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Dynamics of a flexible deployable robotic manipulator

Dynamics of a flexible deployable robotic manipulator

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3rd international conference on Dynamics and control of Structures in Space (SPACE 96)

作者： Kirk, CL Romero, I CRANFIELD UNIV DEPT AEROSP SCICRANFIELD MK43 0ALBEDSENGLAND

ISBN: (纸本)185312415X

This paper presents a reduced order formulation for the transient response of a deployable rotating manipulator system (DMS). Component flexibility in the fixed and sliding links is approximated by simple cubic deflection shapes and the resulting equations of motion have two degrees-of-freedom and time varying inertial and exciting torque characteristics. Numerical solution of the equations of motion is achieved by assuming constant acceleration/deceleration for the angular and extensional motion with the switch point occurring simultaneously at the maneuver mid-point. This requires the use of the computed torque at the shoulder joint of the DMS in order to maintain constant acceleration/deceleration. The study assumes that the shoulder joint is inertially fixed in space and hence is not coupled to motion of the support structure. In this way a simple set of equations of motion is derived enabling the basic dynamic behaviour of the system to be understood. It is shown that a combination of axial and flexural motion of the DMS produce a form of Coriolis type damping.

关键词： robotics

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Augmented reality to enhance an active telepresence system

Augmented reality to enhance an active telepresence system

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Wheeler, A Pretlove, J Parker, GA Univ. of Surrey (United Kingdom)

ISBN: (纸本)0819423033

Tasks carried out remotely via a telerobotic system are typically complex, occur in hazardous environments and require fine control of the robot's movements. Telepresence systems provide the teleoperator with a feeling of being physically present at the remote site. Stereoscopic video has been successfully applied to telepresence vision systems to increase the operator's perception of depth in the remote scene and this sense of presence can be further enhanced using computer generated stereo graphics to augment the visual information presented to the operator. The Mechatronic Systems and robotics Research Group have over seven years developed a number of high performance active stereo vision systems culminating in the latest, a four degree-of-freedom stereohead. This carries two miniature colour cameras and is controlled in real time by the motion of the operator's head, who views the stereoscopic video images on an immersive head mounted display or stereo monitor. The stereohead is mounted on a mobile robot, the movement of which is controlled by a joystick interface. This paper describes the Active Telepresence System and the development of a prototype Augmented Reality (AR) application to enhance the operator's sense of presence at the remote site. The initial enhancements are a virtual map and compass to aid navigation in degraded visual conditions and a virtual cursor that provides a means for the operator to interact with the remote environment. The results of preliminary experiments using the initial enhancements are presented.

关键词： augmented reality telepresence virtual reality mobile robotics

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Visual depth perception based on optical blur

Visual depth perception based on optical blur

引用

IEEE international conference on Image Processing

作者： J. Honig B. Heit J. Bremont French-German Institute for Automation and Robotics-IAR CRAN-CNRS URA 821 University Henri Poincaré Nancy I Vandoeuvre-les-Nancy France

The depth perception we present in this paper is based on monocular computer vision. The method exploits the physical effect that the imaging properties of an optical system depend upon the acquisition parameters and the object distance. Our approach is working along the edges. The basic principle is to compare the blur in two defocused images of the same scene taken with different apertures (depth from defocus). To increase speed and precision our algorithm is working only at the exact position of ramp edges, which are determined by a biological model of the visual cortex.

关键词： Biomedical optical imaging Light sources Focusing Computer vision Optical sensors Optical filters robotics and automation Optical imaging Layout Apertures

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A partition method for solving block pentadiagonal linear system on intel hypercube iPSC/860 3rd

A partition method for solving block pentadiagonal linear sy...

引用

3rd international Austrian Center for Parallel Computation conference with Special Emphasis on Parallel Databases and Parallel I/O, 1996

作者： Halada, Ladislav Lucká, Mária Dep. of Mathematics Slovak Technical University Nán.slobody Bratislava812 31 Slovakia Institute for Control Theory and Robotics Slovak Academy of Sciences Dúbravsks cesta 9 Bratislava842 37 Slovakia

ISBN: (纸本)3540616950

We present a parallel partition algorithm for the solution of block pentadiagonal linear systems suitable for computation on computers with distributed memory. The method belongs to the direct methods and is based on the partition method derived in [1] for non-block banded matrices. The parallelization is achieved by dividing of the original block matrix into large blocks that can be processed almost independently. The time measurement results achieved by implementation of this method in the message passing Fortran on Intel hypercube iPSC/860 have shown a dependence of the effectivity of the implementation on the size of the large blocks. © 9 Springer-Verlag Berlin Heidelberg 1996.

关键词： Linear systems

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Noise suppression based on the fractal dimension estimates

Noise suppression based on the fractal dimension estimates

引用

IEEE international conference on Image Processing

作者： S.S. Nikiel Department of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland

The paper draws on the problem of noise reduction in binary images. Noise suppression plays very important role in the automated document analysis, since corrupted pictures may drastically reduce efficiency of the recognition process. The fractal based technique is one of the most recent approaches in computer vision. The fractal dimension estimates are incorporated in a highly efficient filtering scheme. The method is presented along with the images illustrating the most promising results.

