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

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Guide to the selection of electric actuators for applications in robotics 机器人应用中电动执行器的选择指南
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240506
C. Attaianese, E. Pagano, A. Perfetto
{"title":"Guide to the selection of electric actuators for applications in robotics","authors":"C. Attaianese, E. Pagano, A. Perfetto","doi":"10.1109/ICAR.1991.240506","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240506","url":null,"abstract":"A comparative analysis of asynchronous and brushless electric drives is performed, including as comparison terms the electromagnetic torque and its ratios both to the input currents and copper losses. The formulation of electromagnetic torque in a dynamic electromagnetic structure is reviewed. The generalised expression is then applied to different motor structures.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"15 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":"115047344","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
High accuracy localization of calibration points for dimensional measurements by image processing techniques 基于图像处理技术的尺寸测量标定点高精度定位
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240347
A. Cumani, A. Guiducci, P. Grattoni, G. Pettiti, F. Pollastri
{"title":"High accuracy localization of calibration points for dimensional measurements by image processing techniques","authors":"A. Cumani, A. Guiducci, P. Grattoni, G. Pettiti, F. Pollastri","doi":"10.1109/ICAR.1991.240347","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240347","url":null,"abstract":"Presents an algorithm for high accuracy determination of test point positions, and estimates the bounds on the achievable accuracy by analyzing the possible sources of error.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"155 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":"116107045","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: 8
Generalized compliant motion with sensor fusion 基于传感器融合的广义柔顺运动
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240378
Paul Backes
{"title":"Generalized compliant motion with sensor fusion","authors":"Paul Backes","doi":"10.1109/ICAR.1991.240378","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240378","url":null,"abstract":"A task execution primitive has been developed which merges compliant motion with the fusion of real and virtual sensory data for execution of general manipulation tasks. The behavior of the primitive is specified by an input parameter set. Motion can be caused by a variety of inputs including a Cartesian trajectory generator, a wrist force-torque sensor, dither waveforms, virtual springs, virtual joint limiting force fields, and 6 degree of freedom hand controllers. The primitive has been been used for a variety of autonomous and shared control tasks in the JPL telerobot testbed. The primitive provides autonomous control, compliant teleoperation, and shared control.<<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":"122652717","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: 22
Effect of internal forces on stiffness of closed mechanisms 内力对封闭机构刚度的影响
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240569
H. Hanafusa, M. Adli
{"title":"Effect of internal forces on stiffness of closed mechanisms","authors":"H. Hanafusa, M. Adli","doi":"10.1109/ICAR.1991.240569","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240569","url":null,"abstract":"In cooperative motion of multi arm robotic mechanisms or in the case of a grasping operation by robot hands, internal forces which balance inside the mechanism are generated. The research described deals with such forces and their effects on closed mechanisms. Internal forces can be generated by both potential and non-potential driving forces. In either case the structural stiffness of the mechanism changes due to the internal forces as the mechanism moves. When the internal force is compressive, the mechanism may have negative stiffness leading to a problem similar to the stability problem in the grasping operation.<<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":"122854267","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: 22
Robot hand for handling cloth 搬运布匹的机械手
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240582
E. Ono, H. Ichijou, N. Aisaka
{"title":"Robot hand for handling cloth","authors":"E. Ono, H. Ichijou, N. Aisaka","doi":"10.1109/ICAR.1991.240582","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240582","url":null,"abstract":"A robot hand to handle cloth has been developed. In the study described, the authors tried to pick up a piece of cloth from a stack of cloth, to transport it and to set it at a stated position by means of a robot hand. The robot hand has two fingers and is attached to a small industrial robot arm. The hand can measure the height of a target's surface when the hand touches the surface. And the hand picks up a piece of cloth after checking whether its thickness is nearly equal to one piece's thickness. After the hand picks up a piece of cloth, the hand can set it without an exchange of holding postures even on a vertical surface basically. The hand itself is a thickness and touch sensor. In the experiment that the prototype of the robot hand placed a piece of cloth on a slant, the mean value of a slipped distance was within 3 mm, and position reproducibility was within 1 mm.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"13 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":"123029975","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: 21
Application of computer vision to automatic selective cutting with a roadheader in a potash mine 计算机视觉在某钾肥矿山掘进机自动选切中的应用
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240622
J. Orteu, M. Devy
