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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97最新文献

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Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm 基于各机械臂阻抗控制的多机械臂协调操作的分散控制
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.648976
K. Kosuge, T. Oosumi, H. Seki
{"title":"Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm","authors":"K. Kosuge, T. Oosumi, H. Seki","doi":"10.1109/IROS.1997.648976","DOIUrl":"https://doi.org/10.1109/IROS.1997.648976","url":null,"abstract":"We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedence-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122957048","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: 32
Teleoperation system of ETS-VII robot experiment satellite ETS-VII机器人实验卫星遥操作系统
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.656578
M. Oda, Toshitsugu Doi
{"title":"Teleoperation system of ETS-VII robot experiment satellite","authors":"M. Oda, Toshitsugu Doi","doi":"10.1109/IROS.1997.656578","DOIUrl":"https://doi.org/10.1109/IROS.1997.656578","url":null,"abstract":"Tasks to be performed in space will increase in near future such as assembly of the space station, exploration of lunar and Mars surface, repair of failed satellites in orbit. Space robots which can be teleoperated from a ground control station are desired to conduct these tasks. National Space Development Agency of Japan (NASDA) is to launch an engineering test satellite named ETS-VII to conduct rendezvous docking and space robot technologies experiments for the above future missions. ETS-VII satellite has 6-DOF robot arm of about 2 m long which will be teleoperated from an on-ground control station in Japan. This paper describes the teleoperation system of the ETS-VII robot arm.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114412190","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
Combining force and position measurements for the monitoring of robotic assembly 结合力和位置测量来监测机器人装配
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655081
G. Hovland, B. McCarragher
{"title":"Combining force and position measurements for the monitoring of robotic assembly","authors":"G. Hovland, B. McCarragher","doi":"10.1109/IROS.1997.655081","DOIUrl":"https://doi.org/10.1109/IROS.1997.655081","url":null,"abstract":"A method for combining dynamic force and static position measurements for the monitoring of assembly is presented. A multilayer perceptron (MLP) network is used as a classifier where the individual network outputs correspond to contact state transitions occuring during the assembly process. When a contact state transition occurs, the MLP output with the largest value is chosen. The recognised contact state is sent to a discrete event controller which guides the workpiece through a series of contact states to the final desired configuration. The MLP has been successfully implemented on a Motorola 68040 based VxWorks board with successful recognition rates of 94.4% and 92.0% on a training set and an independent test set, respectively.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121885240","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
A modular re-configurable approach to the creation of flexible manufacturing cells for educational purposes 一个模块化的可重新配置的方法来创建灵活的制造单元的教育目的
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.656518
S. Owen, M. Bonney, A. Denford
{"title":"A modular re-configurable approach to the creation of flexible manufacturing cells for educational purposes","authors":"S. Owen, M. Bonney, A. Denford","doi":"10.1109/IROS.1997.656518","DOIUrl":"https://doi.org/10.1109/IROS.1997.656518","url":null,"abstract":"This paper describes a project designing modular software which greatly assists the creation of FMS for educational purposes. A three level hierarchical control system was specified: at the highest level, or system control level, is the host computer; at the intermediate or supervisory control level, are the cell controllers; at the third level, device drivers provide an interface and control for each element i.e. machines such as lathes, milling machines, robots, storage systems, transport systems, measuring systems etc. The final report was assessed as a highly significant contribution to the field for technological merit. The paper outlines the development of the system and discusses the facilities available and how these may be combined to move towards an integrated system. Specifically an indication is given of the particular needs of educational establishments.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122100177","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: 3
Real-time robot navigation in unstructured environments using a 3D laser rangefinder 使用三维激光测距仪的非结构化环境中的实时机器人导航
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655062
L. Montano, J. Asensio
{"title":"Real-time robot navigation in unstructured environments using a 3D laser rangefinder","authors":"L. Montano, J. Asensio","doi":"10.1109/IROS.1997.655062","DOIUrl":"https://doi.org/10.1109/IROS.1997.655062","url":null,"abstract":"In this paper a technique for real-time robot navigation is presented. Off-line planned trajectories and motions are modified in real-time to avoid obstacles, using a reactive behaviour. The information about the environment is provided to the control system of the robot by a rotating 3D laser sensor which have two degrees of freedom. Using this sensor, three dimensional information can be obtained, and can be used simultaneously for obstacle avoidance, robot self-localization and for 3D local map building. In this work we focus the attention in the obstacle avoidance problem with this kind of sensor. Experimental results in different indoor environments are reported, which show the versatility of the proposed technique to carry out typical tasks such as wall following, door crossing and motion in a room with several obstacles.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129028953","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
A novel method for extracting roof edges of specular polyhedra 一种提取镜面多面体顶边的新方法
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.656567
W. Park, H. Cho
