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IEEE International Conference on robotics and Automation (ICRA)

作者： Ping Hsu M. Bodson S. Sastry B. Paden Department of Electrical Engineering and Computer Science Electronics Research Laboratory Univcrsity of California Berkeley CA Department of Mechanical Engineering University of California Santa Barbara CA

We present a new scheme for the adaptive control of mechanical manipulators along with proof of convergence. This work is an extension of our earlier work [Craig, Hsu and Sastry] [1]. The new scheme does not require t... 详细信息

关键词： Programmable control Adaptive control Acceleration Manipulator dynamics Computational modeling Torque control Equations Convergence Friction Symmetric matrices

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TOWARD EFFICIENT TRAJECTORY PLANNING - THE PATH-VELOCITY DECOMPOSITION

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INTERNATIONAL JOURNAL OF robotics research 1986年第3期5卷 72-89页

作者： KANT, K ZUCKER, SW Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montréal Québec Canada H3A2A7

We present a novel approach to solving the trajectory planning problem (TPP) in time-varying environments. The essence of our approach lies in a heuristic but natural decomposition of TPP into two subproblems: (1) planning a path to avoid collision with static obstacles and (2) planning the velocity along the path to avoid collision with moving obstacles. We call the first subproblem the path planning problem (PPP) and the second the velocity planning problem (VPP). Thus, our decomposition is summarized by the equation TPP right arrow PPP + VPP. The symbol right arrow indicates that the decomposition holds under certain assumptions, e.g., when obstacles are moving independently of (i.e., not tracking) the robot. Furthermore, we pose the VPP in path-time space, where time is explicitly represented as an extra dimension, and reduce it to a graph search in this space. In fact, VPP is transformed to a two-dimensional PPP in path-time space with some additional constraints. Algorithms are then presented to solve the VPP with different optimality criteria: minimum length in path-time space, and minimum time. [ABSTRACT FROM AUTHOR]

关键词： robotics

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Fast collision detection scheme by recursive decomposition of a manipulator workspace

Fast collision detection scheme by recursive decomposition o...

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IEEE International Conference on robotics and Automation (ICRA)

作者： V. Hayward Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Quebec Canada

This paper explains a simple method for fast collision detection in manipulator tasks. We show from examples taken in the literature that solutions to this problem can be chosen among a continuum of schemes, according to the method selected for representing the workspace and the robot, and the amount of computations performed before testing a particular trajectory. We then describe a method based on a recursive decomposition of the workspace, also referred to as an octree model, as a good tradeoff for a class of applications.

关键词： Robot programming Manipulators robotics and automation Solids Detectors computer vision Robot vision systems Laboratories Performance evaluation Testing

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Adaptive control of robot manipulators - A review

Adaptive control of robot manipulators - A review

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Hsia Department of Electrical and Computer Engineering Robotics Research Laboratory University of California Davis CA

Adaptive control has been recognized as an effective approach for mechanical robot manipulator controller design due to the presence of nonlinearties and uncertainties in robot dynamic models. Numerous results addressing different aspects of the control problem have been reported in the literature in recent years. The purpose of this paper is to present an indepth review of these existing developments whereby the robot adaptive control problems and solutions are systematically studied. The essential overall objective is to unify the various design ideas under a common frame work. Within this frame work, the various design techniques are catagorized into three groups; (i) model-reference adaptive control, (ii) Self tuning adaptive control, and (iii) Linear perturbation adaptive control. The design conditions and solutions of each technique are discussed, and the relationships between these techniques are examined. Finally some remarks on the effectiveness and implementation of adaptive controllers are presented.

关键词： Adaptive control Manipulator dynamics Control systems Robot control Differential equations Nonlinear dynamical systems Nonlinear equations Programmable control Couplings Robot sensing systems

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Recognizing partially visible objects using feature indexed hypotheses

Recognizing partially visible objects using feature indexed ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Knoll R. Jain Robot Systems Division and Computer Vision Research Laboratory Electrical Engineering and Computer Science Department The University of Michigan Michigan

A common task in computer vision is to recognize the objects in an image. Most computer vision systems do this by matching models for each possible object type in turn, recognizing objects by the best matches. This is not ideal, as it does not take advantage of the similarities and differences between the possible object types. The computation time also increases linearly with the number of possible objects, which can become a problem if the number is large. This paper describes a new recognition method, the feature indexed hypotheses method, which takes advantage of the similarities and differences between object types, and is able to handle cases, where there are a large number of possible object types, in sub-linear computation time. A two-dimensional occluded parts recognition system using this method is described.

