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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo T.-J. Pan Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering North Carolina State University Raleigh NC USA

A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.< >

关键词： Motion planning Vehicle dynamics robotics and automation Orbital robotics Intelligent robots Interference constraints Robot motion Mobile robots Path planning Intelligent systems

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： Intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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Dexterity measures for design and control of manipulators

Dexterity measures for design and control of manipulators

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： Jin-Oh Kim K. Khosla Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA USA Advanced Manipulators Laboratory The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The authors investigate dexterity measures of a manipulator based on its Jacobian matrix. The goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Every dexterity measure must bear a physical meaning. The measure of manipulability has an analytical expression, but it depends on the scale of a manipulator. On the other hand, the condition number is independent of the scale, but cannot be expressed analytically. These two main problems (scale dependency and analytical expression) of previous dexterity measures derived from the Jacobian matrix are solved and applied in design and control of manipulators. In addition, a dexterity measure called the measure of isotropy is introduced.< >

关键词： Jacobian matrices Manipulators Robot kinematics Eigenvalues and eigenfunctions Laboratories Time measurement NASA US Department of Energy Electric variables measurement Arithmetic

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Implementation of an active perceptual scheme for legged locomotion of robots

Implementation of an active perceptual scheme for legged loc...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： P.R. Sinha R.K. Bajcsy GRASP Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA Robotics and Automation Laboratory (RAL) Department of Mechanical Engineering University of Toronto Toronto ONT Canada

For robots to traverse rugged terrain successfully using legged locomotion, they need not only constantly to maintain structural stability but also, and perhaps more importantly, to detect and adapt to changes in the terrain properties. The authors address the issue of exploration to extract material properties from a given surface for the specific purpose of aiding in and improving the quality of legged locomotion. While it is important to evaluate terrain properties prior to the start of locomotion, it is even more important to evaluate these properties actively during locomotion so that the robot does not sink, slip or fall. It is proposed that the legs of a robot be used not only for stepping and walking but also as probes to examine those properties of the surface that would contribute to the efficiency of locomotion, one way or another. The proposed framework for active perception for legged locomotion suggests that for stable stepping and walking in an unknown environment, it is necessary actively to recover the material properties of penetrability, compliance and surface traction from the supporting surface. These attributes must be recovered by exploratory procedures that are built into the mobile robotic system. This paper focusses on the implementation of the perceptual scheme so that feedback from the measurement of material properties is used to control robot foot forces during legged locomotion.< >

关键词： Legged locomotion Material properties Structural engineering Leg Probes Mobile robots Force feedback Force measurement Force control Robot control

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Experimental verification of a strategy for impact control

Experimental verification of a strategy for impact control

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Volpe P. Khosla Department of Physics The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Jet Propulsion Laboratory Pasadena CA USA Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The authors present experimental results from a strategy for stable hard-on-hard impacts of a robot manipulator, and show how this method fits into the framework of force control. Previously proposed methods of impact control are reviewed, and their inadequacies are revealed. A fourth-order model of an arm/sensor/environment system is reviewed. It is pointed out how proportional gain force control with feedforward and impedance control are equivalent when the environment is stiff. An analysis of the model and the controllers shows the gain selection that provides the best impact response. Extensive experimental results confirm the correctness of the model, the equivalence of the controllers, and the efficacy of this impact control strategy.< >

关键词： Force control Damping Motion control Impedance Proportional control Position control Elasticity Stability Propulsion Laboratories

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Robot performance measurement and calibration using a 3D computer vision system

Robot performance measurement and calibration using a 3D com...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Preising T.C. Hsia Biomedical Engineering Graduate Group Graduate Division University of California슠Davis Davis CA USA Robotics Research Laboratory Electrical Engineering and Computer Science University of California Davis Davis CA USA

The use of a single-camera 3D computer vision system as a position sensor in order to perform robot calibration is examined. A vision feedback scheme, termed vision-guided robot control (VRC), that can improve the accuracy of a robot in an online iterative manner is described. This system demonstrates the advantage that can be achieved by a Cartesian space robot control scheme when end-effector position and orientation are actually sensed instead of calculated from the kinematic equations. The viability of using a vision system for robot calibration is demonstrated by experimentally showing that the accuracy of a robot can be drastically improved. The vision system can also be used to determine the repeatability and accuracy of a robot in a simple, efficient, and quick manner. Experimental work with an IBM electric drive robot and the proposed vision system produced a 97- and 145-fold improvement in the position and orientation accuracy of the robot, respectively.< >

关键词： Measurement Calibration Robot vision systems Robot sensing systems Orbital robotics Machine vision Robot control computer vision Sensor systems Feedback

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Dextrous manipulation using qualitative reasoning. I. Determination of a desired object displacement

Dextrous manipulation using qualitative reasoning. I. Determ...

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International Conference on Advanced robotics (ICAR)

作者： S.P. Ananthanarayanan A.A. Goldberg J. Mylopoulos Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Dept. of Mech. Eng. Toronto Univ. Ont. Canada Department of Computer Science University of Toronto Toronto ONT Canada

In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A 'qualitative' formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.< >

关键词： Grasping Humans robotics and automation Laboratories Mechanical engineering computer science Intelligent robots Fingers Humanoid robots Fuzzy logic

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COMBINED COMPUTED TORQUE AND MODEL-REFERENCE ADAPTIVE-CONTROL OF ROBOT SYSTEMS

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JOURNAL OF THE FRANKLIN INSTITUTE-engineering AND APPLIED MATHEMATICS 1990年第2期327卷 273-294页

作者： TZAFESTAS, S DRITSAS, L Robotics and Control Laboratory Computer Engineering Division National Technical University of Athens Zografou Athens Greece

A new robust technique for robot control is presented which is based on a combination of the feedback computed torque (FCT) method with the model reference adaptive control (MRAC) algorithm. It is shown that perfect tracking is feasible despite the errors induced by a practical FCT controller based on an “imprecise” or “simplified” available robot model. The MRAC part of the controller is simpler than the ones customarily used for robot control, and only a minimum amount of information is required. The results are illustrated by a double link manipulator computational example.

关键词： Robots

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AN EFFICIENT PLANNING TECHNIQUE FOR ROBOTIC ASSEMBLIES AND INTELLIGENT ROBOTIC SYSTEMS

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1990年第4期3卷 321-347页

作者： VALAVANIS, KP CARELO, SJ 1. Robotics Laboratory Department of Electrical and Computer Engineering Northeastern University 02115 Boston MA USA

An efficient planning algorithm for the organization and formulation of complete plans applicable to both robotic assemblies and intelligent robotic systems is proposed. The constraint of task precedence and the concepts of the criticality of tasks-events and valid repetitive orderings are introduced to facilitate and optimize the formulation of every complete plan capable of executing a user-requested job. Two examples demonstrate the applicability of the proposed algorithm to both robotic assemblies and intelligent robotic systems.

关键词： ORGANIZATION LEVEL ROBOTIC ASSEMBLIES AND SYSTEMS TASK PRECEDENCE CRITICALITY OF TASKS-EVENTS VALID REPETITIVE ORDERINGS AUTOMATED PLANNING

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