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Hybrid force/position control in moving hand coordinate frame

Hybrid force/position control in moving hand coordinate fram...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： A. Goradia Ning Xi Jindong Tan Robotics and Automation Laboratory Michigan State University East Lansing MI USA

In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. The major drawback of these strategies is that they can only provide for the control of the interaction forces along fixed task space directions. However, many applications necessitate interaction force control along arbitrary and changing directions. In this paper, a new hybrid force/position controller, implemented in a moving reference frame, which can control the interaction force along arbitrary directions is proposed. Using the proposed controller the robot manipulator can interact with workpieces whose shape is not pre-specified. Thus tasks like milling, deburring, polishing and surface tracking, that involve constrained motion control of the robot manipulator can be performed on a wide variety of workpieces without explicit knowledge of the shape of the workpiece. The design of this new hybrid force/position controller, implemented in the moving hand coordinate frame, is presented and the controller is shown to be stable. Simulation studies for the task of tracking unknown surfaces are also presented.

关键词： Force control Position control Robot kinematics Manipulators Shape control Orbital robotics Motion control Robot control Milling Deburring

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Algorithms and sensors for small robot path following

Algorithms and sensors for small robot path following

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IEEE international conference on robotics and automation (ICRA)

作者： R.W. Hogg A.L. Rankin S.I. Roumeliotis M.C. McHenry D.M. Helmick C.F. Bergh L. Matthies California Institute of Technology Pasadena CA US Jet Propulsion Laboratory Pasadena CA USA

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (1) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. The paper describes the sensor package, sensor processing algorithm and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the results of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

关键词： Robot sensing systems robotics and automation Packaging Sensor phenomena and characterization Sensor systems Mobile robots Reconnaissance Accelerometers Global Positioning System Electromagnetic interference

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Accurate registration of structured data using two overlapping range images

Accurate registration of structured data using two overlappi...

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IEEE international conference on robotics and automation (ICRA)

作者： Y. Liu M.A. Rodrigues Department of Computer Science University of Wales UK The Computing Research Centre School of Computing Sheffield Hallam University Sheffield UK

New technological developments in optics and electronics are rendering laser scanning systems cheaper and more accurate. Such systems can directly capture depth information from objects simplifying the range image analysis and enlarging their applications scope. Accurate image registration algorithms represent a pivotal aspect of range image analysis which still require substantial improvements. This paper presents two novel motion constraints namely proximity and closeness constraints to improve accuracy of image registration and defines the conditions when such constraints are read at specific points of the registration. A number of experiments using real range images demonstrate that the combination of rigid motion constraints with the novel proximity and closeness constraints leads to more accurate evaluation of valid correspondences which, in turn, lead to more accurate image registration.

关键词： Iterative closest point algorithm Image registration Optical scattering Rendering (computer graphics) Image motion analysis Helium Robot kinematics Orbital robotics Robot vision systems Object recognition

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Robust tracking and structure from motion with sample based uncertainty representation

Robust tracking and structure from motion with sample based ...

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IEEE international conference on robotics and automation (ICRA)

作者： Peng Chang M. Hebert Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Geometric reconstruction of the environment from images is critical in autonomous mapping and robot navigation. Geometric reconstruction involves feature tracking, i.e., locating corresponding image features in consecutive images, and structure from motion (SFM), i.e., recovering the 3D structure of the environment from a set of correspondences between images. Although algorithms for feature tracking and structure from motion are well-established, their use in practical mobile robot applications is still difficult because of occluded features, non-smooth motion between frames, and ambiguous patterns in images. We show how a sampling-based representation can be used in place of the traditional Gaussian representation of uncertainty. We show how sampling can be used for both feature tracking and SFM and we show how they are combined in this framework. The approach is exercised in the context of a mobile robot navigating through an outdoor environment with an omnidirectional camera.

关键词： Robustness Tracking Uncertainty Image reconstruction Mobile robots Robot kinematics Navigation Image sampling Robot vision systems Cameras

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A solution to vicinity problem of obstacles in complete coverage path planning

A solution to vicinity problem of obstacles in complete cove...

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IEEE international conference on robotics and automation (ICRA)

作者： Chaomin Luo S.X. Yang D.A. Stacey J.C. Jofriet School of Engineering Guelph ONT Canada Department of Computing and Information Science University of Guelph Guelph ONT Canada

In real world applications there exist arbitrarily shaped obstacles in the workspace during complete coverage path planning of cleaning robots. A cleaning robot should be able to sweep in a variety of corners and in the vicinity of arbitrarily shaped obstacles in an indoor environment. Consequently, the robot is required not only to effectively avoid the obstacles, but also to delicately cover every area in the vicinity of obstacles. In the paper, a solution to vicinity problem of obstacles in complete coverage path planning is proposed using neural-neighborhood analysis. The path planner is a biologically inspired neural network. The proposed model is capable of planning a real-time path to reasonably cover every area in the vicinity of obstacles. The robot path is autonomously generated through the dynamic neural activity landscape of the neural network and the previous robot location. The effectiveness of the proposed approach is verified through computer simulations.

关键词： Path planning Cleaning Neural networks Orbital robotics Indoor environments Cellular networks Mobile robots Chaos Information science Biological system modeling

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Compliant control for a cable-actuated anthropomorphic robot arm: an experimental validation of different solutions

Compliant control for a cable-actuated anthropomorphic robot...

