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检索条件"机构=Advanced Engineering Robotics"

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Visual tracking manipulator with redundancy and its application to robotic wheel assembly

Visual tracking manipulator with redundancy and its applicat...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Chang-hyun Cho Sungchul Kang Munsang Kim Jae-Bok Song Sunkyoo Min Jeasun Kim Hyunoh Shin Department of Mechanical Engineering Korea University Seoul South Korea Advanced robotics research center KIST Seoul South Korea Hyundai Motor Company Ulsan South Korea

A new wheel assembly automation system is proposed which assembles a wheel into a hub on a car body on a moving hanger in the car manufacturing line. A vision system is used to track the position of the hub on the moving hanger A macro-micro structure is applied to increase a system bandwidth and accuracy to meet an insertion tolerance. The redundancy problem is solved without complicated calculations by assigning different functions that the macro manipulator tracks a velocity error and the micro regulates the position error. Experimental results show that the proposed system can be applied to the wheel assembly task on a moving hanger in the car manufacturing line.

关键词： Robotic assembly Manipulators Mobile robots Wheels Redundancy robotics and automation Assembly systems Service robots Tracking Manufacturing

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots Control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Advantage of low complexity in digital controllers with finite wordlength

Advantage of low complexity in digital controllers with fini...

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SICE Annual Conference

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group OPAL-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal QUE Canada Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan

ISBN: (纸本)0780373065

The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.

关键词： Digital control Control systems Sampling methods Finite wordlength effects Costs Stability Computational modeling Mechanical engineering Robot control Paper technology

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A framework for discrete-time models of continuous-time systems

A framework for discrete-time models of continuous-time syst...

引用

American Control Conference (ACC)

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal Montreal QUE Canada Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper shows that the analysis and the design of discrete-time models of continuous-time systems can be carried out within a single framework. Briefly, all classes of discrete-time models, namely the invariant models, the mapping models and the matched pole-zero models, are shown to incorporate the common structure of a hold followed by a continuous-time system and the ideal sampler. This interpretation of discrete-time models of continuous-time systems facilitates the understanding of the differences and similarities among the various discrete-time models. A numerical example illustrates the concepts involved.

关键词： Transfer functions Poles and zeros State-space methods Mechanical engineering Robot control Design engineering Signal processing System identification Control systems Hardware

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A new exoskeleton-type masterarm with force reflection based on the torque sensor beam

A new exoskeleton-type masterarm with force reflection based...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yoon Sang Kim Sooyong Lee Changhyun Cho Munsang Kim Chong-Won Lee Department of Electrical Engineering University of Washington Seattle WA USA Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Texas A and M University College Station TX USA

ISBN: (纸本)0780365763

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Force sensors Optical reflection Torque Humans Service robots Kinematics Shoulder Wrist Elbow Capacitive sensors

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Effective modeling and simulation of internal combustion engine control systems

Effective modeling and simulation of internal combustion eng...

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American Control Conference (ACC)

作者： C.A. Rabbath H. Desira K. Butts Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada IDepartment of Mechanical Engineering McGill University Montreal Montreal QUE Canada Powertrain Control Systems Department Ford Motor Company Limited Dearborn MI USA

The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine control systems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of relatively large fixed simulation steps and the achievement of real-time and faster than real-time simulation execution. The results of numerical simulations, which show a relatively high accuracy and the gains in execution speeds obtained with various physical configurations, are also provided.

关键词： Internal combustion engines Control system synthesis Electronic mail Discrete event simulation Fuels Control systems Mechanical engineering Robot control Paper technology Numerical simulation

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Expertness measuring in cooperative learning

Expertness measuring in cooperative learning

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： M.N. Ahmadabadi M. Asadpur S.H. Khodanbakhsh E. Nakano Robotics Laboratory Faculty of Engineering University of Tehran Iran Advanced Robotics Laboratory GSIS University of Tohoku Japan

Cooperative learning in a multi-agent system can improve the learning quality and learning speed. The improvement can be gained if each agent detects the expert agents and uses their knowledge properly. In the paper, a cooperative learning method, called weighted strategy sharing (WSS) is introduced. Also some criteria are introduced to measure the expertness of agents. In WSS, based on the amount of its team-mate expertness, each agent assigns a weight to their knowledge. These weights are used in sharing knowledge among agents in our system. WSS and the expertness criteria are tested on two simulated hunter-prey problems and on object pushing systems.

关键词： Intelligent robots Humans Multiagent systems Immune system Laboratories Intelligent systems Physics Mathematics Learning systems System testing

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Guest Editorial

引用

Autonomous Robots 2000年第3期8卷 207-208页

作者： Balch, Tucker Parker, Lynne E. The Robotics Institute Carnegie Mellon University Pittsburgh Center for Engineering Science Advanced Research Oak Ridge National Laboratory Oak Ridge

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A constrain-move based distributed cooperation strategy for four object lifting robots

A constrain-move based distributed cooperation strategy for ...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： M.N. Ahmadabadi S.M. Rushan ZhiDong Wang E. Nakano Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Eng University of Tehran Tehran Iran Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Advanced Robotics Laboratory The Graduate School of Info. Sciences University of Tohoku Sendai Japan

This paper extends the constrain-move strategy for four robots lifting an object in a distributed manner. Ahmadabadi et al. (1996, 1998) have successfully applied constrain-move to three robots, but due to existence of redundancy in vertical forces in a team of four robots, this protocol is not applicable to such systems in its original form. In the presented cooperation strategy, the robots support the load on its bottom face and there is no lateral artificial constraint on the object. The distributed coordination protocol is designed in such a way that with minimum volume of communication and implementing their own local sensors, the robots can lift the object while its Euler angles and robot-object contact are controlled. Stability condition for the system is attained mathematically. Simulation results are given to support the applicability of the presented system.

关键词： Robot kinematics Protocols Robot sensing systems Multiagent systems Intelligent robots Redundancy Robot control Communication system control Stability Intelligent agent

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Dense range image smoothing using adaptive regularization

Dense range image smoothing using adaptive regularization

引用

IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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