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ADVANCES IN computerS 1991年第C期32卷 105-148页

作者： TRIVEDI, MM CHEN, CX Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee

Intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, role of vision sensing in intelligent robotics, and architecture for the design of an intelligent robot. The chapter also describes the computational task hierarchy that governs a model-based robot vision system, and presents a detailed tutorial on two important components of this hierarchy: image segmentation and matching. The main capabilities that intelligent robotic systems should possess include ability for perception of their environment, planning of their actions, and execution of the planned action. The two important components of a model-based vision system are image segmentation and the matching module. A procedure that allows transformation of 2D image coordinates into 3D world coordinates is also discussed in the chapter. The architecture and control aspects of an integrated sensor-based robotic system consist of six modules: supervisor, task planner, perception, motor, user interface, and knowledge-base. Intelligent, sensor-driven systems pose many challenging basic-research problems from a broad range of scientific and technological disciplines; however, there are many important application areas where such systems would be of significant value and utility, including hazardous environments such as nuclear plants, underwater, and space as well as many industrial-automation tasks. Recent advancements in the VLSI, computer-architectures, sensor-and robot-hardware, and artificial-intelligence fields may aid to the development of robust, practical, and cost-effective intelligent robotic systems for a wide variety of applications.

关键词： robotics

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NEW INVERSE KINEMATIC ALGORITHMS FOR REDUNDANT ROBOTS

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JOURNAL OF ROBOTIC SYSTEMS 1991年第1期8卷 117-132页

作者： HSIA, TC GUO, ZY Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616

New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) as specified by certain objective functions. The algorithms are based on the extension of the existing "joint-space command generator" technique in which a null space vector is introduced which optimizes a specific objective function along the joint trajectories. In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed. The case for joint position, velocity, and acceleration (PVA) generation is also addressed. Application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.

关键词： Robots

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A LITERATURE-REVIEW - ROBOTS IN MEDICINE

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IEEE engineering IN MEDICINE AND BIOLOGY MAGAZINE 1991年第2期10卷 13-&页

作者： PREISING, B HSIA, TC MITTELSTADT, B Robotics Research Lab Department of Electrical Engineering and Computer Science University of California Davis USA

Robotic systems employed in the laboratory, in rehabilitation, and in surgery are reviewed. The advantages of using a robot system over manual procedures in the laboratory to prepare samples is discussed, and some of the obstacles are noted. A typical laboratory robot is described. Rehabilitative applications in the major research areas of tactile sensors, assistive devices for the blind, prosthetics, and orthotics are examined. Manipulators that can help a disabled individual with important everyday tasks and other assistive robotic systems in rehabilitation are described. A variety of robots that assist or perform surgery is surveyed. These applications include positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.

关键词： orthotics Pharmaceutical Preparations Medicine Surgery Radial Keratotomy Robot System Robot tactile sensors Manipulators Auxiliary equipment Literature Review

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Active exploration of robotic workcell

Active exploration of robotic workcell

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IEEE International Conference on Systems, Man and Cybernetics

作者： H.P. Gadagkar M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.< >

关键词： Robot sensing systems Sensor phenomena and characterization Robot vision systems Force sensors Torque Tactile sensors Humans Capacitive sensors computer vision Laboratories

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Localized measurement of image fractal dimension using gabor filters

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Journal of Visual Communication and Image Representation 1991年第2期2卷 114-128页

作者： Super, Boaz J. Bovik, Alan C. Department of Computer Sciences The University of Texas at Austin Austin TX 78712 United States Laboratory for Vision Systems Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX 78712 United States

We present a method for making accurate, optimally localized measurements of the fractal dimension of images modeled as locally fractal Brownian surfaces. Fractal Brownian surfaces are good models for the multiscale and irregular image textures arising from natural scenes and for elevation maps of terrain. To obtain accurate local values of the fractal dimension, spatio-spectrally localized measurements are necessary. Our method employs Gabor filters, which optimize the conflicting goals of spatial and spectral localization as constrained by the functional uncertainty principle. The outputs from multiple Gabor filters are fitted to a fractal power-law curve whose parameters determine the fractal dimension. The algorithm produces a local value of the fractal dimension at every point in the image. We also introduce a variational technique for enforcing a smoothness constraint on the computed fractal dimension function. This technique is implemented using an iterative relaxation algorithm. We demonstrate the method on synthetic images, real images of natural textures, and U.S. Geo-Data digital elevation maps of real terrain. We discuss the ways in which real images depart from the fractal Brownian surface model. © 1991.

