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IEEE International Conference on robotics and automation (ICRA)

作者： A.A. Goldenberg J. Wiercienski P. Kuzan C. Szymczyk R.G. Fenton B. Shaver Dcpamnmt of Mechanical Engineering University of Toronto Toronto Canada Dept. of Mech. Eng. Toronto Univ. Ont. Canada Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada Line Operations Ontario Hydro Toronto ONT Canada

A remote manipulator was developed for forestry operations to relocate operators away from hazardous operations. The operations of tree trimming are performed in the vicinity of live electrical distribution lines, generating a hazard for the operator. The remote manipulator has two major subsystems: a three degree-of-freedom (DOF) aerial device acting as the main lifting arm, and a six DOF manipulator mounted at the end of the aerial device. Each arm was rate controlled with the reference rate provided by the displacement of a corresponding hand controller, which was kinematically equivalent to the manipulator. The mechanical design, the control system of the remote manipulator, and the results of field tests are described.< >

关键词： Forestry Manipulators robotics and automation Automatic control Mechanical engineering Control systems Space technology Humans Displacement control System testing

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IMPROVED CHANGE TRACKING FOR SOFTWARE MAINTENANCE

IMPROVED CHANGE TRACKING FOR SOFTWARE MAINTENANCE

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1991 CONF ON SOFTWARE MAINTENANCE

作者： GARLAND, JK CALLISS, FW Software Tools Development Honeywell Industrial Automation and Control Phoenix 85023 AZ United States Dept. of Computer Science and Engineering Arizona State University Tempe 85287-5406 AZ United States

ISBN: (纸本)081862325X

With an ever increasing body of software to maintain and a small number ofexperiencedpersonnel, it is critical to improve software maintenance practice. One difficult problem maintenance organizations must address is how to document program evolution. Problem or change reporting and tracking is a key aspect of recording changes to large software systems. Large software systems which evolve over a long period of time magnify the need for organized change tracking due to the number and extent of the changes made. This paper describes a method to incorporate problem solving information in a change tracking database. Problem solving is discussed with regard to structured problem solving techniques for isolating difficult problems. A relational database structure and queries to access the database are discussed. An example of how the change tracking system supports the maintenance problem solving process is also included. © 1991 IEEE.

关键词： Computer software maintenance

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Implementation of Impedance Control Using Sliding Mode Theory

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IFAC Proceedings Volumes 1991年第1期24卷 187-192页

作者： Z. Lu A.A. Goldenberg Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Toronto Toronto Ontario Canada M5T 1A4

This paper presents an approach to the implementation of impedance control using sliding mode control theory. Sliding surface is determined by the form of targeted impedance. Based on the dynamic model in the Cartesian coordinate, a sliding mode controller is designed. The achievement of targeted impedance and preservation of stability in the presence of model uncertainties and external disturbances are the key issues in the design. Under the sliding mode, the system trajectories are forced to reach and to remain on the sliding surface so that the desired targeted impedance is achieved. The controller has been experimentally verified on a RAL direct-drive arm. The arm has two degree of freedom with direct drive parallel five-bar link. The primary results indicate that the approach taken is valid. The results of the experiment are presented in this paper.

关键词： Variable structure control impedance control force control bang-bang control robust control robots

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Dextrous manipulation using qualitative reasoning. II. Modelling and synthesis of finger manipulative synergies

Dextrous manipulation using qualitative reasoning. II. Model...

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International Conference on Advanced robotics (ICAR)

作者： S.P. Ananthanarayanan A.A. Goldberg J. Mylopoulos Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Dept. of Mech. Eng. Toronto Univ. Ont. Canada

For pt.I see ibid., p.625-30 (1993). In this paper, qualitative methods of modelling a dexterous manipulation process are discussed, to facilitate common-sense reasoning in the synthesis of manipulative synergies for an articulated robot hand. An 'incremental manipulation process' for a robot hand, has been defined as a sequence of three basic operations. The mathematical modelling of these operations are provided. The implementation of this model is briefly discussed. The overall manipulation process is modelled as a 'quasi-static' process that integrates the sequence of incremental manipulation processes. The rationale behind this modelling procedure is also discussed in this paper.< >

关键词： Fingers Robots Analytical models robotics and automation Laboratories Mechanical engineering Computer science Mathematical model Problem-solving Grain size

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Dextrous manipulation using qualitative reasoning. I. Determination of a desired object displacement

Dextrous manipulation using qualitative reasoning. I. Determ...

