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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dlxle Group Inc. 2.5 Industrial Park Drive AlbanyNY12206 United States

ISBN: (纸本)9780791880357

The goals of Modular automation Concepts (MAC) for the automation field are presented. In order to demonstrate the strategies, the packaging automation industry is reviewed to find new opportunities for production machines. These new machines were designed with the MAC techniques. Other challenges from the industrial side to Modular Design are also discussed. © 1998 by ASME.

关键词： automation

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Teaching modular automation concepts

Teaching modular automation concepts

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation D Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dixie Group Inc. 25 Industrial Park Drive Albany NY12206 United States

ISBN: (纸本)9780791880364

Teaching a course on Modular automation Concepts (MAC) for the automation field has been twice accomplished. In order to demonstrate the MAC strategies, the packaging automation industry is reviewed to find new opportunities for production machines. Student teams then designed new machines using MAC techniques. Samples of project results are summarized. © 1998 by ASME.

关键词： automation

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Kinematic manipulability of general constrained rigid multibody systems

Kinematic manipulability of general constrained rigid multib...

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IEEE International Conference on robotics and automation (ICRA)

作者： J.T. Wen L.S. Wilfinger Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

关键词： Kinematics Torque Ellipsoids manufacturing automation robotics and automation Computer aided manufacturing Manipulators Fingers Legged locomotion Robots

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE Conference on Control technology and Applications (CCTA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This work targets the navigation and control of multi-linked manipulators in tight, constrained spaces as are encountered in problems of robotic packaging or loading and unloading of pallets. The modified magnetic field algorithm was introduced by the authors (1996, 1997) for the specific purposes of generating motion plans for a robot moving in a complex and constrained workspace while veering around enclosing Cartesian space obstacle walls. The modified magnetic field method allows global convergence and collision constraint satisfaction while allowing the application of this method as a dynamic online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF for the online dynamic closed loop control of a robot arm in the presence of Cartesian obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration. This is done by extending the concept of the MMF through a detailed analysis of exactly what constitutes a desirable path in both Cartesian and configuration spaces. The dynamic control is performed in a hybrid manner to account for both, Cartesian as well as configuration space obstacles.

关键词： Manipulator dynamics Motion control Magnetic fields Orbital robotics Space technology Motion planning robotics and automation Electrostatics Feedback Automatic control

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Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Motion planning and dynamic control of a linked manipulator ...

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh J. Wen H. Stephanou NYS Center for Advanced Technology in Robotics Automation and Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration.

关键词： Manipulator dynamics Motion control Magnetic fields Motion planning Orbital robotics Convergence Robot motion robotics and automation Path planning Feedback

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards manufacturing automation robotics and automation Computer aided manufacturing Information geometry Systems engineering and theory

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors manufacturing automation Computer aided manufacturing Laboratories Data mining

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Robot Intelligence and Flexibility for Smooth Finishing of Car Body

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IFAC Proceedings Volumes 1997年第14期30卷 303-311页

作者： Byung-Hoon Kang Jin-Dae Kim Jin-Yang Yoo Jong-Oh Park Kwang-Se Lee Hyun-Oh Shin Advanced Robotics Research Center Korea Institute of Science and Technology Automation Research Lab. Hyundai Motor Co.

Robotic finishing such as car body grinding is one of critical automation processes because of direct influence of robot system capability on final surface quality. Difference of each car surface even in the same car model is also one another critical problem. Here one suggestion on robotic finishing system with intelligence and flexibility. Laser vision scans the local surface of each car body, from sensing data after signal processing surface and bead are modeled, after that exact robot path is generated. All these processes are integrated in one robot finishing system, which is applied in actual production line. Such intelligence and flexibility of robot system shows adaptability even in production line as well as further interesting research topics. Finally technological extension of such system to more complicated workpiece is explained.

关键词： Robotic finishing Laser vision surface modeling Bead modeling Robot path generation Robot intelligence Robot flexibility

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors manufacturing automation robotics and automation Automatic control Computer aided manufacturing manufacturing processes Parameter estimation

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