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

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Simulating rigid robots constrained by stiff contact 模拟受刚性接触约束的刚性机器人
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240534
G. Ferretti, C. Maffezzoni, G. Magnani
{"title":"Simulating rigid robots constrained by stiff contact","authors":"G. Ferretti, C. Maffezzoni, G. Magnani","doi":"10.1109/ICAR.1991.240534","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240534","url":null,"abstract":"A simulation environment, based on a general purpose differential algebraic equation solver, for the dynamic simulation of robot manipulators moving either in the free space or in interaction with surfaces is presented in the paper. The collision surfaces are modelled either as compliant surfaces or as perfectly rigid surfaces. To show the performance of the simulation environment a case study is considered, that refers to the real robot MANUTEC R3.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"30 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":"117104873","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
A NASREM based architecture for robot control in the sanitary landfill study case 基于NASREM的卫生填埋场机器人控制体系结构研究
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240375
B. Ressa, P. Cosoli, A. Mori
{"title":"A NASREM based architecture for robot control in the sanitary landfill study case","authors":"B. Ressa, P. Cosoli, A. Mori","doi":"10.1109/ICAR.1991.240375","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240375","url":null,"abstract":"The NASREM architecture is a joint effort of NASA and USA National Bureau of Standard devoted to define a reference model for telerobot control system applications. Environmental protection systems are receiving much attention when the human presence has to be avoided, due to the harmful and dangerous situations. Sanitary landfill management is a very challenging task as it requires an adequate recognition of the working area and complex decision making activity based on the 'state' of it. The authors approach the problem of sanitary landfill management as an instance of a robotic system. According to this view, propose an architecture that revises NASREM concepts in order to make them suitable for the application. This work represents one of the few attempts to adapt NASREM advanced control theory to an actual working environment.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"24 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":"117179424","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
Dexterity measure for tendon actuated parallel mechanisms 肌腱驱动并联机构的灵巧度测量
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240402
Etonald Kurtz, V. Hayward
{"title":"Dexterity measure for tendon actuated parallel mechanisms","authors":"Etonald Kurtz, V. Hayward","doi":"10.1109/ICAR.1991.240402","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240402","url":null,"abstract":"The authors look at a class of tendon actuated mechanisms. They show that the conventional dexterity measures used for the analysis of manipulators are not applicable to the tendon case because there are nonlinear elements. They then develop a correct dexterity measure for this type of mechanism.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"105 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":"117307664","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: 44
The University of Bologna Robotic Hand Project: current state and future developments 博洛尼亚大学机械手项目:现状和未来发展
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240628
C. Bonivento, E. Faldella, G. Vassura
{"title":"The University of Bologna Robotic Hand Project: current state and future developments","authors":"C. Bonivento, E. Faldella, G. Vassura","doi":"10.1109/ICAR.1991.240628","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240628","url":null,"abstract":"The main goals and the distinctive features of the high-dexterity robotic hand project at the University of Bologna are outlined in the frame of the Special Program for Robotics Research supported by Italian National Research Council. The general issues for development of the second version of the hand are then discussed with particular emphasis on design for sensory and mechanical integration, on control equipment and procedures and on computational architectures. The present state of the experimental activity is also reported and future developments briefly illustrated.<<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":"116233783","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
Nonlinear sampled control laws of a robot with flexible links 柔性连杆机器人的非线性采样控制律
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240461
J. Barbot, B. Maschke, G. Servettaz
{"title":"Nonlinear sampled control laws of a robot with flexible links","authors":"J. Barbot, B. Maschke, G. Servettaz","doi":"10.1109/ICAR.1991.240461","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240461","url":null,"abstract":"A model of a flexible structure composed of two links, considered as Euler-Bernouilli beams and spatially discretized using the assumed mode method is briefly presented. A continuous-time nonlinear control law is recalled, which decouples nd linearizes the input output behaviour. The implementation of this control law requires the introduction of a digital computer generating a sampled control law. Holding the continuous-time control during each sampling interval leads, in the case considered here, to the loss of the stability properties. Therefore different nonlinear discrete-time control laws are used: they are based on discretization procedures obtained by means of the exponential of formal Lie derivatives.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"16 26 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":"123208907","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