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IEEE international conference on robotics and automation (ICRA)

作者： L. Zollo B. Siciliano C. Laschi G. Teti P. Dario ARTS Lab (Advanced Robotics Technology and Systems Laboratory Scuola Superiore Sant' Anna Pisa Italy PRISMA LAB-Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy Humanoid Robotics Institute Waseda University Tokyo Japan

This paper presents a research work on compliant control of an anthropomorphic robot arm used as a personal robot. In personal applications of robotics, human-robot interaction represents a critical factor for a robot design and introduces strict requirements on its behavior and control, which has to ensure safety and effectiveness. In this work, the problem of controlling the Dexter anthropomorphic robot arm with variable compliance has been investigated, not only to ensure safety in the interaction with humans, but especially to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans. Two different control schemes have been formulated and implemented, to compare their performance experimentally. Both schemes aim at realising a self-controlled compliant behavior without using information from force/torque sensors. The experimental comparison outlines how the performance of the two control systems are inverted with respect to the theoretical considerations, based on the classical control theory, on their accuracy and effectiveness.

关键词： Anthropomorphism Control systems Human robot interaction Impedance Safety Force control Service robots Robot control Face Communication cables

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End-to-end delay boundary prediction using maximum entropy principle (MEP) for internet-based teleoperation

End-to-end delay boundary prediction using maximum entropy p...

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IEEE international conference on robotics and automation (ICRA)

作者： P.X. Liu M. Meng Xiufen Ye J. Gu Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Automation College Harbin Engineering of Technology Harbin Heilongjiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

Since data packets may get lost somewhere in the Internet connections, for real-time applications such as Internet-based teleoperation, delay boundary prediction plays an important role in determining properly whether a packet is lost or not. The predictors currently employed are lowpass filters based on the autoregressive and moving average (ARMA) models. However, recent studies and the results of the experiments in this paper show that the traditional ARMA model is not suitable because sometimes delays develop with quick and evident variation. In this paper, we present a novel adaptive algorithm for delay boundary prediction based on the maximum entropy principle (MEP). The results of our 3 successive working day experiments on 9 links which consists of academic, commercial and governmental ones among Northern America, Asia and Europe show that the MEP algorithm proposed has a better performance than the traditional ARMA method.

关键词： Entropy Internet Protocols Delay effects Bandwidth automation Educational institutions Data engineering Application software Information filtering

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A 2T-2R, 4-DOF parallel manipulator

A 2T-2R, 4-DOF parallel manipulator

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作者： Chen, Wen-Jia Zhao, Ming-Yang Zhou, Ji-Ping Qin, Yong-Fa Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences 114 Nanta Street Shenyang 110016 China Department of Mechanical Engineering Yangzhou University Yangzhou 225009 China

ISBN: (纸本)0791836215

From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices and design methods have been extensively studied. However, most efforts are dedicated to six degrees of freedom (6-DOF) or 3-DOF manipulators. There is a need for equipment providing more than 3 DOF/s arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a novel 4-DOF parallel platform manipulator with base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. The singularity analysis of this new 2T-2R, 4-DOF parallel manipulator is introduced. Copyright © 2002 by ASME.

关键词： Kinematics

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A 2-D PVDF force sensing system for micro-manipulation and micro-assembly

A 2-D PVDF force sensing system for micro-manipulation and m...

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IEEE international conference on robotics and automation (ICRA)

作者： C.K.M. Fung I. Elhajj W.J. Li Ning Xi Center for Micro and Nano Systems The Chinese University of Hong Kong Hong Kong SAR Hong Kong China Robotics and Automation Laboratory Michigan State University USA Center for Micro and Nano Systems The Chinese University of Hong Kong Hong Kong SAR

Despite the enormous research efforts in creating new applications with MEMS, the research efforts at the backend such as packaging and assembly are relatively limited. We present our ongoing development of a polyvinylidene fluoride (PVDF) multi-direction micro-force sensing system that can be potentially used for force-reflective manipulation of micro-mechanical devices or micro-organisms over remote distances. Thus far, we have successfully demonstrated 1D and 2D sensing systems that are able to sense force information when a micro-manipulation probe-tip is used to lift a micro mass supported by 2 /spl mu/m/spl times/30 /spl mu/m/spl times/200 /spl mu/m polysilicon beams. Hence, we have shown that force detection in the 50 /spl mu/N range is possible with PVDF sensors integrated with commercial micro-manipulation probe-tips.

关键词： Micromechanical devices Force sensors Microelectromechanical devices Optical sensors Costs Packaging Assembly systems Humans Foundries Production

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A novel isomorphism based on nearest neighbours for efficient graph matching algorithm

A novel isomorphism based on nearest neighbours for efficien...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： D.A.L. Piriyakumar P. Levi IPVS. Depertment of computer science University of stuttgart Germany

For many applications in the fields of robotics, satellite imagery and medical imaging demanding real-time solutions, recognizing the crucial parts or structures in the given images continues to attract more attention. Tims, the paramount factor in these computer vision related fields is matching the objects in the images. Often graphs are used to represent the objects. It is well-known that graph matching is NT-complete problem in general. To accomplish the need of real-time solutions, various lower order complexity algorithms are developed with specific conditions. Here, a novel Node Neighbour Isomorphism (NNI) is introduced which efficiently matches two graphs in O(n/sup 4/) where n is the number of vertices in both the graphs which can be weighted and attributed. Using tliis NNI, the vertices of the graphs are grouped mutually exclusively. Instead of matching all the vertices, only the relevant NNI vertices alone are matched paving way for ample efficiency by reducing the number of matching operations. The algorithm is implemented on Sun Ultra 10 and results of crucial examples and random graphs are also tabled. The run-time performance and novality of the algorithm exemplifies the efficiency of the algorithm which also exhibits parallelism. The algorithm is compared with standard methods and requires the minimal time for matching the graphs.

关键词： Error correction Robots Runtime Medical robotics Satellites Biomedical imaging Linear programming Image retrieval Tiles

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