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IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia Z.Y. Guo Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.< >

关键词： Robot kinematics Orbital robotics Redundancy Jacobian matrices Least squares approximation Manipulators Arm Feedback Vectors Computational modeling

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Action representation for planning using truth maintenance system

Action representation for planning using truth maintenance s...

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IEEE Region 10 International Conference TENCON

作者： O.H. Kulkarni N. Parameswaran R. Nagarajan Department of Computer Science & Engineering Indian INstitute of Technology Artificial Intelligence and Robotics Laboratory Chennai India

The authors discuss the utility of a truth maintenance system (TMS) in action representation and plan modification. They present a way of representing actions and their effects in a TMS that is useful as a step towards a planner using TMS dependency structures. An action is represented as a TMS node. Action preconditions are explicitly represented. The authors represent effects of actions by modifying justifications. A way to construct a partial temporal order of actions is suggested. They also give a partial solution to the culprit identification problem.< >

关键词： Artificial intelligence Intelligent robots Laboratories computer science Vehicles Feedback Problem-solving Organizing Subspace constraints Inference algorithms

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Basis sets for manipulator inertial parameters

Basis sets for manipulator inertial parameters

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.-Y. Sheu M.W. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to serial-link graph-structured manipulators. The authors prove that the minimum number of parameters can be obtained directly from an energy difference equation rather than the dynamic equations of motion. They present a method for the identification of the minimum number of basis vectors which span the vector space containing the components of inertial parameters present in the equations of motion. Simulations are presented and the method is evaluated. The method is conceptually simple, computationally efficient and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm.< >

关键词： Manipulator dynamics Difference equations Lagrangian functions Legged locomotion Laboratories Computational modeling Kinematics Heuristic algorithms Actuators Upper bound

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CHIMERA: a real-time programming environment for manipulator control

CHIMERA: a real-time programming environment for manipulator...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Schmitz P. Khosla R. Hoffman T. Kanade The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering and The Roborics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

CHIMERA is a real-time computing environment used in the Reconfigurable Modular Manipulator System project. CHIMERA, which is both a hardware and software environment, allows rapid development and implementation of real-time control programs. It provides a C/Unix-flavored concurrent programming environment for a Motorola 68020 multiprocessor hardware configuration connected to a Sun workstation. CHIMERA has been implemented using commercial hardware in conjunction with a sophisticated, locally developed software package, resulting in a reliable, reasonably priced, and easily duplicated system. CHIMERA is currently being ported for real-time control of the CMU Direct Drive Arm II. The authors describe the implementation and capabilities of the CHIMERA environment and illustrate how these features are used in robot control applications.< >

关键词： Programming environments Robots Hardware Manipulator dynamics Real time systems High performance computing Sun Workstations computer architecture computer science

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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'Chaotic relaxation' in concurrently asynchronous neurodynamics

'Chaotic relaxation' in concurrently asynchronous neurodynam...

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International Joint Conference on Neural Networks (IJCNN)

作者： Barhen Gulati California Institute of Technology Jet Propulsion Laboratory Pasadena CA USA Division of Engineering and Applied Sciences California Institute of Technology USA The Robotics Research Lab Department of Computer Science Louisiana State University Baton Rouge LA USA

A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequentially asynchronous is derived. Necessary and sufficient conditions guaranteeing concurrent asynchronous convergence are established in terms of contracting operators. Lyapunov exponents are also computed to characterize the network dynamics and to ensure that throughput-limiting chaotic behavior in models reconditioned with concurrently asynchronous algorithms has been eliminated.< >

关键词： Chaos Lyapunov methods Neural networks Parallel algorithms

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AN INTELLIGENT ROBOTIC SYSTEM FOR REHABILITATION OF JOINTS AND ESTIMATION OF BODY SEGMENT PARAMETERS

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IEEE TRANSACTIONS ON BIOMEDICAL engineering 1988年第2期35卷 138-146页

作者： KHALILI, D ZOMLEFER, M Robotics Laboratory Department of Electrical Engineering and Computer Science Santa Clara University Santa Clara CA USA Robotics Lab. Santa Clara Univ. CA USA

An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human joint, provides a vehicle for rehabilitation of the joint following surgery or trauma. A novel approach for estimation of body segment parameters is formulated that uses state and output information from the robot system to improve these estimates. In addition, redundant sensors are used to improve the accuracy of the estimates. The dynamic equations for a single robot arm are provided and the system is simulated. Therapeutic applications of the robotic system are discussed and the sensitivity of the measured forces with respect to the robot arm joint angles is studied in order to find an optimum orientation of the system for the best possible estimation. The application of this system to both rehabilitation and sports medicine is also discussed.< >

关键词： Intelligent robots Intelligent systems Rehabilitation robotics Robot sensing systems Joints State estimation Medical robotics Medical treatment Manipulators Humans

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Robust independent robot joint control: design and experimentation

Robust independent robot joint control: design and experimen...

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IEEE International Conference on robotics and Automation (ICRA)

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

An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions. In this approach each joint is treated as a simple inertial systems plus a disturbance torque representing all the unmodeled dynamics. By means of a very simple procedure, the disturbance is instantly estimated and rejected, thus allowing simple PD control to be used. The controllers are inherently robust. Experimental evaluations of the controller on a PUMA 560 are are performed, and the experimental results are presented.< >

关键词： Robust control Robot control Manipulator dynamics Motion control Couplings Torque control Nonlinear dynamical systems Gravity PD control Performance evaluation

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Region grouping from a range image

Region grouping from a range image

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： J.H. Han R.A. Volz Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzing the boundary types between a pair of regions. The boundary types are classified as convex, concave and jump boundaries. If two regions share a convex boundary it is assumed that they are inseparable regions, thus describing the same part (object). The CRSs are determined by a region boundary graph (RBG) which is defined as a graph whose nodes represent regions, and the edges represent boundaries: convex and concave. Since jump boundaries represent no physical contact in 3-D, they are represented as null edges. A CRS is defined as a set of regions (or nodes in an RBG) such that for each pair of regions in the set, there is a path, which is represented only by convex edges. The physical interpretation is that a CRS represents part of an object such that the regions in the set cannot be separated.< >

关键词： Image segmentation Image analysis Testing Military computing Robots Laboratories Image recognition Solid modeling Optimization methods Labeling

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An efficient algorithm for the adaptive control of a manipulator

An efficient algorithm for the adaptive control of a manipul...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >

关键词： Adaptive control Manipulator dynamics Stability Heuristic algorithms Parameter estimation Acceleration Computational complexity Kinematics Lyapunov method Accelerometers

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