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Proceedings of the 1997 international conference on intelligent Engineering Systems, INES

作者： Bejczy, Antal K. California Inst of Technology Pasadena United States

Application of computers permit the design and implementation of several different types of servocontrol schemes for the control of robot arms. This paper focuses on the description of task-space error feedback techniques which can provide excellent performance for tracking position and force trajectories in both manual and automatic modes of control. Model assumptions and computational requirements implied in these techniques are outlined and the outstanding performance capabilities of the techniques are illustrated by numerous experimental results.

关键词： Robotic arms

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Toward automatic robot instruction from perception - Mapping human grasps to manipulator grasps

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1997年第1期13卷 81-95页

作者： Kang, SB Ikeuchi, K CARNEGIE MELLON UNIV SCH COMP SCI PITTSBURGH PA 15213 USA

Conventional methods for programming a robot either are inflexible or demand significant expertise, While the notion of automatic programming by high-level goal specification addresses these issues, the overwhelming complexity of planning manipulator grasps and paths remains a formidable obstacle to practical implementation, Our approach of programming a robot is by direct human demonstration, Our system observes a human performing the task, recognizes the human grasp, and maps it onto the manipulator, Using human actions to guide robot execution greatly reduces the planning complexity, Subsequent to recording the human task execution, temporal task segmentation is carried out to identify task breakpoints, This step facilitates human grasp recognition and object motion extraction for robot execution of the task, This paper describes how an observed human grasp can be mapped to that of a given general-purpose manipulator for task replication, Planning the manipulator grasp based upon the observed human grasp is done at two levels: the functional and physical levels, Initially, at the functional level, grasp mapping is achieved at the virtual finger level;the virtual finger is a group of fingers acting against an object surface in a similar manner, Subsequently, at the physical level, the geometric properties of the object and manipulator are considered in fine-tuning the manipulator grasp, Our work concentrates on power or enveloping grasps and the fingertip precision grasps, We conclude by showing an example of an entire programming cycle from human demonstration to robot execution.

关键词： automatic programming automatic robot instruction Education fine-tuning Fingers human grasp mapping human grasp recognition Humans learning (artificial intelligence) manipulator grasps manipulators motion control motion planning Orbital robotics Path planning pattern recognition physical level Robot programming robotics and automation virtual finger level

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Integrated robotic vehicle control system for outdoor container handling

Integrated robotic vehicle control system for outdoor contai...

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conference on intelligent Robots and Computer Vision XVI - Algorithms, Techniques, Active Vision, and Materials Handling

作者： Viitanen, J Haverinen, J Mattila, P Makela, H vonNumers, T Stanek, Z Roning, J VTT Automation (Finland) Univ. of Oulu (Finland)

ISBN: (纸本)0819426407

We describe an integrated system developed for use onboard a moving work machine. The machine is targeted to such applications as e.g. automatic container handling at loading terminals. The main emphasis is on the various environment perception duties required by autonomous or semi-autonomous operation. These include obstacle detection, container position determination, localization needed for efficient navigation and measurement of docking and grasping locations of containers. Practical experience is reported on the use of several different types of technologies for the tasks. For close distance measurement, such as container row following, ultrasonic measurement was used, with associated control software. For obstacle and docking position detection, 3D active vision techniques were developed with structured lighting, utilizing also motion estimation techniques. Depth from defocus-based methods were developed for passive 3D vision. For localization, fusion of data from several sources was carried out. These included dead-reckoning data from odometry, an inertial unit, and several alternative external localization devices, i.e. real-time kinematic GPS, inductive and. optical transponders. The system was integrated to run on a real-time operating system platform, using a high-level software specification tool that created the hierarchical control structure of the software. Testing of the integrated system included real outdoor task execution on a light tractor.

关键词： robotics robot vision mobile robotics navigation environment perception localization 3D vision

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automatic parallel parking and returning to traffic manoeuvres

Automatic parallel parking and returning to traffic manoeuvr...

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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

作者： I.E. Paromtchik C. Laugier INRIA Rhone-Alpes Saint Martin France

This paper describes the control approach developed to perform parallel parking and returning to traffic manoeuvres for a car capable of autonomous motion. The key idea is to carry out a motion control procedure involving a "localization-planning-execution" cycle until a specified location of the car relative to its environment is reached. Range measurements are used to model environmental objects around the car. The automatic manoeuvres developed are demonstrated on an experimental electric autonomous car in a usual traffic environment.

