from correspondence processing between picture elements. The experiment showed an example of a robot mounted with the visual system detecting a person as a moving obstacle, and evading it.<<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":"115916389","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
Implementation of a hybrid force-position controller using sliding mode techniques 使用滑模技术的混合力位置控制器的实现
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219967
Almerico Fedele, A. Fioretti, G. Ulivi
{"title":"Implementation of a hybrid force-position controller using sliding mode techniques","authors":"Almerico Fedele, A. Fioretti, G. Ulivi","doi":"10.1109/ROBOT.1992.219967","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219967","url":null,"abstract":"The design and the implementation of a hybrid force-position control scheme are presented. Joint level dynamic decoupling is performed by a hardware controller using feedforward plus sliding mode terms, and task-level decoupling is obtained by kinematic transformations. Simple linear state-feedback loops act in the task space. A careful design and some simplifying assumptions allow reduction of the hardware requirements, leading to a low-cost solution. Experimental results are presented validating the control scheme and the design hypothesis. Some critical aspects of the control loops are discussed. Future developments relating to improvements in disturbance rejection and applications are considered.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"45 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":"131340215","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
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