2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献_第9页

Experiments in fixturing mechanics 夹具力学实验

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241981

J. Burdick, Yongqiang Liang, E. Rimon

引用次数: 6

Accurate relative localization using odometry 使用里程计精确的相对定位

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241824

N. Doh, H. Choset, W. Chung

{"title":"Accurate relative localization using odometry","authors":"N. Doh, H. Choset, W. Chung","doi":"10.1109/ROBOT.2003.1241824","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241824","url":null,"abstract":"All mobile robots suffer from odometry error. Relative localization from odometry has both the systematic and the non-systematic errors. However, once a precise system error model and its parameters are given, the accuracy of odometry can be remarkably improved. Most previous works on this effort focused on the differential drive robots with little attention to the other types of mobile bases. In this paper, we analyze sources of odometry error and propose an error model for the synchro drive robot. We then describe a novel procedure to accurately estimate the error parameters of the derived error model and the covariance matrix of the synchro drive robot. However, this procedure is general for all mobile bases, so we also apply our method for the differential drive robots and show experiments. This new process uses the shape of the path, as opposed to just end points, to estimate the error parameters and covariance matrix. We happen to use the generalized Voronoi graph to generate this path. Experimental results validate the error model of the synchro drive robot and precise estimation ability of the proposed method for the synchro and the differential drive robots.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128986920","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: 60

Location estimation and trajectory prediction of moving lateral vehicle using two wheel shapes information in 2-D lateral vehicle images by 3-D computer vision techniques 基于三维计算机视觉技术的二维横向车辆图像中车轮形状信息的横向移动车辆位置估计与轨迹预测

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241704

Chih-Chiun Lai, Wen-Hsiang Tsai

{"title":"Location estimation and trajectory prediction of moving lateral vehicle using two wheel shapes information in 2-D lateral vehicle images by 3-D computer vision techniques","authors":"Chih-Chiun Lai, Wen-Hsiang Tsai","doi":"10.1109/ROBOT.2003.1241704","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241704","url":null,"abstract":"A novel approach to location estimation and trajectory prediction of moving lateral vehicle locations for driving assistance using wheels shape information in single 2-D vehicle images by 3-D computer vision techniques is proposed. The location scheme is supposed to be performed on a vehicle with a camera mounted on the front bumper. An analytical solution is applied to estimate the location of the lateral vehicle. Firstly, the normal vectors of the car wheels in the camera coordinate system as well as the projections of the wheel centers in the image plane are derived. Then orientation angle of the lateral vehicle with respect to the driving vehicle is derived from the two vectors. Next, the image projections of the contact points of the wheels with the ground are detected. Finally, the image positions of the contact points are used to determine the 3D relative position of the moving vehicle with respect to the camera coordinate system by the back-projection principle. After the location of a moving lateral vehicle is obtained, a new approach is proposed to predict the trajectory of a lateral vehicle by using the spatial information of the two wheels in a single image. Real images are tested and experimental results show the effectiveness of the proposed approaches. The results are useful for car driving assistance and vehicle collision avoidance.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127842707","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

Admittance selection for planar force-guided assembly for single-point contact with friction 单点摩擦接触平面力导向组件导纳选择

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242064

Shuguang Huang, J. Schimmels

引用次数: 4

Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms 冗余机器人的笛卡尔阻抗控制:dlr -轻型臂的最新结果

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242165

A. Albu-Schäffer, C. Ott, U. Frese, G. Hirzinger

引用次数: 256

Online motion planning using incremental construction of medial axis 基于中轴线增量构造的在线运动规划

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242040

E. Masehian, M. Amin-Naseri, S. E. Khadem

引用次数: 13

Simulating soft tissue cutting using finite element models 利用有限元模型模拟软组织切割

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241741

C. Mendoza, C. Laugier

引用次数: 40

A biologically inspired homeostatic motion controller for autonomous mobile robots 一种受生物学启发的自主移动机器人的自稳态运动控制器

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242076

Do-Young Yoon, Sang-Rok Oh, Gwi-Tae Park, Bum-Jae You

引用次数: 2

Production cycle-time analysis based on sensor-based stage Petri nets for automated manufacturing systems 基于传感器阶段Petri网的自动化制造系统生产周期分析

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242265

ShihSen Peng, Mengchu Zhou

{"title":"Production cycle-time analysis based on sensor-based stage Petri nets for automated manufacturing systems","authors":"ShihSen Peng, Mengchu Zhou","doi":"10.1109/ROBOT.2003.1242265","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242265","url":null,"abstract":"Production cycle time reduction in their discrete-event control systems (DECS) helps increase the productivity of automated manufacturing systems (AMS). Methods developed to evaluate the production cycle time are usually based on either the Design for Manufacture (DFM) or Design for Production (DFP) scheduling techniques. To evaluate the real cycle time at the programming level of controllers such as the ladder logic design of programmable logic controller (PLC) in DECS, this paper discusses a method to analyze the production cycle time based on the sensor-based stage Petri nets technique. The production time can be estimated at each stage directly from all the I/O sensors that are represented by the extended Petri nets: the sensor-based stage Petri net (SBSPN). The production cycle time required to complete each product is marked on the individual stage transition through the real timers in the SBSPN model. For the production of multiple products, different production cycles times are estimated through the stage-by-stage real timers of controller program. These production cycle times are able to evaluate the bottleneck of integrated manufacturing systems. An example is used to illustrate the approach.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125363073","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

Type synthesis of 5-DOF parallel manipulators 五自由度并联机器人的型综合

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241756

Qinchuan Li, Zhen Huang

引用次数: 17