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IEEE J. Robotics Autom.最新文献

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Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints 具有动态约束的离散动态机器人模型的最短时间轨迹规划
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2081
H. H. Tan, R. B. Potts
{"title":"Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints","authors":"H. H. Tan, R. B. Potts","doi":"10.1109/56.2081","DOIUrl":"https://doi.org/10.1109/56.2081","url":null,"abstract":"A minimum time trajectory planner is proposed for a manipulator arm. A totally discrete approach is adopted, in contrast to other models which use continuous-time but resort to discretization in the computation. The Neuman and Tourassis discrete-dynamic robot model is used to model the robot dynamics. The proposed trajectory planner includes joint-torque constraints to fully utilize the joint actuators. Realistic constraints such as the joint-jerk and joint-velocity constraints are incorporated into the model. The nonlinear optimization problem associated with the planner is partially linearized, which enables the iterative method of approximate programming to be used in solving the problem. Numerical examples for a two-link revolute arm are presented to demonstrate the use of the proposed trajectory planner. It is numerically verified that the convergence of the iterative algorithm is quadratic, and the trajectory planner therefore is computationally efficient. The use of a near-minimum time-cost function is also shown to yield a solution close to that obtained with the true minimum time-cost function. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126878314","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
An adaptive approach to video tracking 一种自适应视频跟踪方法
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2088
M. Kabuka, E. McVey, E. P. Shironoshita
{"title":"An adaptive approach to video tracking","authors":"M. Kabuka, E. McVey, E. P. Shironoshita","doi":"10.1109/56.2088","DOIUrl":"https://doi.org/10.1109/56.2088","url":null,"abstract":"A video tracking system based on the principles of optimalizing control is presented. This system is designed such that expensive segmentation procedures are not necessary, and is well suited for fast hardware implementation. At the image received from the camera a perturbation procedure is performed, simulating the variations on the intensity values that would occur if the camera were moved. An index of performance (IP) is evaluated at the results of this perturbation; this IP does not need to detect the position of the tracked object accurately, but rather varies in such a way as to detect the motion of the object with respect to the camera. Algorithms for translation and scaling of the tracking object have been developed using area, centroid, and template matching as indices of performance. Software simulation experiments show that the control law developed yields good results even under variations in background and illumination and under multidimensional motion. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130479404","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: 17
Force control of servomechanism using adaptive control 采用自适应控制的伺服机构力控制
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2087
T. Yabuta, T. Yamada, T. Tsujimura, H. Sakata
{"title":"Force control of servomechanism using adaptive control","authors":"T. Yabuta, T. Yamada, T. Tsujimura, H. Sakata","doi":"10.1109/56.2087","DOIUrl":"https://doi.org/10.1109/56.2087","url":null,"abstract":"It is shown that a servomechanism with only position/velocity functions can obtain a force control function using the adaptive theory (model-referenced adaptive system and model-referenced control). Experimental results of both the servomechanism and the single-degree-of-freedom force control of the manipulator show that this method leads to suitable force control when the object stiffness changes greatly. The advantage of this method is that a force control function is achieved by implementing software to identify the object stiffness without changing hardware. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114850980","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: 24
The analysis of equilateral grip of a prismatic and convex workpiece 棱柱形和凸形工件的等边握持分析
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2086
M. Orlowski, M. Pachter
{"title":"The analysis of equilateral grip of a prismatic and convex workpiece","authors":"M. Orlowski, M. Pachter","doi":"10.1109/56.2086","DOIUrl":"https://doi.org/10.1109/56.2086","url":null,"abstract":"Certain facets of the gripping problem in robotics are discussed. A gripper with a single degree of freedom is considered, which consists of three equal-length fingers. The set of workpieces under consideration are modeled by prismatic and convex polyhedra. This leads to a planar-geometric formulation. The computational geometric problem of inscribing, in a given convex polygon, an equilateral triangle that is locally minimal, is addressed. Feasibility and the (computational) geometric construction of the solution are emphasized. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125198823","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
The kinematics of motion planning for multilegged vehicles over uneven terrain 多足车辆在不平坦地形上的运动规划运动学
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2084
W.-J. Lee, D. Orin
