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

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Real time inverse kinematics for general 6R manipulators 通用6R机械臂的实时运动学逆解
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220309
Dinesh Manocha, J. Canny
{"title":"Real time inverse kinematics for general 6R manipulators","authors":"Dinesh Manocha, J. Canny","doi":"10.1109/ROBOT.1992.220309","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220309","url":null,"abstract":"The authors present a real-time algorithm for the inverse kinematics of general 6R robot manipulators. The algorithm involves symbolic preprocessing, matrix computation and a variety of numerical techniques. The numerical accuracy of these operations is well understood and for most cases it is possible to compute accurate solutions using 64-b IEEE floating point arithmetic available on most workstations. The average running time of the algorithm, for most cases, is 11 ms on an IBM RS/6000 workstation.<<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":"127071906","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: 99
Robust motion/force control of cooperative multi-arm systems 协同多臂系统的鲁棒运动/力控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219926
C. Derventzis, E. Davison
{"title":"Robust motion/force control of cooperative multi-arm systems","authors":"C. Derventzis, E. Davison","doi":"10.1109/ROBOT.1992.219926","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219926","url":null,"abstract":"The authors outline the development of a robust controller for the cooperative multiarm manipulation of a single object. Based on a derived model of closed-chain dynamic behavior, a controller consisting of nonlinear compensation terms together with an acceleration feedback structure is proposed. This controller has the property that it simultaneously regulates the motion response and the internal force response of the object, for a given class of reference signals, over a wide range of parameter variations of the system. The desired speed of response is obtained by online tuning of two controller parameters. The effectiveness of the proposed control method was demonstrated by a simulation of two three-link planar arms jointly manipulating a rigid bar.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"165 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":"115345275","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
Neuromorphic controller for AGV steering 用于AGV转向的神经形态控制器
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219978
R. Cheng, J. W. Xiao, S. LeQuoc
{"title":"Neuromorphic controller for AGV steering","authors":"R. Cheng, J. W. Xiao, S. LeQuoc","doi":"10.1109/ROBOT.1992.219978","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219978","url":null,"abstract":"A backpropagation neural network is proposed as a controller for an automated guided vehicle (AGV) system. At the present stage of development, the input layer consists of two neurons and receives the state signals of the tracking errors from the camera image processor, and the sole neuron in the output layer provides the command signal of a reference yaw rate signal for the vehicle. Simulations and preliminary experimentation on a prototype vehicle showed that one hidden layer was adequate to provide good driving for such a time-varying nonlinear dynamic system. A comparison with a previous proportional controller is included.<<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":"117300697","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: 27
Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling 基于非线性反馈的多机器人目标处理任务定义、解耦及冗余度求解
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220296
A. Ramadorai, T. Tarn, A. Bejczy
{"title":"Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling","authors":"A. Ramadorai, T. Tarn, A. Bejczy","doi":"10.1109/ROBOT.1992.220296","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220296","url":null,"abstract":"The problem of rigid object handling by multiple robot arms is investigated. The primary goal is to make the object exhibit a prescribed behavior while in contact with a fully known environment. Point contacts are assumed between the object and the arms. The aspect of task definition to achieve decoupling and linearizing control laws is discussed. Control laws are first formulated at the object level to provide decoupled force and position servo loops. It is then used to form control laws for the individual arms. Redundancies exist at the object and arm levels. The object level redundancy is used to achieve secondary goals in object handling. The arm level redundancies are the zero dynamics and can be controlled by redundant inputs. Full use of the available inputs are used to control the system as a whole. Numerical simulations for a dual-arm situation illustrate the validity of the approach.<<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":"123233008","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
Scheduling a batch processing facility 调度批处理设备
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220091
D. Hoitomt, P. Luh
{"title":"Scheduling a batch processing facility","authors":"D. Hoitomt, P. Luh","doi":"10.1109/ROBOT.1992.220091","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220091","url":null,"abstract":"A method for batching jobs within a class in advance of sequencing is presented. It is shown that under certain simplifying assumptions, optimal batch composition can be obtained independent of the sequencing problem. This composition is determined by assigning parts to batches according to an earliest due date (EDD) rule. An efficient methodology for sequencing the batches based on the Lagrangian relaxation technique is presented. The solution to the Lagrangian relaxation dual problem is a lower bound on the cost of the optimal schedule. If the assumptions are relaxed, the EDD rule becomes a heuristic for solving the batch composition problem, and the same batch sequencing algorithm can be used to obtain a schedule. In that case, the dual cost is a lower bound on the cost of all possible sequences with the same batch composition. Preliminary results show that good schedules can be efficiently obtained.<<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":"123514536","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
SANDROS: a motion planner with performance proportional to task difficulty SANDROS:一个与任务难度成比例的运动规划器
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220112