关键词： Uncertainty computer vision Image recognition Robot vision systems Laboratories Machine vision Pattern recognition Layout

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Vertical integration for robot assembly cells

Vertical integration for robot assembly cells

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Kelley Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.

关键词： Robotic assembly Robot kinematics robotics and automation Robot sensing systems Robot programming Machine intelligence Service robots Intelligent robots Assembly systems Robot control

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Visual characterization of speech spectrograms

Visual characterization of speech spectrograms

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Hong Leung V. Zue Department of Electrical Engineering and Computer Science and Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA USA

This paper describes a system that applies vision techniques to extract acoustic patterns in the speech spectrogram. By processing a spectrographic image through a set of edge detectors and combining their outputs, the system obtains two-dimensional objects that characterize the formant patterns and general spectral properties for vowels and consonants. As a validation of the approach, a limited vowel recognition experiment was performed on the "object" spectrograms. Preliminary results show that this processing technique retains relevant acoustic information necessary to identify the underlying phonetic representation.

关键词： Spectrogram Image edge detection Frequency Speech recognition Detectors Displays Decoding Pattern recognition Laboratories Machine vision

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EARLY ORIENTATION SELECTION - TANGENT FIELDS AND THE DIMENSIONALITY OF THEIR SUPPORT

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computer vision GRAPHICS AND IMAGE PROCESSING 1985年第1期32卷 74-103页

作者： ZUCKER, SW Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montréal Québec Canada

Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointillist data and surfaces out of surface markings. We take a differential geometric view in defining orientation selection, and develop algorithms for actually doing it. The goal of these algorithms is formulated in mathematical terms as the inference of a vector field of tangents (to the contours), and the algorithms are studied in both abstract and computational forms. They are formulated as matching problems, and algorithms for solving them are reduced to biologically plausible terms. We show that two different matching problems are necessary, the first for 1-dimensional contours (which we refer to as Type I processes) and second for 2-dimensional flows (or Type II processes). We conjecture that this difference is reflected in the response properties of “simple” and “complex” cells, respectively, and predict several other psychophysical phenomena.

关键词： vision

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On simplification of robot arm dynamic equation 19

On simplification of robot arm dynamic equation

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19th Asilomar Conference on Circuits, Systems and computers, ACSSC 1985

作者： Hsia, T.C. Lu, G.Z. Robotics Research Laboratory Department of Electrical and Computer Engineering University of California DavisCA95616 United States Department of Computer and System Science Nankai University Tianjin China

ISBN: (纸本)0818607297

The problem of simplifying the Lagrange dynamic equation of PUMA 600 robot manipulators is considered. By applying the numeric significance evaluation procedure to the symbolically expressed dynamic projection functions, a simplified PUMA arm model is obtained. This model is further optimized by adjusting the model parameters using a least squares error procedure. The simplified/optimized dynamic projection functions have approximation errors less than one percent. © 1985 IEEE.

关键词： Robot applications

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Some problems in distributing real-time Ada programs across machines 85

Some problems in distributing real-time Ada programs across ...

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1985 Annual ACM SIGAda International Conference on Ada, SIGAda 1985

作者： Volz, Richard A. Naylor, Arch W. Mudge, Trevor N. Mayer, John H. Ada Research Group of the Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

ISBN: (纸本)0897911628

The Ada research Group of the robotics research laboratory at The University of Michigan is currently developing a real-time distributed computing capability based upon the premises that real-time distributed languages provide the best approach to real-time distributed computing and, given the focus on the language level, that Ada offers an excellent candidate language. The First phase of the group's work was on analysis of real-time distributed computing. The second, and current, phase is the development of a pre-translator which translates an Ada program into n Ada programs, each being targeted for one of a group of processors and each having required communication support software automatically created and attached by the pre-translator. This paper describes the pre-translator being developed and a number of issues which have arisen with regard to the distributed execution of a single Ada program, including language semantics, objects of distribution and their mutual access, network timing, and execution environments. © Proceedings of the 1985 Annual ACM SIGAda International Conference on Ada, SIGAda 1985. All rights reserved.

关键词： research laboratories

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