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The cable array robot: theory and experiment

The cable array robot: theory and experiment

引用

IEEE international conference on robotics and automation (ICRA)

作者： J.J. Gorman K.W. Jablokow D.J. Cannon Department of Mechanical and Nuclear Engineering Department of Mechanical and Nuclear Engineering Pennsylvania State University University Park PA USA Department of Industrial and Manufacturing Engineering The Pennsylvania State University University Park PA USA

ISBN: (纸本)0780365763

Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design a sliding mode control system for the robot, providing robustness to uncertainty in the mass of manipulated objects while tracking a given trajectory. Experimental results are provided for the system, showing that the robot is capable of tracking a trajectory within several centimeters, which is reasonable performance for many industrial applications. These results are discussed in detail and future research plans are presented.

关键词： Service robots Kinematics Sliding mode control Mechanical cables Robust control Trajectory robotics and automation Robust stability Control systems Manufacturing industries

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Pleated pneumatic artificial muscles: compliant robotic actuators

Pleated pneumatic artificial muscles: compliant robotic actu...

引用

Proceedings 2001 IEEE/RSJ international conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： F. Daerden D. Lefeber B. Verrelst R. Van Ham Department of Mechanical Engineering Vrije Universiteit Brussel Brussel Belgium

Pleated pneumatic artificial muscles (PPAMs), developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering, are used as robotic actuators. Their distinguishing feature is their pleated design, as a result of which their contraction forces and maximum displacement are very high compared to other pneumatic artificial muscles. The PPAM design, operation and characteristics are presented. A rotative joint actuator, made of two antagonistically coupled PPAMs, is discussed to demonstrate their suitability for robotics. It has several properties that are similar to those of skeletal joint actuators. Positioning tasks are seen to be performed very accurately using a simple PI control. Furthermore, the antagonistic actuator can easily be made to have a soft or careful touch, contributing greatly to a safe robot operation. In view of all the characteristics PPAMs are very well suited for automation and robotic applications.

关键词： Muscles Robots Pneumatic actuators robotics and automation Biomembranes Mechanical engineering Joints Friction Hysteresis Gears

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An adaptive framework for 'single shot' motion planning: a self-tuning system for rigid and articulated robots

An adaptive framework for 'single shot' motion planning: a s...

引用

IEEE international conference on robotics and automation (ICRA)

作者： D. Vallejo I. Remmler N.M. Amato Department of Computer Systerms Engineering Universidad de las Américas-Puebla Cholula Puebla Mexico Department of Computers Science Texas A and M University College Station TX USA

ISBN: (纸本)0780365763

Describes an enhanced version of an adaptive framework for single shot motion planning (Vallejo et al., 2000). This framework is versatile, and particularly suitable for crowded environments. Our iterative strategy analyzes the characteristics of the query and adaptively selects planners whose strengths match the current situation. Contributions in the paper include an automatic method for setting and adaptively tuning planner characterizations, and reducing the reliance on programmer expertise present in the original framework. The adaptive refinement enables the system to evolve parameters specifically suited for particular classes of applications. The system now supports articulated robots, which were not supported previously. Our experimental results in complex 3D CAD environments show that our strategy solves queries that none of the planners could solve on their own.

关键词： Motion planning Robot kinematics robotics and automation Design automation Strategic planning Tree graphs Systems engineering and theory Computer science Tuning Programming profession

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Haptically augmented teleoperation

Haptically augmented teleoperation

引用

IEEE international conference on robotics and automation (ICRA)

作者： N. Turro O. Khatib E. Coste-Maniere INRIA Sophia-Antipolis France Robotics group University of Stanford USA CHIR Medical robotics group INRIA Sophia-Antipolis France

ISBN: (纸本)0780365763

Concerns telerobotic microsurgery. Existing systems offer tremor elimination and scaling of motions. This article goes beyond the strict master/slave scheme to the enhancement of the operator's capabilities during teleoperation. It is focused on the implementation of three types of constraints for the operators' movements: constrained movement (along a curve or on a predefined surface); virtual obstacle avoidance; and geometric constraints to limit the robots workspace. Constraints for the operator's movements can be implemented mechanically. Our approach uses a haptic master robot, and consists in adding constraint forces to its control scheme. Constraint forces are computed according to attractive or repulsive potential fields placed around constraints. This article presents the principles of these control enhancements which, we believe, will raise dramatically the level of safety and precision that a surgeon can achieve, but those principles can also be applied to a wide variety of teleoperation applications.

关键词： Master-slave Surgery Medical robotics Laparoscopes Force control Robot sensing systems Optical feedback Haptic interfaces Orbital robotics End effectors

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A predictive control algorithm with interpolation for a robot manipulator with constraints

A predictive control algorithm with interpolation for a robo...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： S. Torres J.A. Mendez L. Acosta M. Sigut G.N. Marichal L. Moreno Automation & Control Group Department of Applied Physics University of La Laguna Tenerife Spain

The paper presents an efficient control algorithm applied on a two-link robot manipulator with input constraints. The algorithm proposes a suboptimal solution to the predictive control problem with infinite prediction horizon, by mean of interpolations between the unconstrained optimal solution and other constrained solutions. The control strategy is based on inserting the predictive controller in an adaptive perturbation scheme. The efficiency of the proposed strategy is shown by simulation.

关键词： Predictive control Prediction algorithms Interpolation Robots Manipulators robotics and automation Cost function Automatic control Predictive models Optimal control

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Collision prediction and avoidance amidst moving objects for trajectory planning applications

Collision prediction and avoidance amidst moving objects for...

