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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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Task oriented optimal grasping by multifingered robot hands

Task oriented optimal grasping by multifingered robot hands

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zexiang Li S. Sastry Electronics Research Laboratory and Department of Electrical Engineering & Computer Sciences University of California Berkeley CA

We discuss the problem of optimal grasping to an object by a multifingered robot hand. We axiomatize using screw theory and elementary differential geometry the concept of a grasp and characterize its stability. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object. Numerical computations of these quality measures and the selection of an optimal grasp are addressed in detail. Several examples are given using these quality measures to show that they are consistent with human grasping experience.

关键词： Grasping Humans Volume measurement Fasteners Stability Service robots Computational geometry Grippers Shape Software performance

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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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Adaptive identification and control for manipulators without using joint accelerations

Adaptive identification and control for manipulators without...

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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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