{"title":"A novel method for extracting roof edges of specular polyhedra","authors":"W. Park, H. Cho","doi":"10.1109/IROS.1997.656567","DOIUrl":"https://doi.org/10.1109/IROS.1997.656567","url":null,"abstract":"This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information, but they can not be applied to specular objects since it is hard to acquire reliable camera images of specular objects. If there is a method which can extract the edges of specular objects, it is possible to apply edge-based recognition algorithms to specular objects. To acquire the reliable edge images of specular objects, scanned double pass retroreflection method is proposed, whose main physical characteristic is curvature-sensitive. This utility of the physical characteristic is motivated by the idea that roof edges can be characterized as local surfaces of high curvature. In this paper, the optical characteristics of double pass retroreflection are discussed and a series of simulation studies are performed to verify and analyze the sensor characteristics. The results from a series of simulations show the effectiveness of the proposed method.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130315489","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
Active and passive strategies in dynamic contact point sensing by a flexible beam 柔性梁动态接触点传感的主动和被动策略
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.649007
M. Svinin, M. Kaneko, N. Ueno
{"title":"Active and passive strategies in dynamic contact point sensing by a flexible beam","authors":"M. Svinin, M. Kaneko, N. Ueno","doi":"10.1109/IROS.1997.649007","DOIUrl":"https://doi.org/10.1109/IROS.1997.649007","url":null,"abstract":"A dynamic model of a flexible beam in contact with the environment is considered in this paper. The model serves as a background for a dynamic, active antenna type, contact point sensor. In its simplest realization the sensor can be implemented in the form of a flexible beam rotating in plane. The dynamic model is developed in the nondimensional form and possible sensing strategies, active and passive, are outlined. The main feature of the sensor is the use of the frequency-versus contact point curve which, for some regions, may be a multi-valued function. Basic properties of the sensing curves are formulated, and two points of interest-the point of maximal stiffness and the point of center of impact-are introduced into the analysis. Behaviour of the sensing curves is analyzed with respect to three system parameters-mass, inertia, and stiffness ratios. It is found that in some limiting, but practically attainable cases the sensing curve becomes a single-valued function within the working range of the sensor.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121410794","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
Robot motion planning by a hierarchical search on a modified discretized configuration space 基于改进离散位形空间的分层搜索机器人运动规划
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655163
Antti Autere, Johannes Lehtinen
{"title":"Robot motion planning by a hierarchical search on a modified discretized configuration space","authors":"Antti Autere, Johannes Lehtinen","doi":"10.1109/IROS.1997.655163","DOIUrl":"https://doi.org/10.1109/IROS.1997.655163","url":null,"abstract":"In this paper, a hierarchical A*-based method for motion planning of robot manipulators is presented. The algorithm's advantage is its simplicity. The algorithm is also shown to be resolution complete. The algorithm searches the robot's configuration space with many different \"step sizes\" at the same time. The step size denotes the distance between the nodes A* expands during the search. When a path candidate goes far from the obstacles, a big step size is used. When it goes near the obstacle surfaces, a smaller step size is used. Two simulated robot workcells are provided for experimental study. The motion planning of 5 and 6-degrees-of-freedom industrial robots appears to be reasonably fast.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116151958","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: 6
Two-arm manipulation tasks with friction assisted grasping 摩擦力辅助抓取的双臂操作任务
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.649047
J. Desai, M. Žefran, Vijay R. Kumar
{"title":"Two-arm manipulation tasks with friction assisted grasping","authors":"J. Desai, M. Žefran, Vijay R. Kumar","doi":"10.1109/IROS.1997.649047","DOIUrl":"https://doi.org/10.1109/IROS.1997.649047","url":null,"abstract":"This paper studies human dual arm manipulation tasks and develops a computational model that predicts the trajectories and the force distribution for the coordination of two arms moving an object between two given positions and orientations in a horizontal plane. Our ultimate goal is to understand the dynamics of dual arm coordination in order to develop better robot control algorithms. Our computational model is based on the hypothesis proposed by Uno et al. (1989) who suggest that human movements minimize the integral of the norm of the rate of change of actuator torques. We compare the experimental trajectories and force distributions with this computational model. The first important observation is that the trajectories show a significant degree of repeatability across trials and across subjects. Next, we observe that the trajectories in the sagittal and frontal plane are characterized by asymmetric features that are hard to model using such integral cost functions. Finally, we show that the internal forces play an important role in trajectory generation. While these are repeatable across trials, they vary significantly from subject to subject.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114817788","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: 9
Robustness of NPD control (preliminary results) NPD控制的鲁棒性(初步结果)
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.649106
B. Armstrong
{"title":"Robustness of NPD control (preliminary results)","authors":"B. Armstrong","doi":"10.1109/IROS.1997.649106","DOIUrl":"https://doi.org/10.1109/IROS.1997.649106","url":null,"abstract":"Robustness results are presented for nonlinear PD (NPD) control. Drawing on the experimental demonstration by Xu et al. (1995) of the performance benefits of NPD control and previous results establishing Lyapunov stability, the robustness of NPD control is examined and minimum bounds for robustness to parametric variation are established. As an example, robust control of the Sarcos dextrous manipulator is described.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125960231","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: 3
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