Proceedings. 1987 IEEE International Conference on Robotics and Automation最新文献_第4页

Enveloping, frictionless, planar grasping 包络，无摩擦，平面抓取

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1088002

J. Trinkle, J. Abel, R. Paul

引用次数: 48

Task programming and motion control for autonomous mobile robots 自主移动机器人的任务编程与运动控制

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087904

G. Giralt

引用次数: 4

A dynamic solution to the inverse kinematic problem for redundant manipulators 冗余机械手运动学逆问题的动态解

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087921

L. Sciavicco, B. Siciliano

引用次数: 67

Slip detection using acoustic emission signal analysis 基于声发射信号分析的滑动检测

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087812

D. Dornfeld, Christopher Handy

引用次数: 80

A study of gait and flywheel torque effect on legged machines using a dynamic compliant joint model 基于动态柔性关节模型的腿式机器人步态和飞轮扭矩效应研究

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1088039

Liang Shih, A. Frank

引用次数: 1

Queueing analysis of manufacturing systems with setups 制造系统的排队分析

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087973

P. Luh, D. Hoitomt

{"title":"Queueing analysis of manufacturing systems with setups","authors":"P. Luh, D. Hoitomt","doi":"10.1109/ROBOT.1987.1087973","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087973","url":null,"abstract":"A manufacturing system with one server (machine), two classes of jobs, finite buffer sizes and nonnegligible setup times is analyzed. Classes are served in a fixed order. A new cycling service discipline called \"triggered\" cycling is introduced as a type of exhaustive cycling where a job must be present to process before the setup for that class takes place. The state of the machine, whether in setup or in processing, is explicitly considered in the model. Utilization, mean queue length and cycle time are derived by using Markovian analysis, first under a fixed lot size environment and then with random lot sizes. With lot sizes fixed (deterministic), increasing arrival rates, setup times and service times generally increase utilization, cycle time and queue length. Sensitivity analyses indicate a minimum exists for queue length with respect to lot size. When lot sizes are random, negligible variations in cycle time result, with somewhat smaller queue length as compared to the fixed lot size case. Despite lack of a product form solution to the problem, an approximate mean value analysis yielding cycle time is developed and the results are compared to Markovian analysis. Numerical studies show robustness of the mean value analysis for utilizations under 0.7.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124246337","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: 2

A real-time guidance system for an autonomous vehicle 自动驾驶汽车的实时导航系统

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087769

R. Bhatt, D. Gaw, A. Meystel

{"title":"A real-time guidance system for an autonomous vehicle","authors":"R. Bhatt, D. Gaw, A. Meystel","doi":"10.1109/ROBOT.1987.1087769","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087769","url":null,"abstract":"A real-time system for the control of an autonomous vehicle consisting of a nested hierarchy of control modules is described. The focus is on the PILOT module which provdies the real-time guidance of the system. It is responsible for the generation and tracking of dynamically feasible trajectories which follow the generally planned path and avoid local obstacles. The PILOT operation is based on a combination of simple rules and heuristic search. The state space consists of two parts: the lower level state space which represents the model of the world as a set of relationships among the units of vehicle state variables representing steering, acceleration, and velocity, as well as positions of obstacles, and the upper level state space where the relationships among generalized objects are represented as rules. Rules provide simple elementary maneuvers, and are applied when the upper level situation is easily recognized. Otherwise the situations are handled by the lower level search. Example runs of the vehicle are simulated to demonstrate the complexity of behavior. The algorithm has also been tested on a gas powered dune buggy developed at Drexel University.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124337254","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

Coordinate transformations with euler parameters as a quaternion--An alternative approach to kinematics and dynamics of manipulators 以欧拉参数为四元数的坐标变换——机械臂运动学和动力学的另一种方法

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087838

Shir-Kuan Lin

引用次数: 2

On the dynamics of flexible manipulators 柔性机械臂动力学研究

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1087780

H. Bremer

引用次数: 18

The funnel algorithm and task level robot control 漏斗算法与任务级机器人控制

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI: 10.1109/ROBOT.1987.1088027

J. Ish-Shalom

{"title":"The funnel algorithm and task level robot control","authors":"J. Ish-Shalom","doi":"10.1109/ROBOT.1987.1088027","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088027","url":null,"abstract":"Traditionally the translation of a given task into robot actuator commands involves three translation steps: (i) Task level planning; given the task find the manipulated object's required motion. (ii) Robot motion planning; given the manipulated object's required motion find the desired robot arm trajectory. (iii) Robot controller; given the desired robot arm trajectory find the robot actuator commands. Furthermore, the robot controller is fixed and internal and is typically not modified in accordance with the expected interaction between the robot arm and the objects it is manipulating. Thus the fixed robot controller is a major handicap which limits the possible robot interactions and performance during such interactions. In this paper we suggest that the objectives of the robot controller be \"elevated\" from attaining robot arm level objectives to attaining task level objectives. Consistent with this view, the following new three step Funnel algorithm is suggested for the translation of a given task into robot actuator commands: (i) Partition the task into a sequence of local sub-tasks and local regions. (ii) Synthesize a feedback control law to achieve each sub-task locally. (iii) Apply the local feedback control law to obtain the required actuator commands. It is expected that using this funnel approach both the robot system performance and functionality can be improved.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114536492","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: 15