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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia R.G. Bonitz Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

An impedance function is proposed to achieve accurate force tracking under the presence of uncertainties in robot dynamics and environment models. The new impedance function is formulated on the basis of PID control of the force tracking error which compensates for the unknown environment stiffness and position. The robot dynamics uncertainties are compensated by a simple time-delayed robust control algorithm. Stability and convergence of the control scheme are analyzed. Simulation studies with a three link rotary robot manipulator are shown. Furthermore, experimental results on a PUMA 560 arm are carried out to confirm the proposed impedance controller's performance.

关键词： