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An efficient algorithm for the adaptive control of a manipulator

An efficient algorithm for the adaptive control of a manipul...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >

关键词： Adaptive control Manipulator dynamics Stability Heuristic algorithms Parameter estimation Acceleration Computational complexity Kinematics Lyapunov method Accelerometers

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Region grouping from a range image

Region grouping from a range image

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： J.H. Han R.A. Volz Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzing the boundary types between a pair of regions. The boundary types are classified as convex, concave and jump boundaries. If two regions share a convex boundary it is assumed that they are inseparable regions, thus describing the same part (object). The CRSs are determined by a region boundary graph (RBG) which is defined as a graph whose nodes represent regions, and the edges represent boundaries: convex and concave. Since jump boundaries represent no physical contact in 3-D, they are represented as null edges. A CRS is defined as a set of regions (or nodes in an RBG) such that for each pair of regions in the set, there is a path, which is represented only by convex edges. The physical interpretation is that a CRS represents part of an object such that the regions in the set cannot be separated.< >

关键词： Image segmentation Image analysis Testing Military computing Robots Laboratories Image recognition Solid modeling Optimization methods Labeling

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A learning algorithmic scheme for collision free navigation

A learning algorithmic scheme for collision free navigation

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IEEE International Symposium on Intelligent Control (ISIC)

作者： N.G. Bourbakis Department of Electrical & Computer Engineering Machine Vision Laboratory GEORGE MASON University Fairfax VA USA

A learning algorithmic scheme for collision-free navigation is presented. This scheme determines the minimum collision-free navigation path of an autonomous platform by using a trial and error process and past navigation knowledge and by extracting the current information from the surrounding environment. This scheme is related to the Odysseus autonomous navigation platform. However, it could be made into a general-purpose scheme with simple modifications. Simulated results for an illustrative example in a graphical representation are provided.< >

关键词： Sonar navigation Orbital robotics Wheels Machine vision computer vision computer errors Tree data structures Counting circuits Reflective binary codes Goniometers

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Robot multi-sensor fusion and integration: optimum estimation of fused sensor data

Robot multi-sensor fusion and integration: optimum estimatio...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo M.-H. Lin Robotics and Intelligent System Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >

关键词： Robot sensing systems Sensor fusion Intelligent sensors Intelligent robots Sensor systems Layout Laboratories Data engineering State estimation Logic

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An adaptive robotic tracking system using optical flow

An adaptive robotic tracking system using optical flow

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo R.E. Mullen D.E. Wessell Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >

关键词： Adaptive systems Adaptive optics Image motion analysis Intelligent robots Robot vision systems Optical sensors Robot sensing systems Cameras Machine vision Intelligent systems

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Dynamic control of redundant manipulators

Dynamic control of redundant manipulators

引用

IEEE International Conference on robotics and Automation (ICRA)

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

The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocity. The desired redundant joint velocity can then be specified to optimize a cost function over the configurations allowed by the extra degrees of freedom that achieve the given end-effector position.< >

关键词： Manipulator dynamics End effectors Velocity control Cost function Trajectory Null space Jacobian matrices Laboratories Cities and towns Sampling methods

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Kinematics and control of multifingered hands with rolling contact

Kinematics and control of multifingered hands with rolling c...

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IEEE International Conference on robotics and Automation (ICRA)

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

The kinematics of rolling contact for two surfaces of arbitrary shape rolling of each other is derived. Applying these kinematic equations to two planar multifingered hands manipulating some object of arbitrary shape, a scheme is presented for the control of these hands which is a generalization of the computed torque method of control of robot manipulators. In implementing the control, it is required that all applied forces lie within the friction cone of the object so that sliding does not occur. The theory is illustrated with graphic simulations of the control law applied to the system dynamics for two examples.< >

关键词： Kinematics Shape control Torque control Equations Robot control Manipulator dynamics Force control Friction Graphics Computational modeling

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Dynamic Coordination of a Multiple Robotic System with Point Contact

Dynamic Coordination of a Multiple Robotic System with Point...

引用

American Control Conference (ACC)

作者： Zexiang Li Ping Hsu Shankar Sastry Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley CA USA

This paper treats two fundamental problems of a multiple robotic system: grasp planning and the determination of coordinated control laws with point contact models. First, using the dual notions of grasp stability and manipulability and a procedure we have previously developed for task modeling we define the structure grasp quality measures These measures are then integrated to devise a grasp planing algorithm. Second, based on the assumption of point contact models, we develop a computed-torque-like control algorithm for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the manipulators, is computationally effective and can be easily generalized to allow rolling motion of the object with respect to the fingertip.

关键词： Robot kinematics Fingers robotics and automation Stability Manipulator dynamics Friction Contacts Motion control Laboratories Planing

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On grasping and coordinated manipulation by a multifingered robot hand

On grasping and coordinated manipulation by a multifingered ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Hsu Z. Li S. Sastry Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley CA USA

Two problems in the study of multifingered robot hands are considered, namely grasp planning and the determination of coordinated control laws with point contact models. using the dual notions of grasp stability and manipulability, and a procedure previously developed for task modeling, the structure grasp quality measures are defined. These measures are then integrated to devise a grasp planning algorithm. Based on the assumption of point contact models, a computed-torque-like control algorithm is developed for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the hand, is computationally effective and can be generalized to allow rolling motion of the object with respect to the fingertip.< >

关键词： Grasping Robot kinematics Fingers Stability robotics and automation Friction Laboratories Motion planning Planing Motion control

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A 1024-element high-performance silicon tactile imager

A 1024-element high-performance silicon tactile imager

引用

International Electron Devices Meeting (IEDM)

作者： K. Suzuki K. Najafi K.D. Wise Sensor Research Laboratory Microelectronics Research Laboratories NEC Corporation Limited Kanagawa Japan Center of Integrated Sensors and Circuits Solid-State Electronics Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A 32-*32-element capacitive silicon tactile imager has been developed for use in precision robotics applications where high density and high resolution are important. The silicon chip measures 1.8 cm*1.7 cm and is organized in an X-Y matrix of 1024 capacitor elements on 0.5-mm centers. The process uses two boron diffusions (deep and shallow) followed by a silicon-to-glass electrostatic bonding step and subsequent unmasked wafer dissolution. This results in a thick center plate for the sense capacitor supported by thinner beams. A data acquisition system used with the device offers over 7-bit force resolution with a maximum operating force of about 1 gm/element.< >

关键词： Silicon Capacitors Robots Image resolution Electrostatic measurements Semiconductor device measurement Boron Diffusion bonding Wafer bonding Data acquisition

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