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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Strassberg, Y. Goldenberg, A.A. Mills, J.K. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto TorontoM5S 1A4 Canada

ISBN: (纸本)0780307372

This paper evaluates the performance of a new control scheme for bilateral master-slave teleoperator, introduced earlier, and compares it to published control methods by using a mathematical criterion based on the two-port network model. It is shown that most of the published control laws under investigation do not achieve optimal performance, and the few that do, require perfect estimation (or exact knowledge) of the human operator or master arm dynamics. It is also shown that optimal performance, based on the selected mathematical criterion, can be obtained using the proposed control law. © 1992 IEEE.

关键词： Control theory

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Finger force and touch feedback issues in dexterous telemanipulation 4

Finger force and touch feedback issues in dexterous telemani...

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4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992

作者： Shimoga, Karun B. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto TorontoONM5S 1A4 Canada

ISBN: (纸本)0818631457

Multifingered robotic hands, when used as the slave end effectors in teleoperation, have some advantages over the conventional parallel jaw grippers. Effective teleoperation of such end effectors raises the problem of using suitable master devices. The most appropriate master devices for this purpose are the instrumented gloves and the hand exoskeletons. When using such master devices, either for telemanipulation of objects or for interacting with virtual worlds, it is crucial to the success of the task that the human operator "feels" the grasping and manipulating forces exerted by the slave robotic fingers. This requires that the slave hand fingertip forces as well as the actual sensations be fedback to the human operator's fingers via the dexterous master. This paper thus has two goals. The first goal is to identify and analyze some specific requirements on the design of dexterous master devices meant for teleoperating multifingered robotic hands, within this context of finger force feedback. The requirements are of 2 categories: constructional and functional. The constructional issues consist of the isomorphism, portability, motion range capability, and accommodation for human hand size variability. The functional issues consist of the bandwidth compatibility with the human hand, which itself has asymmetric input/output characteristics, the proprioceptive (force limit) compatibility, and the consideration of the psychometric stability of the human hand in sensing force magnitudes and variations. Also of importance is the sensitivity of the master device that must be more than that of the human hand. Also evaluated in this paper are the 14 existing designs of hand masters to see how well they satisfy the afore stated constructional and functional requirements. Only 6 are capable of feeding back the slave finger forces to that of the operator while none of them completely satisfy all the requirements listed above. Hence described at the end is a new design of a for

关键词： Remote control

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FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPECTION

FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPE...

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1992 IEEE International Conference on Systems, Man, and Cybernetics

作者： TARBOX, GH GOTTSCHLICH, SN GERHARDT, LA New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

ISBN: (纸本)0780307208

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods: the method is capable of handling arbitrarily complex geometries and does not rely on the identification of features, it lends itself naturally to a multi-sensor environment, and it facilitates true 3D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2D plane. This paper focuses on an important aspect of volumetric inspection - the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected. © 1992 IEEE.

关键词： Inspection

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FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： SRIDHARAN, K STEPHANOU, HE New York State Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be... 详细信息

ISBN: (纸本)0780305469

关键词： Robot programming

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Modelling short packed and tray-type distillation columns for controller design

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Mathematical and Computer Modelling 1992年第5期16卷 131-146页

作者： Tabrizi, Mohammad H.N. Edwards, John B. Department of Math Computer Science East Carolina University Greenville NC 27858 United States Department of Mining Metallurgical Engineering Canadian Center for Automation Robotics in Mining McGill University Montreal Que. Canada

Parametric transfer-function matrix (T.F.M.) models are derived from the differential equations describing the variation of liquid and vapour compositions within symmetrical distillation columns separating binary mixtures. Both packed and tray-type columns are considered, the models developed having minimal order 6 and 4, respectively, (implying perfectly-stirred mixtures and minimum number of trays in each column section), so removing the complications introduced by spatial variations encountered in earlier studies by Edwards and Tabrizi [1] and Tabrizi [2] of longer columns. The T.F.M.'s obtained are again shown to be diagonal with the same choice of input and output vectors as were employed in the "long" column studies. Furthermore, the fundamental behavioural differences between packed and tray-type columns are again revealed using these low-order physical models as were demonstrated in the previous studies. In particular, the sign of the static gain of packed-columns, responding to total flow changes, is again shown to be parameter-sensitive and the sign of the total-flow gain at high-frequency is shown to be the reverse of that for tray-type columns, so again causing non-minimum-phase behaviour in packed-columns in some circumstances. Because of their behavioural and parametric similarities, it is proposed that the minimal-order models developed in this paper be used as a future basis for control system design studies for spatially-distributed and multi-tray columns in situations where travelling-wave phenomena are unimportant. The present paper has revealed a precise diagonal dynamic structure for symmetrical columns using the same inputs and outputs. This deduction accords well with the findings of previous authors based on part impirical by McMoran [3], Shinskey [4], and Stainthorp [5], approximate analytical by Edwards [6], or purely simulation methods Rosenbrock [7]. Near first-order-lag behaviour is also a feature common to the findings of these earlier

