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

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A pantograph linkage parallel platform master hand controller for force-reflection 一种受电弓联动并联平台反力主手控制器
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220308
G. L. Long, C. Collins
{"title":"A pantograph linkage parallel platform master hand controller for force-reflection","authors":"G. L. Long, C. Collins","doi":"10.1109/ROBOT.1992.220308","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220308","url":null,"abstract":"The authors discuss the kinematics of a serial/parallel six degree-of-freedom generalized hand controller for teleoperation. A description of the device is presented with equations needed for control of a remote manipulator. The pantograph linkages extend the workspace of traditional platform designs, while the parallel structure provides force regulation at the platform that is well suited for force-feedback to a teleoperator. The generalized teleoperator controller described will be part of a larger telerobotics system comprising a radio-controlled robotic arm module with appropriate end-effectors and a general-purpose supervisory controlled system. The robotic system is planned for remote handling of toxic solid and liquid debris.<<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":"133169228","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: 46
Development of inspection robot for nuclear power plant 核电站巡检机器人的研制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220030
Shinji Yamamoto
{"title":"Development of inspection robot for nuclear power plant","authors":"Shinji Yamamoto","doi":"10.1109/ROBOT.1992.220030","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220030","url":null,"abstract":"The author describes monorail-type inspection robots. The robots, which are compact in size, run along a guiderail and can detect any type of abnormality using a TV camera, a microphone, and an infrared camera. An outline of the inspection robotic system is given. The system was designed and fabricated to suit the primary containment vessel environment; a crowded area with pipes, valves, and other fixed structures. Compactness was essential, so the functions were considered in two categories: a visual inspection robot and an acoustic/thermal inspection robot. The system consisted of two visual inspection robots, two acoustic/thermal robots, the rail controllers, a local control board including the power supply, a modulator, and switches.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"41 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":"132004407","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: 46
Performance analysis of token bus LAN in coordinating multiple robots 令牌总线局域网在多机器人协调中的性能分析
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220298
Qichao Yin, Yuan F. Zheng
{"title":"Performance analysis of token bus LAN in coordinating multiple robots","authors":"Qichao Yin, Yuan F. Zheng","doi":"10.1109/ROBOT.1992.220298","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220298","url":null,"abstract":"Using a local area network (LAN) to coordinate multiple industrial robots in a multirobot system (workcell) is studied. The properties of the multiple robot coordination task are first discussed. Then, a method is proposed to evaluate a pre-defined task decomposition and allocation scheme for the coordination task. In this method, a parameter called effective token passing ratio (ETPR) is defined to measure how efficient the scheme is when the token bus LAN is used as the communication medium. A lower bound of the ETPR is analytically determined based on time constraints imposed on the task. By using this method, one does not need to determine the communication delay and computation time of individual tasks (or subtasks) decomposed from the coordination task. Instead, one can compare the ETPR of the network with the lower bound. From the comparison, it can be determined whether the task decomposition and allocation scheme is appropriate. The probability that real-time coordination is successful is also computed.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"16 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":"132109966","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
Methods for estimating state-space size of Petri nets Petri网状态空间大小的估计方法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220212
J. F. Watson, A. Desrochers
{"title":"Methods for estimating state-space size of Petri nets","authors":"J. F. Watson, A. Desrochers","doi":"10.1109/ROBOT.1992.220212","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220212","url":null,"abstract":"The authors present the results of an investigation of the relationships between a Petri net (PN) and the size of its associated state-space. Four estimators are developed for estimating the number of states in a PN and understanding the sensitivity of this number to increases in tokens, places, and transitions. An estimator for conservative PNs demonstrated excellent accuracy. Estimators based on place boundedness and net boundedness had poor performance, but were amenable to analytical sensitivity analysis.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"49 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":"134130608","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
Computational scheme for passivity based control of mechanical manipulators 机械臂无源控制的计算方法
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219940
M. W. Walker
{"title":"Computational scheme for passivity based control of mechanical manipulators","authors":"M. W. Walker","doi":"10.1109/ROBOT.1992.219940","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219940","url":null,"abstract":"A computational scheme is presented for the implementation of passivity-based controllers for serial and graph structured manipulators. A special method of incorporating feedback improves the computational efficiency by allowing the designer to base the control on the passivity properties of the entire manipulator. Sufficient conditions are presented to guarantee trajectory tracking of the system. Example controllers and experimental results are presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"36 6 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":"134194917","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
