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Design of jerk bounded trajectories for online industrial robot applications

Design of jerk bounded trajectories for online industrial ro...

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Macfarlane E.A. Croft Department of Mechanical Engineering University of British Columbia Vancouver BC Canada

ISBN: (纸本)0780365763

An online method for obtaining smooth, jerk-bounded trajectories has been developed and implemented. Jerk limitation is important in industrial robot applications, since it results in improved path tracking and reduced wear on the robot. The method described herein uses a concatenation of fifth-order polynomials to provide a smooth trajectory between two points. The trajectory is determined based on approximating a linear segment with parabolic blends trajectory. A sine wave approximation is used to ramp from zero acceleration to non-zero acceleration. This results in a controlled quintic trajectory which does not oscillate, and is near time-optimal given the jerk and acceleration limits specified. The method requires only the computation of the quintic control points, up to a maximum of seven points per trajectory way-point. This provides hard bounds for online motion algorithm computation time. Simulations and experimental results on an industrial robot are presented.

关键词： Service robots Trajectory Actuators robotics and automation Polynomials Acceleration Torque control Manipulators Optimization methods Laboratories

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Polyhedral single degree-of-freedom expanding structures

Polyhedral single degree-of-freedom expanding structures

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IEEE international conference on robotics and automation (ICRA)

作者： S.K. Agrawal S. Kumar M. Yim J.W. Suh Department of Mechanical Engineering University of Delaware Newark DE USA Members of Research Staff Xerox Palo Alto Research Center Palo Alto CA USA

ISBN: (纸本)0780365763

Some engineering applications require structures to expand and contract in size, while retaining their exterior shape. The applications range from mundane daily life objects to more fancy art structures. In contrast to a multiple degree-of-freedom structure, a single degree-of-freedom structure can be driven by a single actuator, reducing the cost and simplifying the control. In this paper, we study single degree-of-freedom structures that can be formed by a lattice of single degree-of-freedom polyhedral expanding units. Due to built-in symmetries, the entire structure can expand and contract as one of the units in the structure is actuated.

关键词： Shape Contracts Lattices Space technology Actuators Assembly Orbital robotics Mechanical engineering Art Costs

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Deterministic path planning for planar assemblies

Deterministic path planning for planar assemblies

引用

IEEE international conference on robotics and automation (ICRA)

作者： E. Sacks Computer Science Department Purdue University West Lafayette IN USA

ISBN: (纸本)0780365763

I present a deterministic path planning algorithm for an assembly of rigid planar parts connected by joints. The part boundaries are comprised of line segments and circular arcs. The algorithm is based on configuration space computation and search. It is complete for one moving part and is heuristic for multiple parts. It is the first complete algorithm that is practical for real-world applications. It is more reliable than randomized algorithms, which are inherently incomplete. It solves problems with many parts, crowded environments, tight part fits, and closed chains.

关键词： Path planning Orbital robotics Robot kinematics Robotic assembly Mobile robots Legged locomotion Computational geometry Mechanical systems Manipulators Computer science

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Towards automatic shaping in robot navigation

Towards automatic shaping in robot navigation

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IEEE international conference on robotics and automation (ICRA)

作者： T.S. Peterson N.E. Owens J.L. Carroll Computer Science Department Brigham Young University USA

ISBN: (纸本)0780365763

Shaping is a potentially powerful tool in reinforcement learning applications. Shaping often fails to function effectively because of a lack of understanding about its effects when applied in reinforcement learning settings and the use of inadequate algorithms in its implementation. Due to these difficulties current shaping techniques require some form of manual intervention. We examine some of the principles involved in shaping and present a new algorithm for automatic transferral of knowledge, which uses the Q-values established in a previous task to guide exploration in the learning of a new task. This algorithm is applied to two different but related robot navigation tasks.

关键词： robotics and automation Navigation Learning Robot sensing systems Function approximation Animals Computer science Application software Manuals Algorithm design and analysis

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An experimental study of planar impact of a robot manipulator

An experimental study of planar impact of a robot manipulato...

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IEEE international conference on robotics and automation (ICRA)

作者： P.R. Pagilla Biao Yu School of Mechanical and Aerospace Engineering Oklahoma State University Stillwater OK USA

ISBN: (纸本)0780365763

Provides an experimental study of planar impact of a robot manipulator on a surface. Using the data collected from a series of experiments, it investigates post-impact behavior for different pre-impact conditions such as configuration of the robot, angle and velocity of impact, etc. Understanding the post-impact behavior for various pre-impact conditions can result in the design of improved transition control strategies to stabilize the manipulator onto the surface. Potential applications of this study include robotic surface finishing operations such as polishing, chamfering, deburring, and grinding, etc.

关键词： Robots Surface finishing Orbital robotics Manipulator dynamics Robotic assembly Aerospace engineering Deburring Aerodynamics Predictive models Kinematics

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Decomposition-based motion planning: a framework for real-time motion planning in high-dimensional configuration spaces

Decomposition-based motion planning: a framework for real-ti...

