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IEEE J. Robotics Autom.最新文献

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A unified approach for motion and force control of robot manipulators: The operational space formulation 机械臂运动与力控制的统一方法:操作空间公式
IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087068
O. Khatib
{"title":"A unified approach for motion and force control of robot manipulators: The operational space formulation","authors":"O. Khatib","doi":"10.1109/JRA.1987.1087068","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087068","url":null,"abstract":"A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133141658","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: 2881
Report on the international workshop on multifingered robot hands 多指机械手国际研讨会报告
IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087067
G. Bekey
{"title":"Report on the international workshop on multifingered robot hands","authors":"G. Bekey","doi":"10.1109/JRA.1987.1087067","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087067","url":null,"abstract":"A WORKSHOP intended to ascertain the state of the art in multifingered end effectors was held in the beautiful city of Dubrovnik, Yugoslavia, on September 8-9, 1986. The workshop was held in conjunction with the International Summer School in Artificial Intelligence, an annual event in Dubrovnik during the past several years. The workshop was organized by Prof. Rajko Tomovic from the University of Belgrade with the assistance of Prof. George A. Bekey from the University of Southern California. Participants included:","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117292680","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 dynamics using the extended zero reference position description 机械臂动力学采用扩展的零参考位置描述
IEEE J. Robotics Autom. Pub Date : 1986-12-01 DOI: 10.1109/JRA.1986.1087061
K. Kazerounian, K. C. Gupta
{"title":"Manipulator dynamics using the extended zero reference position description","authors":"K. Kazerounian, K. C. Gupta","doi":"10.1109/JRA.1986.1087061","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087061","url":null,"abstract":"A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127365565","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: 16
Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics 机器人中的运动学和动力学:基于矢量力学经典概念的教程
IEEE J. Robotics Autom. Pub Date : 1986-12-01 DOI: 10.1109/JRA.1986.1087062
B. McInnis, Chen-Kang Liu
{"title":"Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics","authors":"B. McInnis, Chen-Kang Liu","doi":"10.1109/JRA.1986.1087062","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087062","url":null,"abstract":"Methods are presented for kinematical and dynamical modeling and analysis of robots that are based upon vectorial mechanics. Basic principles for robotics are presented using classical definitions and concepts. An example of the application of the Newton-Euler equations is included.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127674278","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: 14
Kinematics of two-arm robots 双臂机器人运动学
IEEE J. Robotics Autom. Pub Date : 1986-12-01 DOI: 10.1109/JRA.1986.1087058
A. Hemami
{"title":"Kinematics of two-arm robots","authors":"A. Hemami","doi":"10.1109/JRA.1986.1087058","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087058","url":null,"abstract":"As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133240092","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: 28
Sensing strategies for disambiguating among multiple objects in known poses 已知姿态下多目标消歧的传感策略
IEEE J. Robotics Autom. Pub Date : 1986-12-01 DOI: 10.1109/JRA.1986.1087057
W. Grimson
{"title":"Sensing strategies for disambiguating among multiple objects in known poses","authors":"W. Grimson","doi":"10.1109/JRA.1986.1087057","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087057","url":null,"abstract":"The need for intelligent interaction of a robot with its environment frequently requires sensing of the environment. Further, the need for rapid execution requires that the interaction between sensing and action take place using as little sensory data as possible, while still being reliable. Previous work has developed a technique for rapidly determining the feasible poses of an object from sparse, noisy, occluded sensory data. Techniques for acquiring position and surface orientation data about points on the surfaces of objects are examined with the intent of selecting sensory points that will force a unique interpretation of the pose of the object with as few data points as possible. Under some simple assumptions about the sensing geometry, we derive a technique for predicting optimal sensing positions. The technique has been implemented and tested. To fully specify the algorithm, estimates of the error in estimating the position and orientation of the object are needed. Analytic expressions for such errors in the case of one particular approach to object recognition are derived.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132484793","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: 61
Error modeling in stereo navigation 立体导航中的误差建模
IEEE J. Robotics Autom. Pub Date : 1986-11-02 DOI: 10.1109/JRA.1987.1087097
L. Matthies, S. Shafer
{"title":"Error modeling in stereo navigation","authors":"L. Matthies, S. Shafer","doi":"10.1109/JRA.1987.1087097","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087097","url":null,"abstract":"In stereo navigation, a mobile robot estimates its position by tracking landmarks with on-board cameras. Previous systems for stereo navigation have suffered from poor accuracy, in part because they relied on scalar models of measurement error in triangulation. Using three-dimensional (3D) Gaussian distributions to model triangulation error is shown to lead to much better performance. How to compute the error model from image correspondences, estimate robot motion between frames, and update the global positions of the robot and the landmarks over time are discussed. Simulations show that, compared to scalar error models, the 3D Gaussian reduces the variance in robot position estimates and better distinguishes rotational from translational motion. A short indoor run with real images supported these conclusions and computed the final robot position to within two percent of distance and one degree of orientation. These results illustrate the importance of error modeling in stereo vision for this and other applications.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122383625","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: 578
Representation of geometric features, tolerances, and attributes in solid modelers based on constructive geometry 基于构造几何的实体建模器中几何特征、公差和属性的表示
IEEE J. Robotics Autom. Pub Date : 1986-09-01 DOI: 10.1109/JRA.1986.1087053
A. Requicha, Stephen C. Chan
{"title":"Representation of geometric features, tolerances, and attributes in solid modelers based on constructive geometry","authors":"A. Requicha, Stephen C. Chan","doi":"10.1109/JRA.1986.1087053","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087053","url":null,"abstract":"Tolerancing and surface finish data are essential for automatically planning the manufacture, inspection, and robotic assembly of mechanical components. A scheme for representing surface features in a solid modeler based on constructive solid geometry (CSG) and for associating tolerances and other attributes with such features. It shows conclusively that commonly-held beliefs on CSG's inability to deal with surface features and tolerances are unfounded. The scheme has been implemented in the PADL-2 modeling system and is being used to support research on high-level languages for programming numerically controlled (NC) machine tools.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125615426","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: 170
Multiresolution path planning for mobile robots 移动机器人的多分辨率路径规划
IEEE J. Robotics Autom. Pub Date : 1986-09-01 DOI: 10.1109/JRA.1986.1087051
S. Kambhampati, L. Davis
{"title":"Multiresolution path planning for mobile robots","authors":"S. Kambhampati, L. Davis","doi":"10.1109/JRA.1986.1087051","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087051","url":null,"abstract":"The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133488665","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: 462
Robot accuracy analysis based on kinematics 基于运动学的机器人精度分析
IEEE J. Robotics Autom. Pub Date : 1986-09-01 DOI: 10.1109/JRA.1986.1087054
W. K. Veitschegger, Chi-haur Wu
{"title":"Robot accuracy analysis based on kinematics","authors":"W. K. Veitschegger, Chi-haur Wu","doi":"10.1109/JRA.1986.1087054","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087054","url":null,"abstract":"The positioning accuracy problem of robot manipulators has long been one of the principal concerns of robot design and control. In a previous work, a linear model that described the robot positioning accuracy due to kinematic errors was developed. However, the previous work considered only the small errors by ignoring the higher order terms and did not address the special case of two consecutive parallel joints. In this work a more detailed model is given that applies to consecutive parallel joints and includes the second-order terms. By comparing the results of the linear model and the second-order model, the accuracy of the linear model can be evaluated for a given manipulator and range of input kinematic errors. The error envelopes obtained using the linear model and the developed second order model for the Puma 560 are plotted and compared for various sets of input kinematic errors. A comparison of the computation complexity for the two models is also given.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115429266","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: 249
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