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

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A robotic system for underground coal mining 用于煤矿井下开采的机器人系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220221
Gary Shaffer, A. Stentz
{"title":"A robotic system for underground coal mining","authors":"Gary Shaffer, A. Stentz","doi":"10.1109/ROBOT.1992.220221","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220221","url":null,"abstract":"The authors describe a system that automates a continuous miner, enabling it to maneuver in highly constrained environments and cut coal without a human operator onboard. The system consists of a modified continuous miner, a laser range sensor, a SPARCstation, and control software. To date, the system has been tested on a mobile robot and on a continuous miner both above ground and in a real coal mine. The authors note that this system is the first instance of an intelligent robotic system for cutting coal.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"77 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":"132462457","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: 45
On sensor feedback for gripping an object within prescribed posture tolerances 在规定的姿势公差范围内抓握物体的传感器反馈
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220140
Å. Wernersson, B. Boberg, Bernt Nilsson, J. Nygårds, T. Rydberg
{"title":"On sensor feedback for gripping an object within prescribed posture tolerances","authors":"Å. Wernersson, B. Boberg, Bernt Nilsson, J. Nygårds, T. Rydberg","doi":"10.1109/ROBOT.1992.220140","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220140","url":null,"abstract":"The problem addressed is sensor feedback for guiding a robot to the correct gripping point and to arrive within the prescribed tolerances. The solution is divided into three parts, the extraction of posture parameters from a range camera dynamic filtering to reduce spurious responses and a linear quadratic Gaussian designed feedback law to guide the robot to the correct gripping point. The prescribed tolerances were reached within a reasonable time. For transparent results a mobile was considered with three state variables. This is a first simple case toward a unified theory of tolerance controlled gripping.<<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":"130445003","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
A decentralized controllability measure for robotic manipulators 机械臂的分散可控性测度
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219965
P. Kiriazov
{"title":"A decentralized controllability measure for robotic manipulators","authors":"P. Kiriazov","doi":"10.1109/ROBOT.1992.219965","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219965","url":null,"abstract":"A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"76 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":"134137527","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
Pattern recognition using soft addressing techniques 使用软寻址技术的模式识别
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220028
I. Makarov, A. Mikhailov, V. Rakhmankulov
{"title":"Pattern recognition using soft addressing techniques","authors":"I. Makarov, A. Mikhailov, V. Rakhmankulov","doi":"10.1109/ROBOT.1992.220028","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220028","url":null,"abstract":"Soft addressing techniques include those recognition methods which make it possible to use direct transformations from the pattern description to the memory address. The concept of soft addressing applied to pattern recognition problems is considered. Particular recognition methods are compared and discussed in relation to that concept. An approach to soft addressing which is based on the notion of a variable-dimensional feature space is suggested. It is shown that the approach can advance and improve recognition procedures which are similar to the nearest neighborhood method. Practical applications of the suggested approach to visual data processing are presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"85 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":"134417662","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: 0
Fast distance computation for on-line collision detection with multi-arm robots 多臂机器人在线碰撞检测的快速距离计算
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220063
D. Henrich, X. Cheng
{"title":"Fast distance computation for on-line collision detection with multi-arm robots","authors":"D. Henrich, X. Cheng","doi":"10.1109/ROBOT.1992.220063","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220063","url":null,"abstract":"A fast method for computing the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the computations.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"24 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":"134426326","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
Scheduling flexible flow shops with no setup effects 调度灵活的流程商店，没有设置效果
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220089
Shi-Chung Chang, Da-Yin Liao
{"title":"Scheduling flexible flow shops with no setup effects","authors":"Shi-Chung Chang, Da-Yin Liao","doi":"10.1109/ROBOT.1992.220089","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220089","url":null,"abstract":"The authors present an efficient, optimization model-based approach for scheduling the production of discrete-part, make-to-order type of flexible flow shops, where setup effects are negligible. A nominal scheduling algorithm based on Lagrangian relaxation and minimum cost linear network flow is developed for scheduling under nominal conditions. Fast rescheduling algorithms that exploit the economic interpretation of Lagrange multipliers and the network structure of production flows are proposed for timely adjustment of the nominal schedule to cope with disturbances. Numerical results on realistic examples demonstrated that the methodology was quite effective. It generated near-optimal schedules, provided relatively smooth adjustments and was computationally efficient.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"60 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":"133943420","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: 57
