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IEEE J. Robotics Autom.最新文献

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A group-theoretic approach to the computation of symbolic part relations 符号部分关系计算的一种群论方法
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9300
F. Thomas, C. Torras
{"title":"A group-theoretic approach to the computation of symbolic part relations","authors":"F. Thomas, C. Torras","doi":"10.1109/56.9300","DOIUrl":"https://doi.org/10.1109/56.9300","url":null,"abstract":"When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages have been developed, from different points of view, that are able to partially solve the problem. A more general method is derived than those previously proposed that were based on the symbolic manipulation of chains of matrix products, using the theory of continuous groups. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127535008","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: 62
Robot calibration and compensation 机器人标定与补偿
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9302
W. K. Veitschegger, Chi-haur Wu
{"title":"Robot calibration and compensation","authors":"W. K. Veitschegger, Chi-haur Wu","doi":"10.1109/56.9302","DOIUrl":"https://doi.org/10.1109/56.9302","url":null,"abstract":"A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129434989","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: 143
On the stability of manipulators performing contact tasks 机械臂执行接触任务的稳定性
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9305
N. Hogan
{"title":"On the stability of manipulators performing contact tasks","authors":"N. Hogan","doi":"10.1109/56.9305","DOIUrl":"https://doi.org/10.1109/56.9305","url":null,"abstract":"Manipulation requires contact with the object being manipulated, and the full potential of robots can only be realized when they are applied to contact tasks. One of the difficulties engendered by contact tasks is that they require intimate dynamic interaction between the robot and its environment. That interaction changes the performance of the robot and can jeopardize the stability of its control system. A discussion is presented of the problem of preserving the stability of a manipulator's control system during contact tasks. It will be shown that contact stability may be guaranteed if the control system provides the manipulator with an appropriately structured dynamic response to environmental inputs. Two aspects of one implementation of such a controller will be considered. Robustness to large errors in the manipulator kinematic equations and to unmodeled interface dynamics is shown. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133953973","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: 316
Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method 用图形符号法推导机器人机械臂的动力学方程
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9298
Pi-Ying Cheng, Ching-I Weng, Cha’o-Kuang Chen
{"title":"Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method","authors":"Pi-Ying Cheng, Ching-I Weng, Cha’o-Kuang Chen","doi":"10.1109/56.9298","DOIUrl":"https://doi.org/10.1109/56.9298","url":null,"abstract":"An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125077176","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
Omnidirectional supervisory control of a multilegged vehicle using periodic gaits 基于周期步态的多足机器人的全方位监督控制
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9301
W.-J. Lee, D. Orin
{"title":"Omnidirectional supervisory control of a multilegged vehicle using periodic gaits","authors":"W.-J. Lee, D. Orin","doi":"10.1109/56.9301","DOIUrl":"https://doi.org/10.1109/56.9301","url":null,"abstract":"A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits. The vehicle model is chosen from a hexapod robot vehicle, named the Adaptive Suspension Vehicle, which is under development. To implement periodic gaits for omnidirectional control, the notion of the constrained working volume (CWV) is introduced on the basis of reachability of the leg and the kinetic maximum locomotion period is defined using the CWV. As a result, the leg touchdown and liftoff points are constrained within the CWV during vehicle locomotion. Based on this constraint, the foothold selection problem is addressed. The algorithm was developed through a computer graphics simulation; results of the simulations are discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115985210","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
Fixed-axis tool positioning with built-in global interference checking for NC path generation 固定轴刀具定位，内置全局干涉检查，用于数控路径生成
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9299
Allan Hansen, F. Arbab