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The window corner algorithm for planning translational paths among polyhedral subassemblies

The window corner algorithm for planning translational paths...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Krishnan, S.S. Sanderson, A.C. New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)0780307372

In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine whether a pair of non-convex subassemblies can be separated by a sequence of fine-motions and, possibly, contact-motions, when the amount of free space tends to be severly limited. We present the three-dimensional Window Corner algorithm to plan feasible paths. The algorithm solves the FeosiblePath problem, in worst-case time O(m5) where m is the product of the number of vertices describing the robot and obstacles respectively. A Feasiblepath solution hierarchy, for assembly sequence planning, is described for incremental, straight-line and multi-step paths. The Polyhedral Cone Representation (PCR) is introduced to efficiently represent the geometrical constraints on translation and as a basis for fast collision avoidance checks. We introduce the concept of Window Corners in the PCR and this results in a finite search space. The Polyhedral Cone Obstacle Representation (PCUR), which is a constructive representation of all boundary contact configurations, transforms the problem into that of a point moving amongst a collection, O(m), of convex obstacles. In comparison, the worstcase space complexity of the C-space boundary is O(m3). Certain contact-constrained, feasible motions, which lie on surfaces without interior points can be inaccessible in a typ i d C-space representation. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Robot programming

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A Discussion on Control of Rolling

A Discussion on Control of Rolling

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Hui, R. Goldenberg, A.A. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto 5 Kings College Rd. TorontoONM5S 1A4 Canada

ISBN: (纸本)0780307372

Spatial rolling is a non-stabilizable system in the sense that it is not possible to stabilize the position and the orientation of a rolling body using smooth feedback. It is possible, however, to smoothly stabilize the body about an equilibrium manifold of fixed variables which are a subset of its generalized coordinates. A condition for isolation of the stabilizable coordinates is presented in this paper. In particular, the potential equilibrium manifolds of the vertical rolling disc and rolling sphere are described. "Algorithmic control" is discussed in the second part of the paper. The relocation of a body's location and orientation by rolling can be broken down to segments of holonomic trajectories. Such algorithms are presented for the vertical disc and roll-ing sphere. The case of the sphere is shown in the discussion to be reducible to the problem of the rolling disc. © 1992 IEEE.

关键词： Spheres

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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Volumetric Based Inspection

Volumetric Based Inspection

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Tarbox, G.H. Gottschlich, S.N. Gerhardt, L.A. New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional surface-based inspection methods. One significant advantage of volumetric inspection is that there is no need to identify geometric "features", particularly important when inspecting objects such as castings and forgings whose features are often difficult to identify. Secondly, the volumetric representation lends itself naturally to a multi-sensor environment. By this we mean that a volumetric model of the sensed object can be synthesized utilizing information from multiple sensors of varying types, accuracy, location, etc. This allows a choice of the most appropriate sensor for acquiring information about the different regions of the object. Finally, the volumetric representation allows us to carry out true three-dimensional inspection as opposed to the typical approach where renderings of the reference model are compared to two-dimensional images of the actual object. © 1992 IEEE.

关键词： Inspection

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Analysis of force control based on linear models

Analysis of force control based on linear models

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IEEE International Conference on robotics and automation (ICRA)

作者： A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

The author addresses force control of robot manipulators. It is shown that from a linear system point of view the methods proposed in the literature are equivalent to state an/for output variable feedback, and the stability, for measurement performed either in joint or task space coordinates, can be established through similarity transformations. However, when selection matrices are used, the stability is affected by the choice of compensation in terms of task or joint space coordinates. Using linear models, it is argued that many different methods are analytically equivalent, hence the suggested improvements are inconclusive unless considerations of hardware-, software-, and equipment-specific data are taken into account.< >

关键词： Force control Stability Robot kinematics Orbital robotics Manipulators Linear systems Output feedback State feedback Coordinate measuring machines Performance evaluation

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