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KINEMATIC CHAINS FOR ROBOT HANDS .1. ORDERLY NUMBER-SYNTHESIS

MECHANISM AND MACHINE THEORY 1995年第8期30卷 1193-1215页

作者： TISCHLER, CR SAMUEL, AE HUNT, KH Robotics and Design Group Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville Victoria 3052 Australia

Number synthesis of kinematic chains usually involves the generation of a complete list of kinematic chains followed by a time-consuming, computer-intensive procedure for the elimination of isomorphs. A significant unsolved problem in number synthesis is the guaranteed precise elimination of all isomorphs. Since there is no efficient algorithm for always determining whether two kinematic chains are isomorphic, any ''efficient'' algorithm has a finite probability of rejecting a unique, potentially useful, chain. This paper reviews the history of number synthesis and presents a new orderly method for synthesising kinematic chains. This new Melbourne method guarantees to produce a complete list of chains, which, only when some doubt to the uniqueness of a chain exists, may include an isomorphic chain. As a consequence, this technique produces significantly fewer isomorphs in the output list than do previous techniques;often no isomorphs are produced by the method whatsoever. It is proposed that in many situations where the synthesis of kinematic chains is required, the processing of duplicate chains in the early stage of design is preferable to the omission of a potentially useful chain.

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KINEMATIC CHAINS FOR ROBOT HANDS .2. KINEMATIC CONSTRAINTS, CLASSIFICATION, CONNECTIVITY, AND ACTUATION

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MECHANISM AND MACHINE THEORY 1995年第8期30卷 1217-1239页

作者： TISCHLER, CR SAMUEL, AE HUNT, KH Robotics and Design Group Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville Victoria 3052 Australia

The work in this paper follows on from Part 1. We now consider the specific example of robot hands and identify several kinematic constraints of these devices. The method for number synthesis of kinematic chains in Part 1 is applied in several different ways in order to synthesise chains suitable for application as robot hands;several examples of the structures so found are presented. So as to identify those kinematic chains that are more promising than others, the new concept of minimal sets of kinematic chains is defined. Another new concept, the variety of a kinematic chain, is defined and used to make generalisations about relative connectivity within kinematic chains, which has application in the selection of actuated pairs. Fractionation of kinematic chains is reviewed in light of the concept of variety. The work presented here has application far beyond the number synthesis of alternative structures for robot hands.

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An ANDECS-MATLAB Multicriteria design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ Control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective design Magnetic Suspension Transportation

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Implementation of real time spatial mapping in robotic systems through self-organizing neural networks

Implementation of real time spatial mapping in robotic syste...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： V. Morellas J. Minners M. Donath Robotics Laboratory Department of Mechanical Engineering and the Center for Advanced Manufacturing Design and Control University of Minnesota Minneapolis MN USA

Presents a methodology which allows an autonomous agent i.e., a mobile robot, to learn and build maps of its operating environment by relying only on its range sensors. The maps, described with respect to the robot's inertial frame, are developed in real time by correlating robot position and sensory data. This latter feature characterizes part of the uniqueness of the authors' approach. These maps are topologically isomorphic to the maps created for the same room(s) by humans. The methodology exploits the principle of self-organization, implemented as an artificial neural network module which processes incoming sensor range data. The generation of environmental maps can be visualized as an elastic string of neurons whereby every neuron represents a finite portion of the physical world. This elastic string stretches dynamically so as to take on the shape of the environment, a unique characteristic of the authors' methodology. In this respect, the neural net provides a discretized representation of the "continuous" physical environment as the latter is seen through the robot's own sensors. Experiments, focused on indoor applications, have successfully demonstrated the ability of a robot to build maps of geometrically complex environments. The results presented in this paper, compared with the authors' earlier efforts, show significant improvement in that every single sensor data point contributes equally to the location of the neurons of the spatial map at the end of the learning process. This is important because the authors wish to minimize the effect of the order in which data points are processed.

关键词： Real time systems Robot sensing systems Sensor phenomena and characterization Neurons Autonomous agents Mobile robots Humans Artificial neural networks Data visualization Shape

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Systematic design of novel architectures for implementation of Radon Transform

Systematic design of novel architectures for implementation ...

