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

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The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction 力导向装配导纳控制律对接触摩擦扰动的鲁棒性
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220110
J. Schimmels, M. Peshkin
{"title":"The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction","authors":"J. Schimmels, M. Peshkin","doi":"10.1109/ROBOT.1992.220110","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220110","url":null,"abstract":"The design of an admittance control law for reliable force-guided assembly is addressed. The overall objective is to design the manipulator's mechanical performance so that, at each possible bounded part misalignment, the contact force always leads to a motion that alleviates the misalignment. The implementation of such an approach using a single nominal velocity and a single admittance function is referred to as force-assembly. Previous work addressing force-assembly of a workpiece into a fixture has shown that when workpiece/fixture contact is frictionless there always exists an admittance control law that ensures the proper insertion of a workpiece into a deterministic future. The authors discuss the identification of the condition that must be satisfied for force-assembly with friction and the optimization of the admittance control law to obtain the maximum value of friction that satisfies the force-assembly conditions for a given workpiece-fixture combination.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"156 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":"128160148","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: 15
AMP-CAD: an assembly motion planning system AMP-CAD:一个装配运动规划系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220111
S. Gottschlich, A. Kak
{"title":"AMP-CAD: an assembly motion planning system","authors":"S. Gottschlich, A. Kak","doi":"10.1109/ROBOT.1992.220111","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220111","url":null,"abstract":"The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"32 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":"129377820","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: 14
Basic algorithms for space structuring in path planning for mobile robots 移动机器人路径规划中空间结构的基本算法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220066
P. Pignon, T. Hasegawa, J. Laumond
{"title":"Basic algorithms for space structuring in path planning for mobile robots","authors":"P. Pignon, T. Hasegawa, J. Laumond","doi":"10.1109/ROBOT.1992.220066","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220066","url":null,"abstract":"The authors introduce space structuring based on the applicability of different path planning methods as a promising way to improve efficiency in mobile robot path planning. They present a preprocessing of the environment populated with simple polygonal obstacles aimed at the early discovery of a collision-free path for a mobile robot among obstacles between a start configuration and a goal configuration in cluttered environments, prior to the application of a path planning method. The preprocessing is done only once for one robot and one environment. Space structuring is based on obstacle growing with circles relative to the robot. Experimental results show the practicality of the method.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"57 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":"129918368","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
Robot off-line programming and simulation as a true CIME-subsystem 机器人离线编程和仿真作为一个真正的cime子系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220203
M.Sc. S L.F. Nielsen, M. Trostmann, Professor Ph.D. F Trostmann, Ass. Professor M.Sc. Conrad, DK-2800 Lyngby
{"title":"Robot off-line programming and simulation as a true CIME-subsystem","authors":"M.Sc. S L.F. Nielsen, M. Trostmann, Professor Ph.D. F Trostmann, Ass. Professor M.Sc. Conrad, DK-2800 Lyngby","doi":"10.1109/ROBOT.1992.220203","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220203","url":null,"abstract":"A robot off-line programming and real-time simulation system, ROPSIM, which is based on the neutral interface concept and features simulation of the dynamics of both the controller and robot arm, has been developed. To avoid dependency on dedicated robot models, ROPSIM is based on generic models describing the robot controller, robot arm geometry, and the robot and arm kinetics. The software was developed using the C++ programming language. The key modules are discussed. The system is a true computer-integrated manufacturing and engineering subsystem which facilitates the exchange and reuse of robot model definition data and robot program definition data with systems of other origin or different functionality.<<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":"129999528","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: 9
Optical guidance system for underground mine vehicles 井下矿用车辆光学制导系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220220
R. Hurteau, Marcel St-Amant, Y. Laperrière, Guy Chevrette
{"title":"Optical guidance system for underground mine vehicles","authors":"R. Hurteau, Marcel St-Amant, Y. Laperrière, Guy Chevrette","doi":"10.1109/ROBOT.1992.220220","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220220","url":null,"abstract":"In underground mines, the operation of loading, hauling, and dumping the ore is a repetitive task, performed by LHD (load-haul-dump) vehicles. The operators of these vehicles are subjected to high levels of noise and vibration, and are exposed to hazardous situations. To improve the safety of operators and their productivity, an optical guidance system adapted to the hostile environment of underground mines has been developed. The physical guideline consists of a high-efficiency optical reflector, and is installed on the back of a mine drift to resist corrosion and frequent blasting. An optical guideline detector, consisting of a camera and an artificial vision system, is used to measure the deviation of the vehicle from the guideline. The performance of the system is analyzed by simulated and by experimental test on a small-scale electric vehicle. Field tests have shown that the optical guidance system has the capability to guide vehicles in a mining environment.<<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":"130125907","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: 38
