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1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: computers, Communications and Automation towards the 21st Century, TENCON 1992

作者： Hendrey, B.J. Jarvis, R.A. DIntelligent Robotics Research Center Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)0780308492

A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the first three joints in a configuration space model using a distance transform. A real space model and heuristics are then used for the orientation planning of the wrist, gripper and payload. The execution of the path is monitored with sensor panels covering the robot so that safe adjustments to the path can be made if necessary. © 1992 IEEE.

关键词： Motion planning

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The segmented bus: A dynamically segmentable interprocessor communication network for intelligent mobile robot systems

The segmented bus: A dynamically segmentable interprocessor ...

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1992 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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Petri net controllers for distributed robotic systems 4

Petri net controllers for distributed robotic systems

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4th Annual Conference on intelligent Robotic systems for Space Exploration, IRSSE 1992

作者： Lefebvre, D.R. Saridis, G.N. Electrical Computer and Systems Engineering Department Center for Intelligent Robotic Systems for Space Exploration Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818631457

Petri nets are a well established modelling technique for analyzing parallel systems. When coupled with an event-driven operating system, Petri nets can provide an effective means for integrating and controlling the functions of distributed robotic applications. Recent work has shown that Petri net graphs can also serve as remarkably intuitive operator interfaces. In this paper the advantages for using Petri nets as high-level controllers to coordinate robotic functions are outlined;the considerations for designing Petri net controllers are discussed;and simple Petri net structures for implementing an interface for operator supervision are presented. A detailed example is presented which illustrates these concepts for a sensor-based assembly application. © 1992 IEEE

关键词： Petri nets

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Integrating robotic functions and operator supervision using petri nets

Integrating robotic functions and operator supervision using...

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1992 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 1992

作者： Lefebvre, D.R. Saridis, G.N. Center for Intelligent Robotic Systems for Space Exploration Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

Petri nets are a well established modelling technique for analyzing parallel systems. When coupled with an event-driven operatine system, Petri nets can provide an effective means for integrating and controlling the functions of distributed robotic applications. Recent work has shown that Petri net graphs can also serve as remarkably intuitive operator interfaces. In this paper the advantages for using Petri net as high-level controllers to coordinate robotic functions will be outlined;the considerations for designing Petri net controllers will be discussed;and simple Petri net structures for implementing an interface for operator supervision will be presented. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Petri nets

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Vision-guided grasping of a strut for truss structure assembly 4

Vision-guided grasping of a strut for truss structure assemb...

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4th Annual Conference on intelligent Robotic systems for Space Exploration, IRSSE 1992

作者： Nicewarner, Keith E. Kelley, Robert B. Electrical Computer and Systems Engineering Department Center for Intelligent Robotic Systems for Space Exploration Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818631457

Monocular information from a gripper-mounted camera is used io servo a robot gripper to grasp a strut. The procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a strut is placed in the gripper and the pose estimate from the camera is used as a servo target. The recognition phase verifies the presence of a cylinder in the camera field of view. The alignment phase processes only selected scan regions in the image. Relative motion information is then used to generate an extrapolated pose-based trajectory to guide the gripper to a certain distance from the strut. The approach phase uses the last pose estimate and "blindly" moves to grasp the strut. By using a simple feducial stripe on the strut, rapid and robust vision-guided grasping can be achieved. © 1992 IEEE

关键词： Struts

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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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Implementation of a neural network model for control in grasping a moving target 21

Implementation of a neural network model for control in gras...

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1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: computers, Communications and Automation towards the 21st Century, TENCON 1992

作者： Lim, R.S.L. Horan, P. Jarvis, R.A. Department of Computing and Mathematics Deakin University GeelongVIC3217 Australia Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)0780308492

An approach to the control of a robot manipulator in grasping a simple moving target with constant speed is presented. A layered neural network architecture-based controller has been developed. It can automatically learn visual motor coordination for the fast reaching movements required in grasping a moving target. A learning scheme known as two-phase learning is described for teaching the skill to the controller. Learning in the controller is achieved through a sequence of trial movements without the presence of a 'teacher'. Visual feedback showing the action of the controller is used to adapt it so as to reduce the error between the target and the robot's gripper. © 1992 IEEE.

关键词： Controllers

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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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An intelligent Reactive Monitoring and Scheduling System

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IEEE Control systems 1992年第3期12卷 78-86页

作者： Paul, C.J. Holloway, L.E. Yan, D. Strosnider, J.K. Krogh, B.H. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States Center for Robotics and Manufacturing Systems at the University of Kentucky Lexington KY United States China Steel Corporation Taiwan

A system has been developed for monitoring large-scale distributed processes and modifying the control plan in real time, in response to deviations from the planned production schedule. The monitoring method is based upon behavioral models which represent and manipulate both discrete and continuous process dynamics. Reactive scheduling and control is accomplished by combining real-time problem solving and numeric optimization techniques to generate the lowest-cost recovery plan within the time available. The feasibility of recovery strategies is checked on-line using the behavioral models in a prognostication mode. A prototype system has been implemented using Concurrent Real Time OPS5 (CROPS5) and C++ and runs on the Mach operating system. The system is being extended as a commercial product for on-line monitoring and reactive scheduling of continuous-caster steel mills. © 1992 IEEE

关键词： Monitoring Real time systems Large-scale systems Control systems Production systems Manipulator dynamics Problem-solving Prototypes Operating systems Steel

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