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Characterization of Singular Controls for Nonholonomic Path Planning

IFAC Proceedings Volumes 1996年第1期29卷 2460-2465页

作者： Dan O. Popa John T. Wen Center for Advanced Technology in Automation Robotics and Manufacturing Dept. of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180

A class of Iterative algorithms have been proposed in recent years for the nonholonomic motion planning problem. The convergence of these algorithms predicates on the control signal in each iteration be "nonsingular". At the present, the singularity structure is only identified for the unicycle and front-wheel-drive car kinematic models. In this paper, we extend the consideration to all systems reducible to one-chain form, which include unicycle, car, as well as any N-trailer system. In particular, we show that a control is singular if and only if the first control variable is identically zero. We also identified all singular controls for the ball rolling on a plate problem. which is not reducible to the one-chain form.

关键词： Nonholonomic motion planning Nonholonomic Systems Path Planning Gradient algorithms Singular Controls

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Dynamic analysis and identification of gas tungsten arc welding process for weld penetration control

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Journal of manufacturing Science and Engineering, Transactions of the ASME 1996年第1期118卷 123-136页

作者： Zhang, Y.M. Kovacevic, R. Wu, L. Center for Robotics and Manufacturing Systems Department of Mechanical Engineering University of Kentucky Lexington KY United States National Key Laboratory for Advanced Welding Production Harbin Institute of Technology Harbin China

In this study, gas tungsten arc welding is analyzed and modeled as a 2-input (welding current and arc length) 2-output (weld depression and width) multivariable process. Experiments under a number of typical welding conditions are performed to excite and identify the process characteristics and variations. It is observed that the model parameters vary in a large range with the experimental conditions. A real-time model frame with only a few parameters to be identified on-line is proposed. Based on the obtained models, the process characteristics in terms of inertia, delay, nonminimum phase, and coupling are given. These characteristics suggest an adaptive predictive decoupling control algorithm. By designing and implementing the suggested control algorithm with the real-time model, excellent results have been achieved for both simulation and practical control. This shows that the dynamic analysis and identification provide sufficient process information for design of the control system. © 1996 by ASME.

关键词： Delays Simulation Design Control algorithms Dynamic analysis Control systems Welding Inertia (Mechanics) Gas tungsten arc welding

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis manufacturing automation Computer aided manufacturing Concurrent computing Systems engineering and theory Joining processes Concatenated codes

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and automation (ICRA)

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

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and automation (ICRA)

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

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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NEURAL-NETWORK-BASED INSPECTION OF SOLDER JOINTS USING A CIRCULAR ILLUMINATION

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IMAGE AND VISION COMPUTING 1995年第6期13卷 479-490页

作者： KIM, JH CHO, HS Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea

In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.

关键词： SOLDER JOINT INSPECTION CIRCULAR ILLUMINATION TECHNIQUE LEARNING VECTOR QUANTIZATION ADAPTIVE LEARNING MECHANISM

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A path-space search algorithm for motion planning with uncertainties

A path-space search algorithm for motion planning with uncer...

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IEEE International Symposium on Assembly and manufacturing (ISAM)

作者： L.A. Page A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

This paper describes an algorithm for adjusting a robot motion plan in order to make it feasible in spite of control and sensing uncertainties in the robot configuration. The type of motion plan considered consists of a nominal commanded path, augmented by sensing mode specifications. The algorithm uses a bounding-set representation of uncertainties, which is also described. The control uncertainty is history independent, but the sensing uncertainty at one point in a plan depends on the prior sensing actions and the path traversed. The algorithm is a path-space algorithm, because it adjusts the entire plan simultaneously as it carries out the search.

关键词： Path planning Uncertainty Robot sensing systems Motion planning robotics and automation manufacturing automation Motion control Robotic assembly Robot motion Robot vision systems

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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