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D. Soudris T. Chronopoulos N. Koussoulas T. Stouraitis Department of Electrical & Computer Engineering Democritus University of Thrace Xanthi Greece Lab of Automation and Robotics Department of Electrical Engineering University of Patras Achaia Greece VLSI Design Laboratory Department of Electrical Engineering & Computer Technology University of Patras Achaia Greece

A systematic methodology is introduced for designing highly pipelined array architectures for implementation of Discrete Radon Transform and its Inverse, starting from the algorithmic level and ending with the architectural (hardware) level. Due to large amount of data, the original algorithm is partitioned into nested loops that can be easily mapped onto fixed-size hardware. The proposed methodology derives a plethora of alternative architectures, which meet various parameters such as high-throughput rate, maximum hardware utilization, and pipelinability. Moreover, the derived architectures are piecewise regular and consist of linear and/or 2-D systolic arrays.

关键词： Discrete transforms Computer architecture Algorithm design and analysis Partitioning algorithms Hardware Systolic arrays Geophysics computing Concurrent computing Image reconstruction robotics and automation

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided Control System design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design design engineering Robot kinematics

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A fast approach for the path planning of telerobotic manipulators

A fast approach for the path planning of telerobotic manipul...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.V. Mayorga K.S. Ma A.K.C. Wong B. Ressa Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics Department Tecnopolis-CSATA Italy

A fast procedure for the robust path planning of telerobotic manipulators is presented. The approach is based on solving a linear system of equations taking into account a null space vector for obstacle avoidance, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This method allows the simultaneous pursuit of both obstacle avoidance and singularities prevention on-line in a sensor based environment.< >

关键词： Path planning Telerobotics Manipulators Robustness Master-slave Kinematics Null space Vectors End effectors Orbital robotics

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Finite element method in undergraduate engineering education

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Computer Applications in engineering Education 1993年第4期1卷 299-299页

作者： Nesbit, S.M. Comer, J.J. Van Gulick, L.A. Department of Mechanical Engineering Lafayette College Easton Pennsylvania 18042-1775 Dr. Steven M. Nesbit:is an assistant professor of Mechanical Engineering at Lafayette College where he has been teaching since 1990. He received his B.S. M.S. and Ph.D. degrees from West Virginia University. His areas of expertise are in mechanical design mechanisms and robotics. Previously he worked as a design engineer for Pratt-Whitney Aircraft. He is a member of ASME and ASEE. Dr. Jess Comer:is an assistant professor of Mechanical Engineering at Lafayette College. He received a B.S. and M.S. in Mechanical Engineering from South Dakota School of Mines and Technology and a Ph.D. from the University of Illinois at Urbana-Champaign. He was a co-author on the text “Fundamentals of Metal Fatigue Analysis” (Prentice-Hall 1990). Dr. Leonard A. Van Gulick:received his B.S. degree in Mechanical Engineering from Newark College of Engineering and his M.A. M.S. and Ph.D. degrees in Aerospace and Mechanical Sciences from Princeton University. He has been a staff engineer in the structural dynamics section at Martin Marietta Aerospace and a staff member in the Design Engineering Division at Los Alamos National Laboratory. Dr. Van Gulick is a professor of Mechanical Engineering at Lafayette College where he has also served as department head and program chair. Finite element analysis of medieval buildings is his primary research interest.

This article describes how the finite element method can be integrated into the education of undergraduate mechanical engineering students. The teaching of finite element theory, the use of commercial software in engineering courses, and the application of the finite element method in the context of mechanical design and analysis are discussed.

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A kinematic design optimization of robot manipulators

A kinematic design optimization of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.V. Mayorga B. Ressa A.K.C. Wong Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics Department Tecnopolis-CSATA Bari Italy

The authors present a kinematic measure of global performance for the design evaluation and optimization of robot (redundant) manipulators. The proposed criterion has been applied to optimize each of several different designs of a HERA arm as a redundant manipulator. The results obtained have shown the ability of the proposed approach to establish quantitative kinematic distinctions among a set of designs.< >

关键词： Kinematics design optimization Robots Manipulators Jacobian matrices Upper bound Performance analysis Performance evaluation Singular value decomposition Information analysis

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A Fast Damped Least-squares Solution To Manipulator Inverse Kinematics And Singularities Prevention

A Fast Damped Least-squares Solution To Manipulator Inverse ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R.V. Mayorga A.K.C. Wong N. Milano Department of Systems Design Engineering University of Waterloo Waterloo ON Canada Advanced Robotics Department Tecnopolis Csata Novus Ortus Bari Italy

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