发布求助
文献互助 智能选刊 最新文献

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments最新文献

筛选
英文 中文
The minimax principle of mechanics and its application to the optimal control problem for robot manipulators 力学极小极大原理及其在机械臂最优控制问题中的应用
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1996-05-01 DOI: 10.1109/ICAR.1991.240436
Y. Pyatnitskiy
{"title":"The minimax principle of mechanics and its application to the optimal control problem for robot manipulators","authors":"Y. Pyatnitskiy","doi":"10.1109/ICAR.1991.240436","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240436","url":null,"abstract":"The classical mechanics minimax variational principle has been established. This has made it possible to obtain a variational description of the Lagrange equation solutions with various initial and boundary conditions. The motion of a robot manipulator can be described under proper idealization by the Lagrange equations. Making use of this principle, the robot manipulator optimum control problem is reduced to a special constraint extremum problem.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132932469","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
Digital tracking system for optical robot qualification instruments 光学机器人鉴定仪器数字跟踪系统
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240382
E. Canuto
{"title":"Digital tracking system for optical robot qualification instruments","authors":"E. Canuto","doi":"10.1109/ICAR.1991.240382","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240382","url":null,"abstract":"The paper presents the specifications, the design lines and some prototype performances of a digital tracking system for a camera-based instrument for robot qualification. The system, designed for a fixed-focus and on-ground camera tracking, was tested on a laser-based prototype with a moving sensor, thus proving its versatility.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115146432","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
Comparative study of the different methods of path generation for a mobile robot in a free environment 自由环境下移动机器人不同路径生成方法的比较研究
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240369
A. Segovia, M. Rombaut, A. Preciado, D. Meizel
{"title":"Comparative study of the different methods of path generation for a mobile robot in a free environment","authors":"A. Segovia, M. Rombaut, A. Preciado, D. Meizel","doi":"10.1109/ICAR.1991.240369","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240369","url":null,"abstract":"Deals with the displacement of a mobile robot in an unconstrained unstructured closed environment. The robot has to travel from the origin to a desired final point through some passing points. The authors present a survey of the different ways to perform this task. Furthermore, the authors propose an alternative original solution which uses Bezier's polynomial. A comparative simulation is presented.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"65 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123039292","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: 26
Motion planning and task allocation for a manipulator in the frequency domain 机械臂的频域运动规划与任务分配
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240537
J. H. Won, B. Choi, M. Chung
{"title":"Motion planning and task allocation for a manipulator in the frequency domain","authors":"J. H. Won, B. Choi, M. Chung","doi":"10.1109/ICAR.1991.240537","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240537","url":null,"abstract":"This paper proposes a numerical method of motion planning and task allocation for a manipulator in the frequency domain. For a redundant manipulator, the trajectories of redundant joints are predetermined in terms of the Nth partial sum of the Fourier series. Then the optimal coefficients of the Fourier series are determined by the Powell's method and an approximate optimal solution is obtained from these coefficients. For a nonredundant manipulator, a task can be allocated to a better location in the workspace based on the frequency response. To show the validity of the proposed method, the authors apply the method to a redundant and a nonredundant case with a 3-link planar manipulator and a PUMA 560, respectively. They analyze the solutions by the fast Fourier transform.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"306 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123044270","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
Disaster-preventing robot at petroleum production facilities 石油生产设施防灾机器人
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240635
N. Kimura
{"title":"Disaster-preventing robot at petroleum production facilities","authors":"N. Kimura","doi":"10.1109/ICAR.1991.240635","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240635","url":null,"abstract":"The conceptual design and test results of the advanced robot for fire-fighting and disaster prevention are described. This robot helps disaster-fighting personnel to grasp disaster status, extinguish fires and prevent the disaster spreading in a high temperature and smoke environment at a petroleum production facility. Developed elemental technologies of the robot include (1) thermal protection technology, (2) gas pressure servo actuator and vibration repressing control for flexible manipulators, (3) locomotion mechanism, (4) medium-range laser visual sensor, (5) short-range ultrasonic visual sensor.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"13 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120848325","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
Optimum grasp for multi-fingered hands with point contact with friction using the modified singular value decomposition 基于改进奇异值分解的多点接触摩擦手抓握优化算法
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240497
L. Romdhane, Joseph James Duffy
