A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor t...
详细信息
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
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.
Describes the implementation of a real-time controller for dexterous manipulation with a hierarchical intelligent control architecture. The architecture is based on a blackboard model that enables incremental, opportu...
详细信息
Describes the implementation of a real-time controller for dexterous manipulation with a hierarchical intelligent control architecture. The architecture is based on a blackboard model that enables incremental, opportunistic, and dynamic decision making and control. The following features have been incorporated into the dexterous robot hand controller: (1) controlling robot fingers using robotic common sense reasoning, based on qualitative representations of control variables and parameters; and (2) opportunistically switching between coarse qualitative control that is based on a physical model and conventional fine quantitative control that is based on a mathematical model. The controller was implemented on a multirobot grasping facility, and preliminary experimental results are presented.< >
A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the ...
详细信息
A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported.< >
This paper presents an experimental evaluation and comparison of basic strategies that have been proposed for force control of robot manipulators. This experimental review of force control methodologies is unique in i...
详细信息
This paper presents an experimental evaluation and comparison of basic strategies that have been proposed for force control of robot manipulators. This experimental review of force control methodologies is unique in its breadth - never has such a complete spectrum of strategies been experimentally compared on the same system. The commonality amongst the experiments has permitted the ability to objectively compare and contrast these strategies, and draw conclusions about the efficacy of each. As will be seen, the results support our previous analysis and show the superiority of integral force control for force trajectory tracking.
computer Integrated Manufacturing (CIM) Systems having determining role in the modern industry. These systems contain essentially two different equipments for transporting materials between workstations: - conveyors c...
详细信息
A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor t...
详细信息
A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain. A linear relationship, plotted as a line and called a reference flow line, has been found. This reference flow line can be used to detect discrete obstacles above or below the reference terrain. Slopes of surface regions are also computed. The approach is simple, fast, and robust because: (1) the only required information is one component of the optical flow, (2) each image line can be processed in parallel, and (3) the error sources involved are reduced to a minimum. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method.< >
Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' laboratory. The ad...
详细信息
Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' laboratory. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.< >
暂无评论