关键词： Motion control Wheels automatic control Velocity control Servomechanisms Traffic control Axles Equations automatic testing Measurement units

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Task-level servocontrol in robotics

Task-level servocontrol in robotics

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IEEE international conference on intelligent Engineering Systems (INES)

作者： A.K. Bejczy Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

The application of computers permits the design and implementation of several different types of servocontrol schemes for the control of robot arms. This paper focuses on the description of task-space error feedback techniques which can provide excellent performance for tracking position and force trajectories in both manual and automatic modes of control. Model assumptions and computational requirements implied in these techniques are outlined and the outstanding performance capabilities of the techniques are illustrated by numerous experimental results.

关键词： robotics and automation automatic control Force feedback Application software Computer applications Robot control Manipulators Computer errors Error correction Trajectory

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The Potential For Vehicle-highway Automation In The United States

The Potential For Vehicle-highway Automation In The United S...

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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

作者： R. Bishop Vehicle-Highway Automation Research and Development U.S. Department of Transportation USA

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Moving part recognition and automatic pick and place using an industrial robot

Moving part recognition and automatic pick and place using a...

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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

作者： I. Konukseven B. Kaftanoglu Department of Mechanical Engineering Middle East Technical University Ankara Turkey

robotics research continuously seeks to improve productivity in manufacturing automation. In the last several years, more and more efforts have been put in the integration of multiple sensors into robot systems. The goal is to make robots more adaptive and flexible in unstructured or frequently changing environments, and to enable robots to execute intelligent tasks. Thus the robot productivity as well as applicability can be improved. The object of this study is to develop a multisensor controlled robotic tracking and automatic pick and place system. The system is designed for recognizing and tracking an object which is selected from multiple objects that are unknown and randomly placed on a moving conveyor belt, using a vision, infrared and encoder sensors in the feedback loop. The robot tracks the parts and transfers them to the proper pallets.

关键词： Robot sensing systems robotics and automation intelligent robots Productivity intelligent sensors Sensor systems Infrared sensors Manufacturing automation automatic control Robot control

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Multisensor controlled robotic tracking and automatic pick and place

Multisensor controlled robotic tracking and automatic pick a...

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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

作者： I. Konukseven B. Kaftanoglu T. Balkan Department of Mechanical Engineering Middle East Technical University Ankara Turkey

A multisensor controlled robotic tracking and automatic pick and place system is presented in this paper. The system is designed for recognizing and tracking an object which is selected from multiple objects that are unknown and randomly placed on a moving conveyor belt, using a vision, infrared and encoder sensors in the feedback loop. The robot tracks the parts and transfers them to the proper pallets. We address the use of vision system for identifying and locating objects on a moving conveyor belt, besides we address the use of vision, infrared and encoder sensors for dynamically servoing a manipulator for object tracking, grasping and placing. Laboratory experiments are presented to demonstrate the performance of this system.

关键词： automatic control Robot control robotics and automation Infrared sensors Robot sensing systems Belts Sensor systems control systems Tracking loops Feedback loop

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Sensor-based reactive navigation of a mobile robot through local target switching

Sensor-based reactive navigation of a mobile robot through l...

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international conference on Advanced robotics (ICAR)

作者： W.L. Xu S.K. Tso Y.H. Fung Centre for Intelligent Design Automation and ManufacturingFaculty of Science and Technology City University of Hong Kong Hong Kong China Centre for Intelligent Design Automation and Manufacturing Faculty of Science and Technology City University of Hong Kong Hong Kong China

Fuzzy reactive control is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed ranging and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule-base governing the robot behaviour is developed. In order to deal with local trapping and oscillating wandering problems, a local target switching scheme is proposed as a front-end processor for the fuzzy reactive controller. Simulation and experiment results are given in the paper.

关键词： Navigation Mobile robots Robot kinematics Fuzzy control Robot sensing systems automatic control robotics and automation Fuzzy logic intelligent robots Neural networks

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Coordinated motion control of multiple robots manipulating a large object

Coordinated motion control of multiple robots manipulating a...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： K. Kosuge S. Hashimoto K. Takeo Department of Mechanical Engineering University of Tohoku Sendai Japan

In this paper, we discuss a problem relating to the force/moment transformation for the handling a large object by multiple robots in coordination. Three control algorithms, based on impedance control of each manipulator, are then proposed so as to lessen the effect of the transformation. The algorithms are implemented in dual manipulator system, which consists of two industrial robots. Experimental results illustrate the validity of the proposed control algorithms.

关键词： Motion control Robot kinematics Impedance Force sensors Manipulators Medical robotics robotics and automation Wrist automatic control Mechanical engineering

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