{"title":"Optimum grasp for multi-fingered hands with point contact with friction using the modified singular value decomposition","authors":"L. Romdhane, Joseph James Duffy","doi":"10.1109/ICAR.1991.240497","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240497","url":null,"abstract":"For the case of a grasp with point contact with friction, a very important result is derived which leads to a considerable simplification in the computation of the contact intensities. Further, it is shown that there exists a particular point, called the center of the grasp, at which the direction of the force applied to the object does not influence the contact intensities. Following this it is demonstrated that the vector containing the contact intensities, generated by a unit couple applied to the object generates an ellipsoid, which is defined as the grasp ellipsoid. The two smaller axes of this ellipsoid show where to place the contacts to minimize the contact forces for a given task.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121043079","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
Situation analysis exploiting feasibility constraints in uncertain environments 在不确定环境中利用可行性约束的态势分析
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240364
M. Spreng
{"title":"Situation analysis exploiting feasibility constraints in uncertain environments","authors":"M. Spreng","doi":"10.1109/ICAR.1991.240364","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240364","url":null,"abstract":"Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used to acquire information on a contact situation encountered during the execution of a motion. The analysis is based on the concept of so-called test motions, i.e. motions, the feasibility of which depends on the actual contact situation present. Using a probabilistic uncertainty model, the focus is on the computation of motion constraints due to contact and the resulting selection of an optimal test motion.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125086709","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
Total system of advanced subsea robot 先进海底机器人的整体系统
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240454
S. Nonose, T. Osanai
{"title":"Total system of advanced subsea robot","authors":"S. Nonose, T. Osanai","doi":"10.1109/ICAR.1991.240454","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240454","url":null,"abstract":"Concerns a research and development project of advanced robot technology in Japan, finished in FY 1990. This project aimed to develop robots which could carry out inspection, maintenance, rescue operations or others in the field of nuclear power, subsea and disaster fighting. The various elementary technologies have been developed and the conceptual designs of total systems of the robots have been made taking those results into consideration. This paper describes the total system of the advanced subsea robot which supports the offshore oil exploitation and the verification experiment by the experimental robot which was carried out in December 1990.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125796150","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: 7
Compliance control using finger-arm coordination: analysis of human motion in constraint work 手指-手臂协调柔顺控制:约束工作中人体运动的分析
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240611
S. Sugano, H. Namimoto, I. Kato
{"title":"Compliance control using finger-arm coordination: analysis of human motion in constraint work","authors":"S. Sugano, H. Namimoto, I. Kato","doi":"10.1109/ICAR.1991.240611","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240611","url":null,"abstract":"The paper aims to clarify the human hand and arm mechanism of force control by analyzing constraint work performed by human from the standpoint of biomechanism, and to study a manipulator control strategy on the basis of it. It presents the results of an experiment and analysis of human motions in handling a bead on a guide shaft as an example of constraint work of 1 degree of freedom (DOF), and observations of the roles that the hand and arm play in manual work. It was found as a result that human mainly absorbs the rotational force generated during constraint work by hand and the translational force generated during the same by arm. The study also brought to light that there existed a direction of motion and a posture which would permit easy absorption of translational force. In applying the roles of the human hands and arms to robots, translational compliance can be freely set in manipulators having 6 or higher DOF.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125867018","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
On the number of links and placement of telescoping manipulators in an environment with obstacles 在有障碍物的环境中伸缩机械手的连杆数和位置
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240543
K. Kolarov, B. Roth
{"title":"On the number of links and placement of telescoping manipulators in an environment with obstacles","authors":"K. Kolarov, B. Roth","doi":"10.1109/ICAR.1991.240543","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240543","url":null,"abstract":"The authors consider the following problem: Given an environment with obstacles, what are the minimum number of telescoping links that will allow a manipulator operating in this environment to reach every point in the environment. A geometrical algorithm is presented for solving this problem in a two-dimensional planar case when the obstacles are polygonal. Solutions to some generalizations of this problem are outlined, including simultaneous design of a manipulator and its environment, design of a moving robot and/or obstacles, and design for a three-dimensional workspace. Some theorems on the bounding limits for the number of links of the manipulator are formulated.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123714777","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信