Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, ide...
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Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >
A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actu...
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A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >
The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally con...
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The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. In this paper, we present a new algorithm for constructing a feasible path between specified initial and final configurations. Polyhedral constraints in both configuration and non-configuration spaces (possibly non-convex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a non-trivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car, and tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.
A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique...
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A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique is introduced for steering a nonholonomic mobile vehicle to an invariant manifold which is relatively locally-locally controllable. A closed-loop control strategy based on the invariant manifold technique is formulated and applied to the control of nonholonomic vehicles. Tracking control of such vehicles is demonstrated with both holonomic and nonholonomic reference trajectories.< >
Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the ...
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Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the gradient of disparity, the directional derivative of disparity, and disparity differences between matches. The PDFs resulting from the transformations are used to critically examine many existing stereo techniques. Several techniques based on these PDFs are proposed.< >
The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential field...
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The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >
This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
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This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.
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