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Nonlinear analog networks for image smoothing and segmentation

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Journal of VLSI Signal Processing 1991年第1-2期3卷 53-68页

作者： Lumsdaine, A. Wyatt Jr., J.L. Elfadel, I.M. Research Laboratory of Electronics Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge 02139 MA United States

Image smoothing and segmentation algorithms are frequently formulated as optimization problems. Linear and nonlinear (reciprocal)resistive networks have solutions characterized by an extremum principle. Thus, appropriately designed networks can automatically solve certain smoothing and segmentation problems in robot vision. This paper considers switched linear resistive networks and nonlinear resistive networks for such tasks. Following [1] the latter network type is derived from the former via an intermediate stochastic formulation, and a new result relating the solution sets of the two is given for the "zero temperature" limit. We then present simulation studies of several continuation methods that can be gracefully implemented in analog VLSI and that seem to give "good" results for these nonconvex optimization problems. © 1991 Kluwer Academic Publishers.

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On force-tracking impedance control of robot manipulators

On force-tracking impedance control of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.A. Lasky T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davisburg CA USA

A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface.< >

关键词： Force control Robot control Control systems Robot kinematics Manipulator dynamics Surface impedance Friction Velocity control Automatic control Algorithm design and analysis

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Robot performance measurement and calibration using a 3D computer vision system

Robot performance measurement and calibration using a 3D com...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Preising T.C. Hsia Biomedical Engineering Graduate Group Graduate Division University of California슠Davis Davis CA USA Robotics Research Laboratory Electrical Engineering and Computer Science University of California Davis Davis CA USA

The use of a single-camera 3D computer vision system as a position sensor in order to perform robot calibration is examined. A vision feedback scheme, termed vision-guided robot control (VRC), that can improve the accuracy of a robot in an online iterative manner is described. This system demonstrates the advantage that can be achieved by a Cartesian space robot control scheme when end-effector position and orientation are actually sensed instead of calculated from the kinematic equations. The viability of using a vision system for robot calibration is demonstrated by experimentally showing that the accuracy of a robot can be drastically improved. The vision system can also be used to determine the repeatability and accuracy of a robot in a simple, efficient, and quick manner. Experimental work with an IBM electric drive robot and the proposed vision system produced a 97- and 145-fold improvement in the position and orientation accuracy of the robot, respectively.< >

关键词： Measurement Calibration Robot vision systems Robot sensing systems Orbital robotics Machine vision Robot control computer vision Sensor systems Feedback

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AN ADAPTIVE SCHEME FOR ROBOT JOINT TRAJECTORY GENERATION

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JOURNAL OF ROBOTIC SYSTEMS 1990年第6期7卷 881-895页

作者： HSIA, TC GUO, ZY LI, L Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis Davis CA 95616

It has been shown recently that robot inverse kinematic transformation can be easily carried out by using a nonlinear dynamic system called “joint space command generator.” In this paper, an adaptive version of the command generator is proposed. The main feature of this command generator is that the inverse Jacobian is estimated on-line (using least-squares algorithms), thus the explicit form of the inverse Jacobian is not required. Since the Jacobian is dependent on the end-effector orientation representation, the adaptive command generator is then inherently flexible in accommodating any choice of orientation representation during Cartesian trajectory planning. The only knowledge required is the forward kinematics of the robot. Thus inverse kinematic transformation of robot trajectories can be carried out with a minimum amount of kinematic information. Extensive simulation studies of the proposed scheme have been carried out which showed that the adaptive command generator is computationally feasible and highly accurate. Different orientation representations have been tested with equal success. Some typical simulation results are presented to illustrate the performance of the adaptive command generator.

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SENSORS AND INTERFACING IN robotics AND MANUFACTURING

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robotics AND computer-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.

关键词： Robots, Industrial

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