Dynamic feedback linearization of nonholonomic wheeled mobile robots 非完整轮式移动机器人的动态反馈线性化
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220061
B. d'Andréa-Novel, G. Bastin, G. Campion
{"title":"Dynamic feedback linearization of nonholonomic wheeled mobile robots","authors":"B. d'Andréa-Novel, G. Bastin, G. Campion","doi":"10.1109/ROBOT.1992.220061","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220061","url":null,"abstract":"Smooth time-varying laws can solve the stabilization problem of nonholonomic mechanical systems. The authors show that by means of dynamic state feedback, it is possible for three-wheeled mobile robots to track arbitrary fast trajectories not reduced to equilibrium points. Dynamical modeling of nonholonomic mechanical systems for the case of three-wheeled mobile robots is considered. Dynamic feedback allows solution of the tracking problem for an omnidirectional mobile robot with less motors than degrees of freedom. This is possible by choosing output functions depending on the mass repartition of the robot.<<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":"131131512","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: 158
ROBAT: a sonar-based mobile robot for bat-like prey capture ROBAT:一种基于声纳的移动机器人，用于捕捉类似蝙蝠的猎物
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220251
B. Barshan, R. Kuc
{"title":"ROBAT: a sonar-based mobile robot for bat-like prey capture","authors":"B. Barshan, R. Kuc","doi":"10.1109/ROBOT.1992.220251","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220251","url":null,"abstract":"The authors investigate the prey capture problem in an uncluttered environment for a mobile robot equipped with a wide-beam sonar system. An analytical lower bound for the mean capture time is derived by assuming complete information about the prey. Algorithms using qualitative and quantitative information are implemented for prey capture, and compared in terms of mean capture time and capture probability. Although qualitative information is sufficient, quantitative information assures more efficient prey capture to be achieved over a broader range of system parameters. Experimental results verifying the analysis and the simulations are provided.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"8 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":"133342875","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: 26
Discrete learning control for robots using partial model knowledge 基于部分模型知识的机器人离散学习控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219981
S. Tso, Y. X. Ma
{"title":"Discrete learning control for robots using partial model knowledge","authors":"S. Tso, Y. X. Ma","doi":"10.1109/ROBOT.1992.219981","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219981","url":null,"abstract":"The authors describe an iterative learning controller for robot manipulators. The learning control method presented makes use of partial model knowledge of the robot system and systematically merges desirable types of sensor data for iterative control. Fast convergence can always be obtained without going through complicated tuning exercises. The experimental results showed the superior learning performance of the robot system working with the learning controller.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"179 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":"132452396","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: 3
Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator 基于卫星的机械臂运动学和逆动力学的高效计算方法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220181
F. Nagashima, Y. Nakamura
{"title":"Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator","authors":"F. Nagashima, Y. Nakamura","doi":"10.1109/ROBOT.1992.220181","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220181","url":null,"abstract":"The authors propose an efficient computation scheme for the kinematics and inverse dynamics of a space manipulator. The simulation of the manipulator by using the equation of motion directly requires intensive calculation. The scheme proposed in the paper uses the kinematic conditions of the adjoined links and their derivatives with respect to time. The linear and angular velocities and accelerations of the links are separated into two parts, one dependent on the motion of the satellite and the other the remainder whose values are determined by a recursive algorithm. The conservation laws of the total linear and angular momentums and the conditions for the total force and torque balance are used to determine the satellite body's linear and angular velocities and accelerations. These, in turn, make it possible to solve the kinematics and inverse dynamics of a satellite-based manipulator. The amount of calculations for the kinematics and inverse dynamics is proportional to the number of manipulator links.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"29 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":"133193249","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: 7
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