On adaptive control of force controlled manipulators-implementation and experimental results 力控机械臂自适应控制的实现与实验结果
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219954
B. Nemec, L. Žlajpah
{"title":"On adaptive control of force controlled manipulators-implementation and experimental results","authors":"B. Nemec, L. Žlajpah","doi":"10.1109/ROBOT.1992.219954","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219954","url":null,"abstract":"The authors deal with the implementation of adaptive control of force-controlled manipulators. Due to the hardware and software limitations of existing industrial robots, the force control loop must be realized in many cases with an inner velocity and position controller. In such cases, the response of the robot becomes sensitive to the changes of the environment stiffness. To solve the problem, an adaptive controller has been proposed by many authors. The main drawback of these controllers is that they cannot assure satisfactory behavior in the case when both environment stiffness and environment/robot contact position are changed simultaneously. Therefore a dual force sensor is proposed that is passive and active. which allows estimation of the contact position and the environment stiffness simultaneously. Adaptive force control was tested on the deburring process of a workpiece.<<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":"134231794","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: 10
Manipulator system for module re docking on the Mir Orbital Complex 在和平号轨道复合体上用于模块再对接的操纵系统
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220180
V. Syromiatnikov
{"title":"Manipulator system for module re docking on the Mir Orbital Complex","authors":"V. Syromiatnikov","doi":"10.1109/ROBOT.1992.220180","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220180","url":null,"abstract":"There are five docking ports on the transfer adapter of the Mir Orbital Station core: one axial port and four side ones. Initial docking is always accomplished with the axial port. To get to the side ports, the spacecraft or modules have to be undocked, reconfigured, and docked again to a side docking unit. To accomplish this operation a special manipulator system was conceived and designed. The system was developed, tested, and successfully used in space twice. Many specific problems were encountered during this work. The author describes the system, its design, operations and interfaces, as well as ground simulation and testing. The original ground test facility is also presented.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"58 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":"125646828","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
Human induced instability in powered hand controllers 手动控制器的人为不稳定性
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220278
H. Kazerooni, Peter M. Bobgan
{"title":"Human induced instability in powered hand controllers","authors":"H. Kazerooni, Peter M. Bobgan","doi":"10.1109/ROBOT.1992.220278","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220278","url":null,"abstract":"The dynamic behavior of a hand controller when it is maneuvered by a human is described. A general control architecture is developed which guarantees various impedances on the hand controller. It is shown that some compliancy either in the hand controller or in the human arm is necessary to achieve stability of the hand controller and the human arm taken as a whole. The actuators' backdrivability and the dynamics of the hand controller mechanisms are discussed as they relate to system stability. A set of experiments performed on a prototype hand controller is presented to show the system performance.<<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":"115788564","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: 20
Online motion planning using critical point graphs in two-dimensional configuration space 基于二维位形空间临界点图的在线运动规划
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220114
Vinay Krishnaswamy, W. Newman
{"title":"Online motion planning using critical point graphs in two-dimensional configuration space","authors":"Vinay Krishnaswamy, W. Newman","doi":"10.1109/ROBOT.1992.220114","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220114","url":null,"abstract":"An online motion planning algorithm in 2D configuration space is presented for right-handed manipulators. Critical points on the boundaries of obstacles in configuration space are identified. A graph is constructed using simple wall-following to determine connections between the critical points. Motion between connected critical points may be executed through the definition of potential functions and critical point subgoals without encountering local minima. The planning problem was solved by modifying line-of-sight and wall-following algorithms to resort to the critical point graph in finding exit points to goal locations. The results was extremely fast plan generation, which has been crucial in achieving online 3D planning.<<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":"115792389","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: 10
Generation of energy-optimal trajectories for an autonomous underwater vehicle 自主水下航行器能量最优轨迹的生成
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219970
I. Spangelo, O. Egeland
{"title":"Generation of energy-optimal trajectories for an autonomous underwater vehicle","authors":"I. Spangelo, O. Egeland","doi":"10.1109/ROBOT.1992.219970","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219970","url":null,"abstract":"Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six-dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators are modeled and controlled with velocity loops. The dissipated energy is expressed in terms of the control variables as a nonquadratic function. Two different numerical methods are used in this study, a function space conjugate gradient (CG) method, and a control vector parameterization (CVP) method. Energy-optimal trajectories were computed in simulation experiments. Good results were achieved with the CVP method, which was superior to the CG method.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"133 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":"122128536","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
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