Coupled stability characteristics of nearly passive robots 近被动机器人的耦合稳定性特性
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220163
J. Chapel, R. Su
{"title":"Coupled stability characteristics of nearly passive robots","authors":"J. Chapel, R. Su","doi":"10.1109/ROBOT.1992.220163","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220163","url":null,"abstract":"The authors address the problem of designing manipulator control laws such that interaction between manipulator and environment is stable. Taking passive manipulator admittance as a design goal. a metric that bounds the distance between the achieved nonpassive response and a passive target response is introduced. Conditions for coupled stability are developed based on this measure of admittance error, which result in restrictions on allowable environmental characteristics. When environmental conditions for the manipulator are known, the admittance error can be used as a control design specification. Alternatively, the admittance error can be used to measure performance of an existing system, providing a guide to mechanical interface design. A simple example is used to illustrate this approach.<<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":"131035866","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
Technical progress during the first year of implementation of TELEMAN TELEMAN实施第一年的技术进展情况
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220002
B. Robertson, B. Tolley
{"title":"Technical progress during the first year of implementation of TELEMAN","authors":"B. Robertson, B. Tolley","doi":"10.1109/ROBOT.1992.220002","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220002","url":null,"abstract":"TELEMAN is the European Atomic Energy Community's targeted research and training program for remote handling in hazardous or disordered nuclear environments. The authors describe the state of progress of the first group of TELEMAN projects as they approach their half way stage. Interim projects after the first year of the 16 current research contracts in the areas of dexterity, mobility, sensing, world modeling, control, man-machine interfaces, communications, and nuclear environmental tolerance are presented.<<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":"130234481","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
Solving tool interference problem for four-axis NC machining 解决四轴数控加工中的刀具干涉问题
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220170
S. Suh, Kee-Sang Lee
{"title":"Solving tool interference problem for four-axis NC machining","authors":"S. Suh, Kee-Sang Lee","doi":"10.1109/ROBOT.1992.220170","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220170","url":null,"abstract":"The four-axis numerical control (NC) configuration is suitable for the manufacture of a part family (called rotationally free-surface or RFS) requiring concurrent motions for the tool movement and part rotation. The authors develop algorithms for handling tool interference in four-axis machining in which three types of interferences exist: interferences due to step-size, tool-size, and tool-axis. The first two types are also present in three-axis machining, but the third type is unique and critical in four-axis machining. The performance of the algorithms was tested via graphic simulation and actual cutting. The results showed that the algorithms can be readily incorporated into existing CAD/CAM systems as a module for interference-free four-axis NC machining of a RFS.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"407 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":"126685019","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
The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system 一般机器人系统在时间最优运动时的饱和作动器数和约束力
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220236
J. McCarthy, J. Bobrow
{"title":"The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system","authors":"J. McCarthy, J. Bobrow","doi":"10.1109/ROBOT.1992.220236","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220236","url":null,"abstract":"The authors formulate the time-optimal control problem for general robotic systems and show that the required maximum (or minimum) value of the path acceleration is the solution of a linear programming problem. The fact that such a solution is an extreme point of the set of feasible solutions makes it possible to determine the minimum number of actuators and internal forces that must be saturated during the time-optimal movement. Specifically, it is proved that, if the dynamics of a general robot system are defined by n coordinates, m differential constraint equations, and p actuators, then some combination of at least L=m+p+1-n of the actuators and internal constraint forces is saturated during a time-optimal movement of the system along a prescribed path. The result applies to general class of dynamic systems with both holonomic and non-holonomic constraints.<<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":"122586563","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: 40
Experimental evaluation of a new traction-drive robotic transmission 新型牵引驱动机器人传动系统的实验研究
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220218
W. Newman, Yuandao Zhang, W. Anderson, William Shipitalo
{"title":"Experimental evaluation of a new traction-drive robotic transmission","authors":"W. Newman, Yuandao Zhang, W. Anderson, William Shipitalo","doi":"10.1109/ROBOT.1992.220218","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220218","url":null,"abstract":"A novel roller-gear traction drive has been designed, built, and evaluated for use in a robot joint. The drive incorporates steel rollers integrated with precision gearing in parallel. Evaluation of a 23.2:1 ratio, 300-W, 26-N-m output torque, prototype drive is presented. Due to the relatively high stiffness, zero backlash, smooth torque production, and back-drivability, the transmission permits smooth motion control and exceptionally good performance under closed-loop output torque control. Under impedance control, the drive is shown to be responsive to external torques, yet is stable upon impact with rigid environments.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"34 12 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":"126267974","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
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