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

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A simple bound for the appropriate pseudoinverse perturbation of robot manipulators 机器人机械臂适当伪逆摄动的一个简单界
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240528
R. Mayorga, N. Milano, A. Wong
{"title":"A simple bound for the appropriate pseudoinverse perturbation of robot manipulators","authors":"R. Mayorga, N. Milano, A. Wong","doi":"10.1109/ICAR.1991.240528","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240528","url":null,"abstract":"A simple scheme for the appropriate pseudoinverse perturbation, in the inverse kinematics computation, of robot manipulators is presented. The approach is based on properly implementing a bound for a sufficiency condition for the rank preservation of the Jacobian matrix. This bound is established in terms of the Jacobian matrix and on its rate of change matrix infinity norms.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"21 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":"123910181","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
Input/output variable structure position control of a remotely operated underwater vehicle 遥控水下航行器的输入/输出变结构位置控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240374
J.P.V.S. da Cunha, R. R. Costa, L. Hsu
{"title":"Input/output variable structure position control of a remotely operated underwater vehicle","authors":"J.P.V.S. da Cunha, R. R. Costa, L. Hsu","doi":"10.1109/ICAR.1991.240374","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240374","url":null,"abstract":"An adaptive control system for a remotely operated underwater vehicle (ROV) is proposed. The controller is based on a recently developed variable structure model-reference adaptive control (VS-MRAC) design which is particularly advantageous since only input/output (I/O) measurements are needed and the controller design does not require exact knowledge of the ROV parameters. This paper also presents a method for implementing the I/O VS-MRAC as a digital computer algorithm. Simulations carried out with a realistic dynamic model of an actual ROV have shown that this control scheme yields accurate tracking even in the presence of disturbances and measurement noise.<<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":"130193418","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
Control of a plain-structured robot for pipeline testing 平面结构管道测试机器人的控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240626
T. Okada, S. Fujiwara, T. Sanemori
{"title":"Control of a plain-structured robot for pipeline testing","authors":"T. Okada, S. Fujiwara, T. Sanemori","doi":"10.1109/ICAR.1991.240626","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240626","url":null,"abstract":"As automated robot for pipeline testing is developed to simplify its clamping around the pipeline, as well as its driving mechanism and control. The robot is composed of a plain-structured 3-link-mechanism having 3 steering wheels that moves autonomously using the information from sensors. This paper describes the design and construction of the robot. Control algorithms for its longitudinal, circumferential, and spiral locomotion for carrying sensor probes on the pipeline surface and the experimental results diagnosing the pipeline condition are also given.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"39 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":"122428885","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
Control of rolling contacts in multiple robotic manipulation 多机器人操作中滚动接触的控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240588
E. Paljug, X. Yun, Vijay R. Kumar
{"title":"Control of rolling contacts in multiple robotic manipulation","authors":"E. Paljug, X. Yun, Vijay R. Kumar","doi":"10.1109/ICAR.1991.240588","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240588","url":null,"abstract":"When multiple arms are used to manipulate a large object, it is productive and sometimes necessary to maintain and control contacts between the object and surfaces of the robot other than those at the end-effector. Hence, the contact surface of the robot is referred to simply as its effector and includes the surface of any link of the manipulator as well as open palm-like effectors at the arm's extremity. Such contacts are characterized by holonomic as well as nonholonomic (including unilateral) constraints. In this paper, the control of rolling contact is investigated. Multiarm manipulation systems are typically redundant. In the approach, a minimal set of inputs is employed to control the trajectory of the system while the surplus inputs control the rolling condition at the contacts. A nonlinear feedback scheme for simultaneous force and motion control is presented and a new approach to adaptively adjust a two-effector grasp with rolling contacts is developed. Simulations are used to illustrate the salient features in control and planning.<<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":"120959051","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: 11
Comparison of control algorithms for flexible joint robots implemented on a KUKA IR 161/60 industrial robot KUKA IR 161/60工业机器人柔性关节机器人控制算法比较
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240465
J. Swevers, D. Torfs, M. Adams, J. De Schutter, H. Van Brussel
{"title":"Comparison of control algorithms for flexible joint robots implemented on a KUKA IR 161/60 industrial robot","authors":"J. Swevers, D. Torfs, M. Adams, J. De Schutter, H. Van Brussel","doi":"10.1109/ICAR.1991.240465","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240465","url":null,"abstract":"Presents two simple modifications of a standard robot controller for a KUKA IR 161/60 industrial robot: improved trajectory generation and flexible control of the first joint. Tests show that the improved trajectory generation gives the largest contribution to the improvement of the performance, and that only at very high velocities and accelerations, there is a significant difference between a flexible controller and a classical PID controller. The paper also shows that a nonlinear flexible controller for links 2 and 3 can be implemented, and that it improves the static and dynamic accuracy of the robot.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"64 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":"121252817","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
