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

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Finding antipodal point grasps on irregularly shaped objects 在形状不规则的物体上寻找对映点
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219920
I. Chen, J. Burdick
{"title":"Finding antipodal point grasps on irregularly shaped objects","authors":"I. Chen, J. Burdick","doi":"10.1109/ROBOT.1992.219920","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219920","url":null,"abstract":"The authors consider two-finger antipodal point grasping of arbitrarily shaped 2D and 3D objects. An object function which maps a finger contact space to the object surface is introduced. Conditions are developed to identify the feasible grasping region F in the finger contact space. A grasping energy function E is introduced which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E at F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the maximal grasp. Modeling techniques for representing 2D and 3D objects using B-spline curves and spherical product surfaces are described.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"79 11 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":"125918421","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: 179
Man-equivalent telepresence through four fingered human-like hand system 通过四指人形手系统实现人等效远程呈现
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220190
B. Jau
{"title":"Man-equivalent telepresence through four fingered human-like hand system","authors":"B. Jau","doi":"10.1109/ROBOT.1992.220190","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220190","url":null,"abstract":"The author describes a newly developed mechanical hand system. The robot hand is in human-like configuration with a thumb and three fingers, a palm, a wrist, and the forearm in which the hand and wrist actuators are located. Each finger and the wrist has its own active electromechanical compliance system, allowing the joint drive trains to be stiffened or loosened. This mechanism imitates the human muscle dual function of positioner and stiffness controller. This is essential for soft grappling operations. The hand-wrist assembly has 16 finger joints, three wrist joints, and five compliance mechanisms for a total of 24 degrees of freedom. The strength of the hand is roughly half that of the human hand and its size is comparable to a male hand. The hand is controlled through an exoskeleton glove controller that the operator wears. The glove provides the man-machine interface in telemanipulation control mode: it senses the operator's inputs to guide the mechanical hand in hybrid position and force control. The hand system is intended for dexterous manipulations in structured environments. Typical applications will include work in hostile environments such as space operations and nuclear power plants.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"23 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":"115264533","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: 50
Iterative learning control of robots with elastic joints 弹性关节机器人的迭代学习控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219948
Alessandro De Luca, G. Ulivi
{"title":"Iterative learning control of robots with elastic joints","authors":"Alessandro De Luca, G. Ulivi","doi":"10.1109/ROBOT.1992.219948","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219948","url":null,"abstract":"The design of a repetitive learning controller for robots with elastic joints, following a frequency-domain approach, is presented. An efficient and simple iterative learning algorithm is presented, allowing solution of the output tracking problem with limited knowledge of system dynamics and using only a linear stabilizing feedback on the motor variables. Simulation results reported for a two-link planar robot under gravity showed good motion performance in this critical case.<<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":"121727130","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
Orienting generalized polygonal parts 定向广义多边形部分
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219922
A. S. Rao, Ken Goldberg
{"title":"Orienting generalized polygonal parts","authors":"A. S. Rao, Ken Goldberg","doi":"10.1109/ROBOT.1992.219922","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219922","url":null,"abstract":"K.Y. Goldberg (1990) described an algorithm for orienting planar polygonal parts using a modified parallel-jaw gripper. The authors extend this algorithm to handle parts with curved edges. They define a generalized polygon as a planar figure made up of piecewise linear and circular edges, and a generalized polygonal part as one of constant cross section, the convex hull of which is a generalized polygon. For this class of parts a complete algorithm for determining an optimal parts-orienting strategy is presented.<<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":"121369979","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: 19
The experimental performance of a mobile manipulator control algorithm 一种移动机械手控制算法的实验性能
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219944
N. Hootsmans, S. Dubowsky, Patrick Z. Mo
{"title":"The experimental performance of a mobile manipulator control algorithm","authors":"N. Hootsmans, S. Dubowsky, Patrick Z. Mo","doi":"10.1109/ROBOT.1992.219944","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219944","url":null,"abstract":"Results of an experimental study of a motion control algorithm for mobile manipulators are presented. The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. The mobile manipulator control algorithm, which accounts for dynamic vehicle motions caused by manipulator motions, is shown to be stable and to perform well, while using only limited sensory data, such as would be practically available in highly unstructured field environments.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"149 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":"121375262","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: 24