{"title":"Fixed-axis tool positioning with built-in global interference checking for NC path generation","authors":"Allan Hansen, F. Arbab","doi":"10.1109/56.9299","DOIUrl":"https://doi.org/10.1109/56.9299","url":null,"abstract":"An algorithm for generating tool positions for three-axis mill cutter paths on parametric surfaces is presented. The novelty of this algorithm is in its use of a surface subdivision technique as an alternative to the traditional APT-style iterative approaches based on local tangent-plane extensions. The algorithm presented provides global interference checking and does not exhibit the convergence problems of the traditional approaches. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129575543","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: 29
Efficient modeling and computation of manipulator dynamics using orthogonal Cartesian tensors 基于正交笛卡尔张量的机械臂动力学高效建模与计算
IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI: 10.1109/56.9304
C. Balafoutis, Rajnikant V. Patel, P. Misra
{"title":"Efficient modeling and computation of manipulator dynamics using orthogonal Cartesian tensors","authors":"C. Balafoutis, Rajnikant V. Patel, P. Misra","doi":"10.1109/56.9304","DOIUrl":"https://doi.org/10.1109/56.9304","url":null,"abstract":"The authors use orthogonal second-order Cartesian tensors to formulate the Newton-Euler dynamic equations for a robot manipulator. Based on this formulation, they develop two efficient recursive algorithms for computing the joint actuator torques/forces. The proposed algorithms are applicable to all rigid-link manipulators with open-chain kinematic structures with revolute and/or prismatic joints. An efficient implementation of one of the proposed algorithms shows that the joint torques/forces for a six-degrees-of-freedom manipulator with revolute joints, can be computed in approximately 489 multiplications and 420 additions. For manipulators with zero or 90 degrees twist angles, the required computations are reduced to 388 multiplications and 370 additions. For manipulators with even simpler geometric structures, these arithmetic operations can be further reduced to 277 multiplications and 255 additions. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129778036","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: 40
Terminal-link parameter estimation of robotic manipulators 机械臂末端链路参数估计
IEEE J. Robotics Autom. Pub Date : 1988-10-01 DOI: 10.1109/56.20432
H. Kawasaki, K. Nishimura
{"title":"Terminal-link parameter estimation of robotic manipulators","authors":"H. Kawasaki, K. Nishimura","doi":"10.1109/56.20432","DOIUrl":"https://doi.org/10.1109/56.20432","url":null,"abstract":"The authors present a manipulator terminal-link parameter estimation method. The estimation equations are linear in the unknown terminal-link parameters. These unknown parameters are estimated using an instrument variable method (IVM). It is verified theoretically and experimentally that the IVM asymptotically yields consistent estimates. The number of operations required to estimate the terminal-link parameters of a manipulator having six degrees of freedom is about 1800 multiplications and 1500 additions using the recursive IVM at k=5, where k is the sampling number. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123179711","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: 40
Road boundary detection in range imagery for an autonomous robot 自主机器人距离图像中的道路边界检测
IEEE J. Robotics Autom. Pub Date : 1988-10-01 DOI: 10.1109/56.20436
U. Sharma, L. Davis
{"title":"Road boundary detection in range imagery for an autonomous robot","authors":"U. Sharma, L. Davis","doi":"10.1109/56.20436","DOIUrl":"https://doi.org/10.1109/56.20436","url":null,"abstract":"The authors describe a road-following system for an autonomous land vehicle, based on range image analysis. The system is divided into two parts: low-level data-driven analysis, followed by high-level model-directed search. The sequence of steps performed in order to detect three-dimensional (3-D) road boundaries is as follows. Range data are first converted from spherical into Cartesian coordinates. A quadric (or planar) surface is then fitted to the neighborhood of each range pixel, using a least squires fit method. Based on this fit, minimum and maximum principal surface curvatures are computed at each point to detect edges. Next, using Hough transform techniques, 3-D local line segments are extracted. Finally, model-directed reasoning is applied to detect the road boundaries. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114796682","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: 18
Planar and finger-shaped optical tactile sensors for robotic applications 用于机器人的平面和指形光学触觉传感器
IEEE J. Robotics Autom. Pub Date : 1988-10-01 DOI: 10.1109/56.20431
S. Begej
{"title":"Planar and finger-shaped optical tactile sensors for robotic applications","authors":"S. Begej","doi":"10.1109/56.20431","DOIUrl":"https://doi.org/10.1109/56.20431","url":null,"abstract":"Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32*32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 257 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13*13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130733550","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: 152
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