A probabilistic approach to path planning with object boundary uncertainties 具有目标边界不确定性的路径规划的概率方法
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240362
E. Horiuchi, K. Tani
{"title":"A probabilistic approach to path planning with object boundary uncertainties","authors":"E. Horiuchi, K. Tani","doi":"10.1109/ICAR.1991.240362","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240362","url":null,"abstract":"In the presence of geometric uncertainties, collision avoidance of the robots in close proximity to or in contact with the obstacles in the environment is discussed from the probabilistic point of view. A hierarchical representation for geometric uncertainties is proposed; spatial uncertainties are described by occupation probability. An algorithm which generates robot trajectories by calculating collision probability between the robot and the obstacles is presented to show the applicability of the proposed framework to path planning.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"122 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":"116500064","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 motion coordination and planning of multi-axis manipulators with orthogonal regional structures 正交区域结构多轴机械臂的运动协调与规划
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240425
J. Chou, D.C.H. Yang
{"title":"On the motion coordination and planning of multi-axis manipulators with orthogonal regional structures","authors":"J. Chou, D.C.H. Yang","doi":"10.1109/ICAR.1991.240425","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240425","url":null,"abstract":"This paper presents a general theory on the generation of piecewise constant speed profile for coordinated motion of multi-axis manipulators with orthogonal regional structures. Motion with constant speed is important and required in many manufacturing processes, such as milling, welding, finishing and painting. In this paper, a piecewise constant speed profile is constructed by a sequence of Hermite curves to form a composite Hermite curve in parametric domain. Due to the continuity of acceleration in the proposed speed profile, it generates relatively better product quality than traditional techniques. The authors also provide a method for the feasibility study of manufacture capability in terms of the given manipulator, the desired path, and the assigned speed. This includes the consideration of manipulator dynamics, actuator limitation, path geometry, jerk constraints and motion kinematics. The result is a general one and is applicable to all curves tracked by multi-axis manipulator with orthogonal regional structures.<<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":"127097178","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
Exploiting redundancy in resolved motion control 利用冗余在分辨运动控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240536
C. Thiru-Arooran, G. Downton
{"title":"Exploiting redundancy in resolved motion control","authors":"C. Thiru-Arooran, G. Downton","doi":"10.1109/ICAR.1991.240536","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240536","url":null,"abstract":"Direct tip velocity control of a general manipulator with redundant degrees of freedom with collision avoidance capabilities is presented and the modifications needed to implement it on real manipulators are described.<<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":"123775972","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
Virtual trajectory and stiffness ellipse during force-trajectory control using a parallel-hierarchical neural network model 采用并行层次神经网络模型进行力-轨迹控制时的虚拟轨迹和刚度椭圆
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240394
M. Katayama, M. Kawato
{"title":"Virtual trajectory and stiffness ellipse during force-trajectory control using a parallel-hierarchical neural network model","authors":"M. Katayama, M. Kawato","doi":"10.1109/ICAR.1991.240394","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240394","url":null,"abstract":"Proposes a parallel-hierarchical neural network model using a feedback-error-learning scheme. This model explains the biological motor learning for simultaneous control of both trajectory and force. Moreover, the authors propose a control law based on a criterion related to the minimum motor-command-change trajectory. The motor commands are calculated while directly taking account of variable viscous-elastic properties of muscles. Learning trajectory and force control is performed for a two-link four-muscle arm. They derive the virtual trajectory and stiffness ellipse, which are implicitly determined during force and trajectory control. They found that the virtual trajectory was much more complex than the desired trajectory. The stiffness ellipses were similar to those obtained in Mussa-Ivaldi experiment.<<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":"121468689","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: 19
Conception of a robot dedicated to neurosurgical operations 专门从事神经外科手术的机器人的构想
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240559
D. Glauser, P. Flury, N. Villotte, C. W. Burckhardt
{"title":"Conception of a robot dedicated to neurosurgical operations","authors":"D. Glauser, P. Flury, N. Villotte, C. W. Burckhardt","doi":"10.1109/ICAR.1991.240559","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240559","url":null,"abstract":"Stereotactic neurosurgery consists of the introduction of a small probe with a diameter of 2-3 mm through a hole drilled in the skull, in order to reach 'blindly' a point inside the brain which has previously been located, on scanner sections and marked by means of a reference system on the patient's head. The robot described has been built, partial tests have been carried out on cadavers and validated (positioning, skin incision and bone drilling, etc.. . .). The paper briefly explains the general design. Significant studies are being made concerning safety, reliability and robot-surgeon dialogue. The difficulty of developing a robot for surgery lies in the multidisciplinary aspect: problems in mechanics, electronics, computing, medicine, surgery and sterilization had to be tackled.<<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":"127581680","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
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