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Robot vision: model synthesis for 3D objects

Robot vision: model synthesis for 3D objects

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Proceedings. 1998 IEEE/RSJ international conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： A.K.C. Wong L. Rong X. Liang Pattern Analysis and Machine Intelligence Group University of Waterloo Waterloo ONT Canada

This paper presents the automated model synthesis component of an integrated passive 3D vision system. The synthesized models can be used by the object recognition and pose determination components. The model synthesis obtains the 3D object model from images acquired by a CCD camera posed at various known positions. This paper presents developments and discusses automatic model synthesis. The tasks include robust 2D feature detection; 2D feature post-processing for eliminating noise and recovering missing features; 2D feature grouping of structurally related 2D features; stereo triangulation with a new form of epipolar line constraint; projective inversion of ellipses; synthesis for circular shape in 3D space from its projective views based on the ellipse pose hypothesis; and incremental model synthesis of model from multiple views based on the vertex triangulation. To demonstrate full automation, we use a single CCD camera mounted on the last link of a robot arm. The integrated robot system is able to move the CCD camera around the object and capture images at various vantage points and furnish the camera pose corresponding to each image acquired. The intelligent system then synthesizes the extracted features from each image to obtain a 3D model of the object. Such an approach, though more difficult than the direct use of range data through range sensors, is of great importance for space and industrial automation where cost and flexibility are of concern.

关键词： Robot vision systems robotics and automation Charge-coupled image sensors Cameras Charge coupled devices Computer vision Orbital robotics Intelligent sensors Machine vision Object recognition

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Comparison of noncausal inversion techniques for discrete time linear systems: application to a flexible link

Comparison of noncausal inversion techniques for discrete ti...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： P. Braschi L. Marconi C. Melchiorri DEIS Università di Bologna Bologna Italy

In this paper, the problem of stable inversion of nonminimum phase discrete-time system is considered. In particular, three inversion techniques presented in the literature are compared and their results discussed. It is shown that these techniques, aiming at achieving the perfect tracking of a given reference signal, can be considered equivalent for specific plants. In this manner, their peculiarities and design objectives can be indifferently applied to the three approaches. More in general, design and performance features of each method are pointed out, defining a common framework for both linear and nonlinear systems.

关键词： Linear systems Nonlinear systems Ducts Automatic control robotics and automation Feedback Signal design Robustness Error correction Force control

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applications of control networks in distributed robotic systems

Applications of control networks in distributed robotic syst...

引用

IEEE international conference on Systems, Man and Cybernetics

作者： J.A. Janet W.J. Wiseman R.D. Michelli A.L. Walker M.D. Wysochanski R. Hamlin Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Our research centers around finding hardware and software components that enable us to mimic biological entities and colonies within the context of multi-agent systems. Specifically, we use control networks with fieldbus or wireless data links to connect distributed hardware and software modules. Although there are many implementations of multi-agent systems, most literature seems to focus on the algorithmic aspects. In this paper, we describe how LonWorks control networks, coupled with minimal custom electromechanical devices, can be used to construct multi-agent systems. Important issues include real-time system constraints, fault-tolerance, synchronization, and, of course, solving the robotic tasks at hand. We describe three proof-of-concept projects currently underway: a biped walking robot; an hexapod colony; and a complex autonomous vehicle. It is believed that attributes observed in these projects can be used to build application-specific systems for automation, space exploration, hazardous materials operations, etc.

关键词： Distributed control Control systems Robots Multiagent systems robotics and automation Hardware Orbital robotics Legged locomotion Application software Field buses

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A structured methodology for the design and implementation of hybrid robot controllers

A structured methodology for the design and implementation o...

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IEEE conference on Control Technology and applications (CCTA)

作者： E. Carpanzano R. Fabbri L. Ferrarini Dipartimento di Elettronica ed Informazione Politecnico di Milano Milan Italy

A structured methodology for hybrid robot controllers design is presented. The key elements of the proposed technique are: the object-oriented approach, compliance with international standards, hybrid models and automatic code generation. In particular, a life cycle model for the control system development is considered, functional and implementation reference models are introduced, and a computer aided control system design environment is described. Such tools support the robot controller design, by means of structured modelling, simulation and run-time control generation. Furthermore, the development and implementation of robot mission for an industrial manipulator is illustrated as an application example of the proposed methodology, showing how the different design phases are dealt with.

关键词： Design methodology Object oriented modeling Automatic control robotics and automation Robot control Control system synthesis Service robots Automatic generation control Code standards Hybrid power systems

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Digital-signal-processor based multirate control of a two-link flexible-joint robot

Digital-signal-processor based multirate control of a two-li...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： M.J. Er School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Concurrent with the development of multirate strategies, there have been increasing applications of digital signal processors (DSPs) in high-speed control. This paper presents the design and implementation of a multirate PD controller for a two-link flexible-joint robot. The controller was implemented using the TI DSP TMS320C30 evaluation module. Two multirate algorithms, namely multirate output PD controller and multirate input PD controller, were designed and implemented. The multirate controllers are shown to be superior to the conventional single-rate PD controller. Comparison is made in terms of maximum overshoot, rise time and steady-state error of the closed-loop system.

