Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link plana...
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Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed scheme provides very satisfactory solutions.< >
This paper reveals the essential equivalence of second order impedance control and proportional gain explicit force control with feed forward. This is first done analytically by reviewing each control method and showi...
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There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation...
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There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in researchlaboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.
A custom IC processor that traces contours in black-and-white images is described. The CMOS IC contains a finite state machine, ALU, input delay line, and RAM. Each processor extracts the edges from a rectangular port...
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A custom IC processor that traces contours in black-and-white images is described. The CMOS IC contains a finite state machine, ALU, input delay line, and RAM. Each processor extracts the edges from a rectangular portion of the input image and traces the edges, outputting a description of the contours. A complete tracing system employs an array of these processors. The array architecture allows expansion to handle arbitrarily large images. The processors trace independently, thereby providing fully parallel high-speed operation. Partial contours are generated as a result of the partitioning of the image among the processors. A postprocessor links any partial contours created by the subdivision of the input image. The contour-tracing algorithm and simulation results for compression ratio and number of operations are presented. The architecture and measured performance of the IC are described.
A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with...
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Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent ro...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >
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