{"title":"The kinematics of motion planning for multilegged vehicles over uneven terrain","authors":"W.-J. Lee, D. Orin","doi":"10.1109/56.2084","DOIUrl":"https://doi.org/10.1109/56.2084","url":null,"abstract":"A motion planning algorithm for uneven-terrain locomotion for a multilegged vehicle is described. The algorithm has been developed based on the vehicle/terrain kinematic relationships. The vehicle model is chosen from a hexapod vehicle, named the Adaptive Suspension Vehicle (ASV), which has been constructed at Ohio State University (OSU) and is currently being tested. A simple body-regulation plan has been designed based on the local slope of the terrain and should increase the safety and adaptability of the vehicle. The local terrain is estimated by using the support points of the supporting legs and proximity information from the transfer legs. The adjustment of the position and dimensions of the constrained working volume for each leg, which increases the vehicle stability over sloped terrain, is discussed. The algorithm has been implemented in simulation on a PDP-11/70 minicomputer, from which test results are given. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115099358","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: 38
The kinematics of spatial robotic bevel-gear trains 空间机器人锥齿轮系运动学
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2078
L. Tsai
{"title":"The kinematics of spatial robotic bevel-gear trains","authors":"L. Tsai","doi":"10.1109/56.2078","DOIUrl":"https://doi.org/10.1109/56.2078","url":null,"abstract":"A systematic approach is developed for the kinematic analysis of multi-degree-of-freedom robotic bevel-gear trains. The approach is based on the idea that the motion of a bevel-gear-type and effector can be described by an equivalent open-loop chain and that the relative rotation between every two adjacent links in the equivalent open-loop chain can be derived from a set of fundamental circuit equations and coaxial conditions. The theory is demonstrated by the kinematic analysis of two robotic wrists. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122872430","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: 83
Analog matrix inversion [robot kinematics] 模拟矩阵反演[机器人运动学]
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2079
R. Sturges
{"title":"Analog matrix inversion [robot kinematics]","authors":"R. Sturges","doi":"10.1109/56.2079","DOIUrl":"https://doi.org/10.1109/56.2079","url":null,"abstract":"The enhancement of robot dynamic performance can be aided by high-speed and, in some cases, low-accuracy calculation of matrices and their inverses. Analog techniques for the calculation of robot kinematics are reviewed and a method for fast matrix inversion is proposed. Tradeoffs in speed and accuracy in such computations are also examined. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114379806","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: 59
Analysis of robot drive train errors, their static effects, and their compensations 机器人传动系误差分析、静态影响及补偿
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2075
Shaheen Ahmad
{"title":"Analysis of robot drive train errors, their static effects, and their compensations","authors":"Shaheen Ahmad","doi":"10.1109/56.2075","DOIUrl":"https://doi.org/10.1109/56.2075","url":null,"abstract":"A mathematical model of the kinematic nonlinear drive-train errors, which reduce the absolute static positioning accuracy of robot arms, is presented. This kinematic inaccuracy renders robot manipulators less effective when programmed offline, though they might be programmed to successfully perform the same task by teach playback schemes. The kinematic drive-train inaccuracy model presented can be used to predict and compensate for these nonlinear effects online, without resorting to sensor-based programming techniques, which are often expensive and may be difficult to implement in an industrial environment. The drive-train error model presented is based on gear backlash, eccentricity, and drive-shaft compliance. That the effects of these nonlinearities severely impact the robot's repeatability and absolute positioning accuracy is mathematically proven. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133052232","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: 46
A fast procedure for computing the distance between complex objects in three-dimensional space 计算三维空间中复杂物体之间距离的快速程序
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2083
{"title":"A fast procedure for computing the distance between complex objects in three-dimensional space","authors":"","doi":"10.1109/56.2083","DOIUrl":"https://doi.org/10.1109/56.2083","url":null,"abstract":"An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ is described. Extensive numerical experience with a broad family of polytopes in R/sup 3/ shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These features are discussed and an example of collision detection is given. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131679166","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: 1435
Dynamics and simulation of compliant motion of a manipulator 机械臂柔顺运动的动力学与仿真
IEEE J. Robotics Autom. Pub Date : 1988-04-01 DOI: 10.1109/56.2080
R. Kankaanranta, H. Koivo
{"title":"Dynamics and simulation of compliant motion of a manipulator","authors":"R. Kankaanranta, H. Koivo","doi":"10.1109/56.2080","DOIUrl":"https://doi.org/10.1109/56.2080","url":null,"abstract":"A rigid body model for compliant motion of a manipulator is derived. The model is formulated in the joint coordinate frame, and then transformed into the constraint frame to reduce the dimensionality of the model. The proposed model is useful in the simulation of force-controlled manipulators. Examples considering the tasks of a 'peg in a hole' and 'turning a crank' are given. The basic structure of the model is represented in a general framework applicable to many other constrained mechanical systems. A control architecture is suggested, which according to the model leads to exact decoupling of force and position-controlled directions. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116926565","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: 104
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