Pang C. Chen, Y. Hwang
{"title":"SANDROS: a motion planner with performance proportional to task difficulty","authors":"Pang C. Chen, Y. Hwang","doi":"10.1109/ROBOT.1992.220112","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220112","url":null,"abstract":"To address the need of a practical motion planner for manipulators, the authors present an efficient and resolution-complete algorithm that has performance commensurate with task difficulty. The algorithm uses SANDROS, a search strategy that combines hierarchical, nonuniform multiresolution, and best-first search to find a near-optimal solution in the configuration space. This algorithm can be applied to any manipulator, and has been tested with five- and six-degree-of-freedom robots, with execution times ranging from 20 seconds to 10 minutes on a 16 MIPS workstation.<<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":"123579864","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: 107
Using tactile whiskers to measure surface contours 使用触须测量表面轮廓
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220070
Robin Andrew Russell
{"title":"Using tactile whiskers to measure surface contours","authors":"Robin Andrew Russell","doi":"10.1109/ROBOT.1992.220070","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220070","url":null,"abstract":"The author describes the first stage of a project to gather three-dimensional information about the world using whisker sensors. Design criteria for the whisker sensors were accuracy, speed, and durability. Preliminary work has shown that detailed surface profiles can be recorded by scanning passive whisker sensors over a surface using a robot arm to provide mobility. Results which demonstrate that whisker sensors can determine the profile of both concave and convex surfaces are presented. However, there were situations in which the whisker sensor fails to provide correct information. Additional sensors have been incorporated into the whiskers to detect these conditions so that the false information can be discarded. An array of whiskers has been simulated by repeated scanning with a single whisker sensor. Further work which aims to increase the scanning speed of the sensor by creating an array of a whiskers and by improving the data collection facilities is outlined.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"38 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":"116827231","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: 99
A parallel algorithm and architecture for the control of kinematically redundant manipulators 一种运动冗余度机械手的并行控制算法及体系结构
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220293
A. A. Maciejewski, J. M. Reagin
{"title":"A parallel algorithm and architecture for the control of kinematically redundant manipulators","authors":"A. A. Maciejewski, J. M. Reagin","doi":"10.1109/ROBOT.1992.220293","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220293","url":null,"abstract":"The authors present a parallel algorithm for solving the equations of motion for kinematically redundant robotic systems. This algorithm, which relies on the calculation of the singular value decomposition (SVD), is implemented on a simple linear array of processing elements. By taking advantage of the error bounds on the perturbation of the SVD, it is shown that an array of only four AT&T DSP (digital signal processor) chips can result in control cycle times of less than 3 ms for a seven degree-of-freedom manipulator.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"45 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":"129753676","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: 36
Task assignment in pipeline assembly systems 管道装配系统的任务分配
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220196
A. Agnetis, F. Nicolò, C. Arbib, M. Lucertini
{"title":"Task assignment in pipeline assembly systems","authors":"A. Agnetis, F. Nicolò, C. Arbib, M. Lucertini","doi":"10.1109/ROBOT.1992.220196","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220196","url":null,"abstract":"The authors deal with the problem of part flow management in a class of assembly systems characterized by a serial transportation system connecting the workstations. The system assembles a number of identical units, each requiring a set of operations. Each operation is performed by a workstation and each workstation can perform any operation. The problem consists of assigning the operations to the workstations to maximize some productivity index of the system. Usually, a tree-like precedence relationship exists among the operations (assembly tree). The problem is analyzed for the case in which a dominating path on the assembly tree exists. A polynomial time dynamic programming algorithm is presented for the optimal assignment of operations to workstations.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"484 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":"129776243","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
A force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulation 一种力反射式遥控手系统，用于研究精密操作中的触觉感应
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220166
R. Howe
{"title":"A force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulation","authors":"R. Howe","doi":"10.1109/ROBOT.1992.220166","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220166","url":null,"abstract":"The author describes a teleoperated hand system developed to study the role of tactile and fine-force sensing in telemanipulation. Both master and slave manipulators are two-fingered hands designed for precision tasks that humans typically execute with a pinch grasp. A direct drive parallel linkage configuration and brushless DC servomotors permit smooth, accurate control of contact forces and small motions, which is essential for effective tactile sensing and display. Initial experiments demonstrated that an operator can perform precision tasks using this system, and that the ability to convey small force levels to the operator required careful attention to the coupling between the operator's finger tips and the master manipulator. The system has been used to demonstrate that a tactile display can convey frictional information sensed at the slave manipulator.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"13 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":"128500320","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: 90
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