关键词： Fractals Filtering Pixel Noise reduction Text analysis robotics and automation Software engineering World Wide Web Computer vision Image recognition

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Planning spiral motion of nonholonomic space robots

Planning spiral motion of nonholonomic space robots

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IEEE international conference on robotics and automation (ICRA)

作者： T. Suzuki Y. Nakamura Department of Mechanic-Informatics University of Tokyo Bunkyo Tokyo Japan

A free-flying space robot with a 6-DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates (3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We call the approximated trajectory the "spiral motion". A computational scheme for planning the spiral motion is presented, and is followed by computer simulation that illustrates the effectiveness of the scheme.

关键词： Motion planning Spirals Orbital robotics Satellites Robot kinematics Manipulators Motion control Wheels Mobile robots Computer simulation

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Force interactive virtual reality using local joint error control

Force interactive virtual reality using local joint error co...

引用

3rd conference on Telemanipulator and Telepresence Technologies

作者： Luecke, GR Edwards, JC Miller, B Iowa State Univ. (United States)

ISBN: (纸本)0819423033

Robot manipulators are the natural choice for transmitting computer-generated dynamic forces from a virtual environment to a human user immersed in that environment. control schemes for this type of interactive interface are extensions of the techniques used in teleoperation systems. with the forces applied between the master and the human generated by the dynamic model rather than measured from sensors on the slave. Stability problems arise when the robot inertia and dynamics are coupled to the complex and time-varying human dynamic characteristics. In this work, a new local feedback error control technique is applied to an interface robot to allow motion only in free directions in the virtual space. This virtual force interface does not require the use of an end effector force transducer. As in all local control schemes, the dynamic characteristics and cross-coupling effects of the manipulator are neglected, so that actual motion may deviate slightly from the desired trajectory during high speed operation. Experimental results are presented showing the use of this haptic device moving within a cubic space representing a fish tank. Motion of the hand controls the motion of virtual fish within the tank, and as the fish contact the walls of the virtual tank, the human feels the hard surface of the tank walls. Stability for this scheme is based on the stability of position error feedback for the manipulator.

关键词： haptic feedback robotics virtual reality human interaction

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Development of a scene recognition system with imprecise descriptions

Development of a scene recognition system with imprecise des...

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IEEE international conference on Image Processing

作者： J. Lemaire O. Le Moigne Département dÉtudes et de Recherches en Automatique Centre d''Etudes et de Recherches de Toulouse Toulouse France

This paper presents the development of a scene interpretation system with imprecise descriptions in a 3D robotics context. The problem of "scene recognition" is presented as the matching of images with a priori descriptions given in a high level language. The mission consists in the identification of the position of an object in a scene with a vision system situated at the end of a manipulator. The position of the object is given by the human operator in a pseudo-natural language and the environment is only known through the fuzzy hints of the mission description. The organization of the system and the particular aspects of the scene recognition method are presented. We conclude with the first results of the complete system.

关键词： Layout Image recognition High level languages Machine vision Humans Uncertainty Elbow robotics and automation Manipulators Robots

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Efficient edge extraction of images by directional tracing

Efficient edge extraction of images by directional tracing

引用

international conference on High Performance Computing

作者： S.S. Iyengar Yuyan Wu Hla Min Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA USA

The ability to recognize edges of an object fast and accurately is a fundamental goal in computer vision and image processing. The facility is important in automatic manufacturing environment in industry. This paper defines and investigates an efficient method of edge extraction of image using directional tracing algorithm. Based on the approach of linear feature extraction presented by R. Nevatia and K.R. Babu (1980), our algorithm is developed for the general situation of edge extraction. The technique employs the basic and intuitive principle that an edge pixel should possess local maximal gradient but no more domain information or knowledge is required. An effective and robust tracing strategy is proposed. Our algorithm has been tested on different kinds of images, and the results are satisfactory.

关键词： Image edge detection Image segmentation Pixel Image processing Data mining Robustness Detectors Service robots Robot vision systems robotics and automation

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Automated 3D object recognition and dynamic library entry/update system

Automated 3D object recognition and dynamic library entry/up...

引用

IEEE international conference on Image Processing

作者： R. Jaitly D.A. Fraser Vision & Robotics Laboratory Department of Electronic and Electrical Engineering King's College University of London London UK

A method for automatic library entry and update of three-dimensional representations of 3D rigid, planar-faced objects is presented in this paper. Geometric and structural information is obtained from multiple monocular 2D image frames and placed in relational tables. Point correspondences are found from the relational tables to reconstruct the 3D scene object. A number of global descriptors, obtained from the reconstructed object, are used as indexes to the model library to select similarly structured models for matching. A probabilistic procedure using the indexes determines whether the scene object is already represented by a library model. If the model is represented, a technique based on the hypothesize-and-test paradigm compares the scene object to the library model to update the model representation with any new geometric and structural information. If the model is not present in the library, the new model representation is added to the model library.

关键词： Object recognition Libraries Layout Cameras Solid modeling Image reconstruction Equations Robot vision systems robotics and automation Laboratories

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