{"title":"Application of computer vision to automatic selective cutting with a roadheader in a potash mine","authors":"J. Orteu, M. Devy","doi":"10.1109/ICAR.1991.240622","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240622","url":null,"abstract":"Automation of mining operations involves the use of sensing, remote monitoring and control systems in order to confront a variety of situations and environmental conditions. The basic requirement of the overall economy of the mine sometimes requires that selective cutting be performed in order to separate rich ore from waste at the cutting stage. Basically, the problems to be solved are those of modelling an uncontrolled, changing mine environment and programming the machine to cut a pattern accordingly. The authors indicate how color image segmentation, automatic image classification, camera calibration and 3D scene perception can cooperate to solve such a complex problem as selective cutting.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"12 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":"128260896","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
On-line coordinate transformation for a 3 DOF articulated robot: incremental unit computation method 三自由度关节机器人在线坐标变换:增量单元计算方法
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240519
S. Park, S. Baek, J. Oh
{"title":"On-line coordinate transformation for a 3 DOF articulated robot: incremental unit computation method","authors":"S. Park, S. Baek, J. Oh","doi":"10.1109/ICAR.1991.240519","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240519","url":null,"abstract":"Presents a new method for solving the inverse kinematics of a 3 DOF articulated robot. The 3 DOF robot can be represented by two kinds of planar robot: a polar robot and a two-link planar robot. The proposed method defines incremental units in joint and Cartesian spaces which represent the position resolution in each space. Based on these units, an incremental computation of the digital differential analyser integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is easily realized through a simple lookup table. By using the above new concepts, a coordinate transformer based on the reference-pulse technique is suggested. An experiment for sensor-based motion control is performed to show the effectiveness of the proposed coordinate transformer.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"6 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":"128659142","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
Manipulator classification by means of a kinematics description language 利用运动学描述语言对机械手进行分类
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240677
H. Schrake, H. Rieseler, F. Wahl
{"title":"Manipulator classification by means of a kinematics description language","authors":"H. Schrake, H. Rieseler, F. Wahl","doi":"10.1109/ICAR.1991.240677","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240677","url":null,"abstract":"This paper presents a universal test data generator for the systematic evaluation of inverse kinematics systems. A Denavit-Hartenberg parameter based kinematics description language LDL has been developed; it is used as input language for the generator. LDL allows the expression of kinematic and geometric constraints, which have to be satisfied by the resulting generated kinematics. Moreover, it is possible to generate certain well-known classes of manipulators. Combining the basic features and different kinds of constraints, a LDL program can be used to define and to generate classes of manipulators.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"14 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":"129483518","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: 5
Application of machine vision techniques for the evaluation of highway pavements in unstructured environments 机器视觉技术在非结构化环境下公路路面评价中的应用
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240439
H. Lee
{"title":"Application of machine vision techniques for the evaluation of highway pavements in unstructured environments","authors":"H. Lee","doi":"10.1109/ICAR.1991.240439","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240439","url":null,"abstract":"Machine vision approach was applied in automating pavement distress measurement procedure. Current automated distress measuring devices are described. The paper discusses various image processing algorithms adopted for such devices. Limitations of the automated devices are presented.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"44 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":"116136968","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
A mobile robot-operator interface based on spoken dialogue 基于口语对话的移动机器人-操作员界面
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240491
A. Chiuderi, G. Lazzari
{"title":"A mobile robot-operator interface based on spoken dialogue","authors":"A. Chiuderi, G. Lazzari","doi":"10.1109/ICAR.1991.240491","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240491","url":null,"abstract":"Describes the approach to designing a mobile robot-operator interface based on spoken dialogue. This is a research topic within the IRST AI project MAIA (advanced model of artificial intelligence) whose purpose is to approach AI from the integration point of view. The paper argues that speech will be an important capability for robots operating in many different areas. A system for speech control of robot should have both robot behavioural and environmental models together with a dialogue model. It describes a probabilistic model for spoken dialogue between an operator and a robot. The model incorporates the knowledge about dialogue in order to improve speech recognition by the robot. A prototype of spoken dialogue interface for a mobile robot is also described. The interface is based on a speaker independent continuous speech recognition with a 200 words vocabulary.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"73 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":"121682001","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
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