The Air Force Material Command advancedroboticstechnology Insertion Program (ARTIP) was formally initiated in August 1992. The ARTIP Program Action Directive (PAD) codifies the mission and responsibilities that the ...
详细信息
The Air Force Material Command advancedroboticstechnology Insertion Program (ARTIP) was formally initiated in August 1992. The ARTIP Program Action Directive (PAD) codifies the mission and responsibilities that the AFMC robotics and automationcenter of Excellence (RACE) has been actively pursuing since October 1991. AFMC RACE is a command wide focal point, an organic source of expertise to assist the logistic and product centers in improving process productivity through the judicious insertion of robotics and automation technologies. This paper provides an overview of the ARTIP PAD and an update on major RACE activities in support of those objectives.< >
Air Logistic centers trail the commercial sector in insertion of robotics and automation technologies. Small batch sizes, feature uncertainty, and varying workload have conspired to make classical industrial robotic s...
详细信息
Air Logistic centers trail the commercial sector in insertion of robotics and automation technologies. Small batch sizes, feature uncertainty, and varying workload have conspired to make classical industrial robotic solutions impractical for a wide range of depot remanufacturing processes. The solution is telerobotics. The challenge is how to judiciously exploit telerobotics to enhance depot industrial processes. In response to that challenge, the AFMC robotics and automationcenter of Excellence (RACE) has launched a technical initiative to foster creative development and innovative utilization of emerging telerobotic technologies. The goals, plan of attack, and status of that initiative are presented.< >
Given two objects, A and B, such that A intersection B not= theta , the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and p...
详细信息
Given two objects, A and B, such that A intersection B not= theta , the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and polyhedral objects and demonstrate how the measure can be used in collision detection for path planning.< >
General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this compa...
详细信息
General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >
A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypot...
详细信息
A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >
A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition...
详细信息
A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >
When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operation...
详细信息
When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >
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...
详细信息
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...
详细信息
Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be...
详细信息
暂无评论