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IEEE international conference on robotics and automation (ICRA)

作者： O. Brock L.E. Kavraki Department of Computer Science Rice University Houston TX USA

ISBN: (纸本)0780365763

Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning framework, called decomposition-based motion planning, is proposed. It is particularly well suited for planning problems that arise in service and field robotics. It decomposes the original planning problem into simpler sub-problems, whose successive solution empirically results in a large reduction of the overall complexity. A particular implementation of decomposition-based planning is proposed. Experiments with an eleven degree-of-freedom mobile manipulator are presented.

关键词： Motion planning Orbital robotics Path planning Application software Computer science Mobile computing Manipulators Robot motion Robotic assembly Virtual prototyping

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Robotic mapping of friction and roughness for reality-based modeling

Robotic mapping of friction and roughness for reality-based ...

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IEEE international conference on robotics and automation (ICRA)

作者： J.E. Lloyd D.K. Pai Department of Computer Science University of British Columbia Vancouver BC Canada

ISBN: (纸本)0780365763

This paper discusses the robotic acquisition and characterization of surface friction and roughness for real-world objects. Our motivation is the construction of detailed "reality-based" models for existing objects that can be used in haptic displays and other applications involving simulation. A key challenge addressed in this paper is the acquisition of these surface properties on real objects with nontrivial shape, and registration of these properties with respect to geometric models of the shape. We show how Coulomb friction may be effectively estimated in the presence of variations in surface normal. We also show how to estimate a stochastic process model of surface roughness. Finally, we demonstrate the robotic mapping of surface friction over an entire object, using the UBC Active Measurement Facility (ACME).

关键词： Robots Friction Rough surfaces Surface roughness Haptic interfaces Integrated circuit modeling Solid modeling Mechanical factors robotics and automation Shape

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A new theory in stiffness control for dextrous manipulation

A new theory in stiffness control for dextrous manipulation

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IEEE international conference on robotics and automation (ICRA)

作者： Shih-Feng Chen Yanmei Li Imin Kao Department of Mechanical Engineering Lunghwa Institute of Technology Taiwan Department of Mechanical Engineering State University of New York Stony Brook Stony Brook NY USA

ISBN: (纸本)0780365763

A new discovery on the stiffness control in robotics, as well as its applications in grasping and dextrous manipulation, is presented. Extended from the conservative congruence transformation (CCT) theory, the new theory accounts for the change in geometry and the non-commutative rotational property of the Cartesian stiffness in grasping and dextrous manipulation using stiffness control when the external force is applied. The theory, with the consideration of rotational effect in SE(3), as developed by using the geometrical method. The method along with an example presented in this paper provides a systematic way of constructing 6/spl times/6 Cartesian stiffness matrices in robotic grasping/manipulation and stiffness control for dextrous manipulation.

关键词： Fingers Grasping Force control Robot kinematics Jacobian matrices Symmetric matrices Mechanical engineering Computational geometry Control systems Orbital robotics

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A safe robot system for craniofacial surgery

A safe robot system for craniofacial surgery

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IEEE international conference on robotics and automation (ICRA)

作者： D. Engel J. Raczkowsky H. Worn Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

The ultimate ambition of a robotic system in surgical theater has to be the safety of the involved humans: patient, physicians, nurses. In order to provide that claim the criteria of ergonomics, redundancy, short reaction time, and accuracy must be met. In contrast to many other surgical robotic applications we are studying complex bone cut trajectories which require several distinct orientations of the robot tool and milling cutter, respectively. Exact bone cuts are especially needed for bone repositionings placed at the human skull in craniofacial surgery. Therefore, the system has to be flexible enough to keep the capability of changing the patient's position during the intra-operative phase. This paper introduces the overall concept and realization of the system.

关键词： Surgery Bones Robot kinematics Ergonomics Robot sensing systems Surges Fasteners Safety Skull Service robots

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Open real-time interfaces for monitoring applications within NC-control systems

Open real-time interfaces for monitoring applications within...

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IEEE international conference on robotics and automation (ICRA)

作者： M. Week A. Kahmen Lab. for Machine Tools & Production Eng. Tech. Hochschule Aachen Germany Laboratory for Machine Tools and Production Engineering (WZL) RWTH Aachen University of Technology Germany

ISBN: (纸本)0780365763

Process monitoring is the key to an increasing degree of automation and consequently to an increasing productivity in manufacturing. The realization of process monitoring functionality demands an extension of the control system. The prerequisite for these extensions are open interfaces in the NC-kernel. Nowadays controls with open NC-kernel interfaces are available on the market. However these interfaces are vendor specific solutions that do not allow the reuse of monitoring software in different controls. To overcome these limitations a vendor neutral open real-time interface for the integration of process monitoring functionality into the NC-kernel is presented. Additionally two implementations of the real time interface for different target systems are described.

关键词： Real time systems Application software Machine tools Automatic control Communication system control Computerized monitoring Condition monitoring automation Control systems Production

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