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IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia Z.Y. Guo Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.< >

关键词： Robot kinematics Orbital robotics Redundancy Jacobian matrices Least squares approximation Manipulators Arm Feedback Vectors Computational modeling

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Basis sets for manipulator inertial parameters

Basis sets for manipulator inertial parameters

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.-Y. Sheu M.W. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to serial-link graph-structured manipulators. The authors prove that the minimum number of parameters can be obtained directly from an energy difference equation rather than the dynamic equations of motion. They present a method for the identification of the minimum number of basis vectors which span the vector space containing the components of inertial parameters present in the equations of motion. Simulations are presented and the method is evaluated. The method is conceptually simple, computationally efficient and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm.< >

关键词： Manipulator dynamics Difference equations Lagrangian functions Legged locomotion Laboratories Computational modeling Kinematics Heuristic algorithms Actuators Upper bound

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A patient data management system for an intensive care unit

A patient data management system for an intensive care unit

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： C. Collet N. Fumai M. Petroni S. Malowany J.F. Panisset A.S. Malowany F.A. Carnevale R.D. Gottesman A. Rousseau Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Pediatric Intensive Care Unit Montreal Children's Hospital Montreal QUE Canada

A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their trends using interactive menus. Fluid balance data, medical dosage calculations based on the patient data, and medical observations are also managed by the PDMS. It provides this information for online use by the medical personnel, produces the special forms and summary reports, and archives this data for storage and retrieval. The PDMS is designed and developed for an IBM PS/2 running under the OS/2 multitasking operating system and equipped with an 8514/A high-resolution color video display. The design of the PDMS is described here, with added emphasis on its software structure. Sample results are presented.< >

关键词： computer displays computer network management Local area networks Joining processes Instruments Microcomputers Personnel Information retrieval Multitasking Operating systems

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Planning smooth paths for mobile robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Jacobs J. Canny Department of Electrical Engineering and Computer Science and The Electronics Research Laboratory University of California Berkeley CA USA

ISBN: (纸本)0818619384

The authors consider the problem of planning paths for a robot which has a minimum turning radius. This is a first step towards accurately modeling a robot with the kinematics of a car. The technique used is to define a set of canonical trajectories which satisfy the nonholonomic constraints imposed. A configuration space can be constructed for these trajectories in which there is a simple characterization of the boundaries of the obstacles generated by the workspace obstacles. The authors describe a graph search algorithm which divides the configuration space into sample trajectories. The characterization of the boundaries makes it possible to calculate an approximate path in time O(n/sup 3// delta log n+Alog (n/ delta )), where n is the number of obstacle vertices in the environment, A is the number of free trajectories, and delta describes the robustness of the generated path and the closeness of the approximation. The authors also describe a plane sweep for computing the configuration space obstacle for a trajectory segment. They use this to generate robust paths using a quadtree based algorithm in time O(n/sup 4/log n+(n/ delta /sup 2/)).< >

关键词： Path planning Mobile robots Orbital robotics Character generation Robustness Jacobian matrices Laboratories Humans Wheels Turning

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Control of multimanipulator systems-trajectory tracking, load distribution, internal force control, and decentralized architecture

Control of multimanipulator systems-trajectory tracking, loa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Hsu Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

The author proposes a coordinated control law for a multimanipulator system performing parts-matching tasks. This control law enables the manipulators to perform the preplanned parts-matching maneuver while the entire parts-matching system is driven to follow a desired path. Manipulators are essentially treated as six-degree-of-freedom actuators with some nonlinear dynamics, which exert a set of contact forces on the object so that trajectory tracking is achieved and the desired internal force is realized. When the parts-matching system consists of only a single object, the control law degenerates to an expression that will drive a group of manipulators transporting a single object. A load-sharing scheme minimizes the weighted norm of the force applied to the object. In this way, a heavily weighted direction tends to get less load. This scheme does not require a force sensor. The author also discusses the choosing of the weighting factor and shows that the proposed control law can be implemented in a decentralized fashion.< >

关键词： Force control Control systems Equations Automatic control Master-slave Manipulator dynamics Manufacturing automation Force sensors computer architecture Laboratories

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Dynamic regrasping by coordinated control of sliding for a multifingered hand

Dynamic regrasping by coordinated control of sliding for a m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.A. Cole P. Hsu S.S. Sastry Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

The authors consider the problem of grasp choice for an object held within a multifingered hand from the viewpoint of avoiding collisions between the manipulator links and the object during trajectory execution. A grasp planner is provided in the form of an algorithm that checks the feasibility of a given object trajectory and provides an envelope of feasible contact positions. During execution of the trajectory, contact positions of the fingertips on the object can be changed by sliding the fingertip along the object surface in a controlled manner. A dynamic control law that achieves this is presented and integrated with the grasp planner to determine a dynamic regrasping algorithm, which is illustrated by simulation.< >

关键词： Fingers Collision avoidance Motion control Control systems Laboratories Heuristic algorithms Manipulator dynamics Kinematics Grasping Transmission line matrix methods

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Control experiments in planar manipulation and grasping

Control experiments in planar manipulation and grasping

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.M. Murray S.S. Sastry Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

Many algorithms have been proposed in the literature for control of multifingered robot hands. The authors compare the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. Based on experiments performed on Styx, the most effective control laws are found to be the simple joint control law and the generalized computed torque law. The computed torque control law is shown to be an attractive alternative for position control of multifingered hands.< >

关键词： Fingers Robot kinematics Grasping Manipulators Null space computer science Laboratories Humans Feedback computer architecture

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On motion planning for dexterous manipulation. I. The problem formulation

On motion planning for dexterous manipulation. I. The proble...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Z. Li J.F. Canny S.S. Sastry Department of Electrical Engineering and Computer Sciences Electronics Research Laboratory University of California Berkeley CA USA

The authors formulate the dextrous manipulation problem for a robot hand. First, dextrous manipulation is decomposed into coordinated manipulation, rolling motion, sliding motion, and finger relocation. Then the authors develop motion constraints for each of the manipulation modes and show that for finger motions that satisfy these constraints there exists a well-defined lift to the total space that links two contact configurations. Of special note is the incorporation of nonholonomic as well as holonomic and unilateral as well as bilateral constraints in motion planning.< >

关键词： Fingers Robot kinematics Motion planning Manipulators Laboratories Trajectory Orbital robotics Joining processes

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Parallel distributed networks for image smoothing and segmentation in analog VLSI

Parallel distributed networks for image smoothing and segmen...

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IEEE Conference on Decision and Control

作者： A. Lumsdaine J. Wyatt I. Elfadel Research Laboratory of Electronics Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA

Consideration is given to switched linear resistive networks and nonlinear resistive networks for image smoothing and segmentation problems in robot vision. The latter network type is derived from the former by way of an intermediate stochastic formulation, and a new result relating the solution sets of the two is given for the so-called zero-temperature limit. The authors present simulation studies of several continuation methods that can be gracefully implemented in analog VLSI and that seem to given good results for these nonconvex optimization problems.< >

关键词： Smoothing methods Image segmentation Intelligent networks Very large scale integration Stochastic processes Minimization methods computer vision Laboratories computer science Robot vision systems

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A modifed optical flow approach for robotic tracking and acquisition

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Journal of Robotic Systems 1989年第5期6卷 489-508页

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh North Carolina 27695 United States

A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics and Intelligent Systems laboratory at NCSU is used as an integral part of the entire tracking and acquisition system. The eye‐in‐hand system is employed to characterize the object trajectory in real time via a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that is extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the experimental results is presented. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company

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