关键词： Digital control Robots PD control Torque control Digital signal processors Control systems Digital signal processing robotics and automation Manipulators Servomotors

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Experiments of observer-based fault detection for an industrial robot

Experiments of observer-based fault detection for an industr...

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IEEE conference on Control Technology and applications (CCTA)

作者： F. Caccavale Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Napoli Italy

Different techniques to fault detection and isolation (FDI) for robot manipulators have been proposed in recent years, but the problem of applications of such techniques on industrial robot has not been extensively investigated. In this paper an observer-based approach to FDI is applied to a conventional industrial manipulator with open control architecture. A nonlinear discrete-time observer is designed to generate the residuals sensitive to both sensor and actuator failures. Then, the effectiveness of the resulting FDI scheme is tested in a number of experimental case studies. The results show that clear and distinct fault signatures can be obtained in the presence of modeling uncertainties and external disturbances. Also, the potential of nonlinear FDI techniques applied to conventional industrial machines is demonstrated.

关键词： Fault detection Service robots Robot sensing systems robotics and automation Manipulator dynamics Production facilities Product safety Productivity Testing Uncertainty

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A six-legged climbing robot for high payloads

A six-legged climbing robot for high payloads

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IEEE conference on Control Technology and applications (CCTA)

作者： J.C. Grieco M. Prieto M. Armada P. Gonzalez de Santos Instituto de Ingeniería Caracas Venezuela Instituto de Automatica Industrial CSIC Madrid Spain

This paper describes the design and control concepts of a wall-climbing robot. It has an hexapod configuration and it is able to manoeuvre on vertical surfaces carrying high payloads. Configuration and leg design criteria specific for climbing tasks are discussed. The controller architecture showing decentralised parallel control and hard real-time performance is outlined. New stability criteria for wall locomotion are introduced and a climbing gait using force distribution shows the working of our control scheme for wall gait generation. We call this four phase discontinuous sawing gait. This prototype is an example of a climber specifically tailored for industrial applications.

关键词： Climbing robots Payloads Service robots Leg Legged locomotion robotics and automation Automatic control Stability criteria Prototypes Foot

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Object following and obstacle avoidance using a laser scanner in the outdoor mobile robot Auriga-/spl alpha/

Object following and obstacle avoidance using a laser scanne...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： J.L. Martinez A. Pozo-Ruz S. Pedraza R. Fernandez Department System Engineering and Automation E. T. S . Ingenieros Industriales University of Málaga Malaga Spain

A low computational cost method for terrestrial mobile robots that uses a laser scanner for following mobile objects and avoiding obstacles is presented. In particular, the technique has been successfully implemented in the outdoor mobile robot Auriga-/spl alpha/. The measurement data from the laser scanner and the vehicle position are used as input variables. The outputs are the new curvature and velocity of the robot in order to follow a mobile object, or track a previously recorded path and avoid any possible obstacle in its way.

关键词： Mobile robots Vehicles Computational efficiency Mobile computing Extraterrestrial measurements Position measurement Input variables Sonar navigation Systems engineering and theory robotics and automation

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Constrained predictive control of multivariable robotic systems

Constrained predictive control of multivariable robotic syst...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： T. Alvarez F. Tadeo C. De Prada Departmento de Ingeniería de Sistemas y Automática Facultad de Ciencias University of Valladolid Spain

Robotic systems present physical limitations in the maximum torque that the motors can apply and its variation rate. Also, due to safety regulations, there are strict limitations in the maximum speed and acceleration that any link can operate. To solve these problems online the paper proposes the implementation of a multivariable constrained predictive controller. These limitations are usually very strict, hence sometimes it may not be possible to calculate an adequate sequence of the future controls due to constraint incompatibility, and the optimization problem is infeasible. To solve this difficulty an infeasibility solver can be included in the predictive controller.

关键词： Predictive control Robot control Service robots Manipulators Feedback Predictive models Control systems Cost function robotics and automation Uncertainty

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Development of variable RCC and its application

Development of variable RCC and its application

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： S. Joo F. Miyazaki Division of Mechanical Science Department of Systems and Human Science Graduate School of Engineering Science Osaka University Osaka Japan

Most work on compliance or force control schemes in doing precision assembly has been insufficient to provide satisfactory performance, and therefore applications to manufacturing have been few. The remote centre compliance (RCC) device is the most famous of the passively compliant devices and has been already used in some operations. However, it is well known that the RCC has some limitations in flexible precision assembly automation: its characteristics (such as the position of remote compliance center and compliance at the point) are not variable. The device has not in fact been improved since its invention 20 years ago. To confer more flexibility to a robotic assembly line, we developed a cost-effective, compact, and lightweight variable RCC (VRCC). The invention of a simple but unique mechanism enabled the fabrication of the variable RCC. The device eliminates the need for an additional complex electrical control system or theory to cope with variation. Moreover, we have verified that a single VRCC duplicates the performance of a wide range of commercially available fixed-type RCCs.

关键词： Robotic assembly Robots robotics and automation Assembly systems Humans Force control Manufacturing automation Fabrication Laboratories Springs

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