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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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On a simplified joint controller design for robot manipulators

On a simplified joint controller design for robot manipulato...

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IEEE Conference on Decision and Control

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

A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.

关键词： Robot control Manipulators Torque control Robust control Couplings Force control Gravity Motion control Uncertainty computer simulation

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Range image segmentation and surface parameter extraction for 3-D object recognition of industrial parts

Range image segmentation and surface parameter extraction fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhee Han R. Volz T. Mudge Department of Electrical Engineering and Computer Science Robotics Research Laboratory The University of Michigan Ann Arbor MI

This paper addresses the problem of extracting certain types of surfaces for 3-dimensional object recognition in the presence of partial occlusion and noise using range information. We restrict consideration to man made industrial parts. In this case, we need only work with a small set of surface shapes such as planes, cylinders, and spheres since such shapes are common in industrial parts and it is only necessary to recognize and locate a sufficient set of surface regions to uniquely distinguish the part being observed from all others that might be present. We describe a way of extracting the parameters of these types of surfaces using normal analysis. The use of surface parameters then allows efficient and robust use of a matching process for object recognition and pose determination even though there are many undefined or occluded surface regions.

关键词： Image segmentation Parameter extraction Object recognition Shape Surface reconstruction Noise shaping Eigenvalues and eigenfunctions computer industry Equations Image analysis

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PAR: A representation scheme for rotational parts

PAR: A representation scheme for rotational parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yung-Chia Lee K. Jea The Robotics Research Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI

A new representation scheme PAR (Principal Axis Representation) for rotational parts is proposed as an internal representation scheme for Constructive Solid Geometry (CSG). The main idea of PAR is to represent uniquely an object by its principal axis and a set of boundary curves so that geometrical properties of the part can be easily computed. In his paper, the PAR scheme is first described and followed by a proof of its equivalence to the CSG scheme. Also proved is the uniqueness of the PAR scheme. Finally, an algorithm that converts a CGS representation into PAR is briefly discussed along with examples.

关键词： Feature extraction Shape Lifting equipment Robots Laboratories Computational geometry Virtual manufacturing Solid modeling computer displays Pattern recognition

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Near-Optimum Control of a Robot Manipulator

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IFAC Proceedings Volumes 1987年第5期20卷 271-275页

作者： M. Jamshidi Y.T. Kim M. Shahinpoor CAD Laboratory for Systems/Robotics Electrical & Computer Engineering Department University of New Mexico Aluquerque NM 87131 USA Departmental of Mechanical Engineering University of New Mexico Aluquerque NM 87131 USA

This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of the linear state regulator problem. The effectiveness of the proposed method is verified by simulation results for a two-link planar robot.

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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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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ZERO CROSSINGS, BANDWIDTH COMPRESSION, AND RESTORATION OF NONLINEARLY DISTORTED BAND-LIMITED SIGNALS

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JOURNAL OF THE OPTICAL SOCIETY OF AMERICA A-OPTICS IMAGE SCIENCE AND vision 1986年第5期3卷 651-654页

作者： MARVASTI, F JAIN, AK Computer Vision and Image Processing Laboratory Department of Electrical and Computer Engineering University of California at Davis Davis California 95616 USA

This paper discusses the relationship between the zero crossings or zeros of band-limited signals and their nonlinear transformations. It is proved that the bandwidth of a signal can be compressed by a ratio of 1/ n if and only if the signal has n th-order zero crossings or zeros (if complex). Also, a monotonic nonlinearity in the observation of a band-limited signal can be identified from the zero crossings (or zeros) of the derivative of the observed signal. (The results are for one-dimensional signals. Extensions to two-dimensional signals remain to be addressed.)

关键词： Coherent systems Distortion Electronic imaging Imaging systems Modulation Phase shift

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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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