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IEEE international conference on robotics and automation (ICRA)

作者： E.J. Bernabeu J. Tornero M. Tomizuka Departmento de Ingeniería de Sistemas y Automática Universidad Politécnica de Valencia Valencia Spain Department of Mechanical Engineering University of California Berkeley Berkeley CA USA

ISBN: (纸本)0780365763

A methodology for computing a collision-free trajectory for mobile robots amidst moving objects is presented. This planner is based on a technique for computing the minimum translational distance between two mobile objects. This distance is then used for predicting and avoiding a collision. The computation of this distance is based on the application of the GJK algorithm to a particular subset of the Minkowski difference set of the involved objects. This subset states the separation or penetration distance between two objects along their given motions. When a collision is predicted, a collision-free intermediate temporal-position is generated avoiding such a collision.

关键词： Trajectory Mobile computing Solid modeling Testing Object detection Motion detection Orbital robotics Mechanical engineering Mobile robots Collision avoidance

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Autonomous navigation and localization in service mobile robotics

Autonomous navigation and localization in service mobile rob...

引用

Proceedings 2001 IEEE/RSJ international conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： M. Piaggio A. Sgorbissa R. Zaccaria D.I.S.T. University of Genoa Genoa Italy

We address the problem of autonomous navigation and localization in indoor environments, referring in particular to the specific scenario of service mobile robotics applications. The localization system uses active beacons (i.e. active transponders distributed throughout the building) as reference points; the estimate of the position of the robot and its uncertainty, both retrieved by correcting the estimate provided by odometry through an extended Kalman filter, are fed to the navigation system in order to help the robot to plan and execute target-oriented navigation tasks while showing a reactive behavior to handle the unpredictability of the environment.

关键词： Navigation Mobile robots Intelligent robots robotics and automation Intelligent sensors Intelligent structures Robot sensing systems Indoor environments Transponders Humanoid robots

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Balancing deliberation and reaction, planning and execution for space robotic applications

Balancing deliberation and reaction, planning and execution ...

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Proceedings 2001 IEEE/RSJ international conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： R. Knight F. Fisher T. Estlin B. Engelhardt S. Chien Jet Propulsion Laboratory California Institute of Technology USA

Intelligent behavior for robotic agents requires a careful balance of fast reactions and deliberate consideration of long-term ramifications. The need for this balance is particularly acute in space applications, where hostile environments demand fast reactions, and remote locations dictate careful management of consumables that cannot be replenished. However, fast reactions typically require procedural representations with limited scope and handling long-term considerations in a general fashion is often computationally expensive. We describe three major areas for autonomous systems for space exploration: free-flying spacecraft, planetary rovers, and ground communications stations. In each of these broad applications areas, we identify operational considerations requiring rapid response and considerations of long-term ramifications. We describe these issues in the context of ongoing efforts to deploy autonomous systems using planning and task execution systems.

关键词： Orbital robotics Space technology Intelligent robots Space vehicles Context Robot sensing systems robotics and automation Engines Technology planning Automatic control

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Control of a robotic gripper for grasping objects in no-gravity conditions

Control of a robotic gripper for grasping objects in no-grav...

引用

IEEE international conference on robotics and automation (ICRA)

作者： L. Biagiotti C. Melchiorri G. Vassura DEIS University of Bologna Bologna Italy DIEM University of Bologna Bologna Italy

ISBN: (纸本)0780365763

In space applications, it is conceivable that part of the robotic activities could involve the grasp and/or manipulation of free-floating objects in the absence of gravity. In this case, synchronous application of contacts seems to represent a basic feature in order to efficiently grasp the floating items. In this sense, an additional difficulty is that objects may have irregular shape and/or be non well positioned in the gripper workspace. These difficulties cannot be handled in a simple way with standard 2-jaw grippers, with one (or two) degrees of freedom. In the paper, an activity for designing and experimenting with a gripper for this type of operations is reported, and the first laboratory results are presented and discussed. The main features of the gripper are its kinematic configuration (3 fingers with 3 dof) and its sensorial equipment, features that improve the dexterity of this device if compared to more classical devices.

关键词： Robot control Grippers Orbital robotics Robot sensing systems Kinematics Fingers Space shuttles Process design Gravity Shape

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Layered nanoassembly of three-dimensional structures

Layered nanoassembly of three-dimensional structures

引用

IEEE international conference on robotics and automation (ICRA)

作者： A.A.G. Requicha S. Meltzer R. Resch D. Lewis B.E. Koel M.E. Thompson Laboratory for Molecular Robotics University of Southern California USA

ISBN: (纸本)0780365763

NEMS (nanoelectromechanical systems) loom beyond the MEMS horizon as the new frontier in miniaturization. Nanorobots and other NEMS are expected to find revolutionary applications in science, engineering and everyday life. Until now, nanostructures have been built primarily in 2D, because of the difficulties of 3D fabrication. This paper describes a promising approach to the construction of 3D nanostructures by working in successive layers, much like the rapid prototyping techniques used in the macroscopic world. Each object nanolayer is built by nanomanipulation, or possibly by programmed self-assembly, and then surrounded by a sacrificial layer that planarizes the sample and serves as a substrate for the deposition of the next object nanolayer. Initial experimental results which show that the approach is feasible are presented.

关键词： Nanostructures Prototypes Nanoparticles Fabrication Robotic assembly Nanoelectromechanical systems Nanofabrication Solids Gold Atomic force microscopy

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