IEEE Journal on Robotics and Automation最新文献_第2页

Normal forms of stiffness and compliance matrices 刚度和柔度矩阵的标准形式

IEEE Journal on Robotics and Automation Pub Date : 1987-12-01 DOI: 10.1109/JRA.1987.1087148

J. Loncaric

引用次数: 185

Simplified generation of all mechanical assembly sequences 简化了所有机械装配序列的生成

IEEE Journal on Robotics and Automation Pub Date : 1987-12-01 DOI: 10.1109/JRA.1987.1087132

T. DeFazio, D. Whitney

引用次数: 843

On-line compensation of mobile robot docking errors 移动机器人对接误差的在线补偿

IEEE Journal on Robotics and Automation Pub Date : 1987-12-01 DOI: 10.1109/JRA.1987.1087139

K. Mandel, N. Duffie

{"title":"On-line compensation of mobile robot docking errors","authors":"K. Mandel, N. Duffie","doi":"10.1109/JRA.1987.1087139","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087139","url":null,"abstract":"One of the main problems of an unconstrained mobile robot (that is not limited to rails or tracks), that limits its industrial applications, is its docking accuracy. Because robot programs are executed relative to the robot base, inaccurate positioning of the mobile robot during docking must be accounted for in order to improve the accuracy of the mobile robot. In this paper, a method to compensate for the docking inaccuracy of mobile robots is proposed. The method is based on modifying the task of the robot arm according to the docking error-the offset between the desired and actual docking locations of the mobile robot. The docking error is sensed by a sensor mounted on the robot arm: it can be either a vision system or a touch trigger probe. The algorithms for calculating the spatial docking error for each sensor and how the robot's task is modified accordingly are presented. The need for a method that will allow to reach results even in the presence of perturbed data, something that currently applied methods cannot guarantee, is discussed and one is presented. The calculation of the spatial offset between the actual and the desired locations of the mobile robot using vision system was implemented and results of some experiments are presented and discussed.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115120912","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: 33

Model building of three-dimensional polyhedral objects using 3D edge information and hemispheric histogram 利用三维边缘信息和半球直方图建立三维多面体模型

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087125

D. Laurendeau, D. Poussart

{"title":"Model building of three-dimensional polyhedral objects using 3D edge information and hemispheric histogram","authors":"D. Laurendeau, D. Poussart","doi":"10.1109/JRA.1987.1087125","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087125","url":null,"abstract":"An algorithm for extracting edges and plane regions of a polyhedral object in a three-dimensional (3D) range image is described. The object may be Convex or nonconvex. A model of the object is built with the regions extracted. Possible extension to cylindrical objects is also considered. The range images are obtained with a novel range-finder camera that can produce 128 × 256 or 256 × 256 surface element (surfcels) images. The edge detection is accomplished in five steps and yields edges one surfcel wide. The region-finding algorithm relies on the concept of the \"hemispheric histogram.\" The histogram is built with the normals of groups of surfcels (patches) forming the image. Analysis of the hemispheric histogram gives global information on the surface orientation of the visible regions of an object. Once these regions are extracted, they are expanded with a region growing process. Geometric properties of the regions are computed by a simple contour following algorithm. Then, a relational model of the regions is built. The model gathers information that is independent of the position and orientation of the object ill the reference plane and could be Used for object recognition in an unsupervised 3D vision system.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122800422","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

Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator 拾取和放置任务的视觉增强:人类操作员控制模拟的圆柱形机械手

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087127

W. Kim, F. Tendick, L. Stark

{"title":"Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator","authors":"W. Kim, F. Tendick, L. Stark","doi":"10.1109/JRA.1987.1087127","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087127","url":null,"abstract":"A visual display system serves as an important man-machine interface for efficient teleoperations. However, careful consideration is necessary to display three-dimensional information on a two-dimensional screen effectively. A teleoperation simulator is constructed with a vector display system, joysticks, and a simulated cylindrical manipulator to evaluate various display conditions quantitatively. Pick-and-place tasks are performed, and mean completion times are used as a performance measure. Two experiments are performed. First, effects of variation of perspective parameters on human operator's pick-and-place performance with monoscopic perspective display are investigated. Then visual enhancements of monoscopic perspective display by adding a grid and reference lines are investigated and compared with visual enhancements of stereoscopic display. The results indicate that stereoscopic display does generally permit superior pick-and-place performance, while monoscopic display can allow equivalent performance when it is defined with appropriate perspective parameter values and provided with adequate visual enhancements. Mean completion time results of pick-and-place experiments for various display conditions shown are observed to be quite similar to the normalized rms error results of mannal tracking experiments reported previously.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130389073","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: 115

Dynamic sensor-based control of robots with visual feedback 基于视觉反馈的机器人动态传感器控制

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087115

L. Weiss, A. Sanderson, C. Neuman

引用次数: 895

International symposium on robot manipulators--Modeling, control, and education 国际研讨会的机器人操纵-建模，控制和教育

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087122

M. Jamshidi

引用次数: 1

Language-aided robotic teleoperation system (LARTS) for advanced teleoperation 用于高级遥操作的语言辅助机器人遥操作系统

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087123

Tomomasa Sato, S. Hirai

引用次数: 60

Classical control design for a flexible manipulator: Modeling and control system design 柔性机械臂的经典控制设计:建模与控制系统设计

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087121

J. Ower, J. V. Vegte

引用次数: 52

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics 考虑机械臂系统动力学的远程机械臂位置和速度控制的比较

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087117

W. Kim, F. Tendick, S. Ellis, L. Stark

引用次数: 145