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International Conference on Advanced robotics (ICAR)

In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A 'qualitative' formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.< >

关键词： Grasping Humans robotics and automation Laboratories Mechanical engineering Computer science Intelligent robots Fingers Humanoid robots Fuzzy logic

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Motion and Force Control of Multiple Coordinated Redundant Manipulators

Motion and Force Control of Multiple Coordinated Redundant M...

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American Control Conference (ACC)

作者： Yan-Ru Hu Andrew A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Toronto Toronto Ontario Canada M5S 1A4

In this paper, an approach to motion and force control of multiple coordinated redundant manipulators working in an environment with obstacles is developed in which the extended task space technique is presented for establishing the dynamic equations of the coordinated redundant manipulators using the redundant degrees of freedom. This approach can be used to control the motion of an object held by the redundant manipulators and the internal forces which do not contribute to the motion of the object while avoiding obstacles. Three subsystem error equations are generated, i.e., a position error subsystem, an internal force error subsystem, and a constraint error subsystem. The adaptive law is derived to estimate the unknown parameters of the multiple coordinated redundant manipulators and the object in terms of the three error subsystem equations. The paper shows that the control scheme improves the position and internal force tracking accuracy and avoids collision for a class of systems with uncertain knowledge of the dynamic model.

关键词： Force control Motion control Equations Master-slave Linear feedback control systems Velocity control Control systems Arm Kinematics Jacobian matrices

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An expert supervisor for a robotic work cell

An expert supervisor for a robotic work cell

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Intelligent Robots and Computer Vision VI 1987

作者： Moed, M.C. Kelley, R.B. Robotics and Automation Laboratories Electrical Computer and Systems Engineering Dept. Rensselaer Polytechnic Institute TroyNY12180-3590 United States

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified 3D part assembly tasks into various target robotic work cells, and execute these tasks efficiently using manipulators and sensors available in the work cell. One level of this hierarchy, the Supervisor, is responsible for assigning subtasks of a system-generated Task Plan to a set of task specific Specialists and on-line coordination of the activity of these Specialists to accomplish the user-specified assembly. The design of the Supervisor can be broken down into five major functional blocks: resource management;concurrency detection;task scheduling;error recovery;and interprocess communication. The Supervisor implementation has been completed on a VAX 11/750 under a Unix environment. PC card Pick-Insert experiments were performed to test this implementation. To test the robustness of the architecture, the Supervisor was then transported to a new work cell under a VMS environment. The experiments performed under Supervisor control in both implementations are discussed after a brief explanation of the functional blocks of the Supervisor and the other levels in the hierarchy. © 1988 SPIE. All rights reserved.

关键词： Supervisory personnel

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CONFIGURATIONS OF ROBOTS MANIPULATORS AND THEIR IDENTIFICATION, AND THE EXECUTION OF PRESCRIBED TRAJECTORIES .2. INVESTIGATIONS OF MANIPULATORS HAVING 5-DEGREES, 7-DEGREES, AND 8-DEGREES OF FREEDOM

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JOURNAL OF MECHANISMS TRANSMISSIONS AND automation IN DESIGN-TRANSACTIONS OF THE ASME 1985年第2期107卷 179-188页

作者： LITVIN, FL COSTOPOULOS, T CASTELLI, VP SHAHEEN, M YUKISHIGE, Y F. L. Litvin T. Costopoulos V. Parenti Castelli M. Shaheen Y. Yukishige Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Illinois Chicago Illinois

The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research is performed for manipula... 详细信息

关键词： Degrees of freedom Manipulators

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Robot's manipulators: Simulation and identification of configurations, execution of prescribed trajectories 1

Robot's manipulators: Simulation and identification of confi...

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1st IEEE International Conference on robotics and automation, ICRA 1984

作者： Litvin, F. Castelli, V. Dept. of Mechanical Engineering University of Illinois at Chicago United States Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Illinois ChicagoIL United States

The authors proposed methods: (i) for determination of special link positions, (ii) computer aided simulation and identification of manipulator configurations and (iii) execution of prescribed trajectories. Examples o... 详细信息

ISBN: (纸本)081860526X

关键词： Manipulators

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Robot's manipulators: Simulation and identification of configurations, execution of prescribed trajectories

Robot's manipulators: Simulation and identification of confi...

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IEEE International Conference on robotics and automation (ICRA)

作者： F. Litvin V. Castelli Dept. of Mechanical Engineering University of Illinois at Chicago Chicago IL Robotics and Automation Laboratory Dept. of Mechanical Engineering University of Illinois at Chicago Chicago IL

关键词： Robots Manipulators Jacobian matrices Kinematics Differential equations robotics and automation Mechanical engineering Assembly Nonlinear equations Computational modeling

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