Analysis of the behaviour of a circular conveyor 圆形输送机的性能分析
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220215
T. Atmaca
{"title":"Analysis of the behaviour of a circular conveyor","authors":"T. Atmaca","doi":"10.1109/ROBOT.1992.220215","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220215","url":null,"abstract":"An approximate method is developed to obtain the performance metrics of a flexible manufacturing system consisting of a circular conveyor and workstations placed around the conveyor. Each workstation consists of a single machine subject to breakdowns. The service, failure, and repair times are assumed to be exponentially distributed. The authors validate the results obtained by the approximate method with simulation.<<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":"132366314","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
Kinematically optimal hyper-redundant manipulator configurations 运动学最优超冗余机械手配置
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220304
G. Chirikjian, J. Burdick
{"title":"Kinematically optimal hyper-redundant manipulator configurations","authors":"G. Chirikjian, J. Burdick","doi":"10.1109/ROBOT.1992.220304","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220304","url":null,"abstract":"Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. The authors develop methods for determining the optimal configurations which satisfy task constraints while minimizing a weighted measure of mechanism bending and extension. These methods are based on a continuous backbone curve which captures the robot's essential macroscopic geometric features. The calculus of variations is used to develop differential equations whose solution is the optimal backbone curve shape. The optimal distribution of frames along the backbone curve is also considered.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"106 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":"122466302","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: 241
Application of concurrent engineering in design for one-of-a-kind production 并行工程在独一无二产品设计中的应用
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220174
G. Kovács, I. Mezgár, E. Szelke
{"title":"Application of concurrent engineering in design for one-of-a-kind production","authors":"G. Kovács, I. Mezgár, E. Szelke","doi":"10.1109/ROBOT.1992.220174","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220174","url":null,"abstract":"To maintain the flexible and fast coordination of different design and manufacturing processes for make-to-order production the concurrent engineering (CE) approach seems to be a viable alternative, since classical computer-integrated manufacturing (CIM) theories are not always applicable. The authors present a way of implementing the CE approach to establish a conceptual model of an intelligent system for designing and/or redesigning the manufacturing environment, and the joint production control processes with a coupled computer control architecture. The CE approach is demonstrated by means of some experiences on a prototype of a cooperative system for a manufacturing environment to design the processes and the plant-layout of production facilities for a given set of products. Knowledge processing technology was applied for representing and processing knowledge about make-to-order production systems. While utilizing these methodologies and procedures in a blackboard architecture, different advanced design tools were applied for system design and performance analysis.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"103 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":"131592476","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
On shape-preserving boundary conditions for diffusion smoothing 关于扩散平滑的保形边界条件
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220135
E. Trucco
{"title":"On shape-preserving boundary conditions for diffusion smoothing","authors":"E. Trucco","doi":"10.1109/ROBOT.1992.220135","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220135","url":null,"abstract":"Several boundary treatments for attenuating shape deformation introduced by Gaussian smoothing are discussed. The author models Gaussian smoothing by a diffusion equation, a general mathematical framework particularly useful for scale-space analysis. An adaptive, shape-reserving boundary condition for diffusion smoothing range images is introduced. It is shown that this condition is more general than similar techniques found in the literature.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"57 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132679713","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
Remarks on robot dynamics: canonical transformations and Riemannian geometry 机器人动力学评述:正则变换和黎曼几何
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220234
M. Spong
{"title":"Remarks on robot dynamics: canonical transformations and Riemannian geometry","authors":"M. Spong","doi":"10.1109/ROBOT.1992.220234","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220234","url":null,"abstract":"The author uses tools from Hamiltonian mechanics and Riemannian geometry to illustrate some properties of robot dynamics that are useful both for robot control and for the design of robotic manipulators. Several authors have noted that if the robot inertia matrix D(q) can be factored as N/sup T/(q)N(q), where N(q) is the Jacobian of a function Q(q), then Q and P=N(q)q define a canonical transformation relative to which the robot dynamics are particularly simple. In the present work, the author gives necessary and sufficient conditions for the existence of such a factorization and discusses their implications for robot control.<<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":"132811153","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: 59
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