A model-based manipulation system with skill-based execution in unstructured environment 非结构化环境下基于模型、基于技能执行的操作系统
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/70.163779
T. Hasegawa, Takashi Suehiro, K. Takase
{"title":"A model-based manipulation system with skill-based execution in unstructured environment","authors":"T. Hasegawa, Takashi Suehiro, K. Takase","doi":"10.1109/70.163779","DOIUrl":"https://doi.org/10.1109/70.163779","url":null,"abstract":"This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Disassembly of a valve has been successfully achieved by using this system.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"33 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":"123314293","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: 136
Control of a robot with two flexible links 双柔性连杆机器人的控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240466
Y. Aoustin, P. Chedmail, C. Chevallereau, A. Froment, M. Faillot
{"title":"Control of a robot with two flexible links","authors":"Y. Aoustin, P. Chedmail, C. Chevallereau, A. Froment, M. Faillot","doi":"10.1109/ICAR.1991.240466","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240466","url":null,"abstract":"Presents experimental results which are obtained by using a nonlinear control law on a two link flexible robot. Using finite element description of the arms, the authors get a nonlinear model of the robot. The nonlinear decoupling control law uses the inverse dynamic model. This control law, which is very efficient for a rigid robot, has been adapted for flexible structures. The elastic vibrations must be damped by adding to the computed torque a complementary feedback term. This term permits one to obtain a satisfactory behaviour of the structure, but reduces the theoretical interest of the decoupling method. It is computed by linearizing the set of equations on a given point of the desired trajectory and by using a classical LOR method. The experimental results demonstrate the interest of the method and shows its sensitivity versus the position of the linearization point.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"109 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":"124686606","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
Dynamic considerations and motion control experiments for a parallel direct-drive robot arm 并联直驱机械臂的动力学考虑及运动控制实验
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240406
T. Kokkinis, Y. Nakamura, D. Uecker, Yulun Wang
{"title":"Dynamic considerations and motion control experiments for a parallel direct-drive robot arm","authors":"T. Kokkinis, Y. Nakamura, D. Uecker, Yulun Wang","doi":"10.1109/ICAR.1991.240406","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240406","url":null,"abstract":"The authors discuss the inverse dynamics of parallel robot arms with closed-chain mechanical structure and show the implications for motion control using nonlinear inversion. They demonstrate the experimental motion control results for the prototype parallel direct-drive robot arm, which is based on a spatial 5-bar linkage with 3 degrees of freedom, using a variety of control algorithms. Finally they present certain results for the dynamic parameters of the arm, which are relevant to their identification.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"127 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":"123516942","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
An approach for mapping kinematic task specifications into a manipulator design 一种将运动学任务规范映射到机械手设计中的方法
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240594
C. Paredis, P. Khosla
{"title":"An approach for mapping kinematic task specifications into a manipulator design","authors":"C. Paredis, P. Khosla","doi":"10.1109/ICAR.1991.240594","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240594","url":null,"abstract":"The reconfigurable modular manipulator system (RMMS) consists of modular links and joints which can be assembled into many manipulator configurations. This capability allows the RMMS to be rapidly reconfigured in order to custom tailor it to specific tasks. An important issue, related to the RMMS, is the determination of the optimal manipulator configuration for a specific task. In this paper, the authors address the problem of mapping kinematic task specifications into a kinematic manipulator configuration. For the design of 2 degrees-of-freedom planar manipulators, an analytical solution is derived. Since, for problems with more than 2 design parameters, analytical solutions become impractical, a numerical approach for the design of 6 degrees-of-freedom manipulators is developed.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"61 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":"123654825","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: 34
Decorative stitching of randomly fed shoe parts 随机送鞋件的装饰缝线
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240583
D. L. Smith, P. Taylor, G. Taylor, I. Jolliffe, D. Reedman
{"title":"Decorative stitching of randomly fed shoe parts","authors":"D. L. Smith, P. Taylor, G. Taylor, I. Jolliffe, D. Reedman","doi":"10.1109/ICAR.1991.240583","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240583","url":null,"abstract":"Describes a two-dimensional automatic stitching system, which can be used to apply decorative stitches to flat workpieces. Unlike conventional systems with similar capabilities, customised style dependent work pallets are not required. This leads to a considerable reduction in overhead costs. The system has been successfully demonstrated using both leather and synthetic materials.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"3 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":"123874496","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: 4
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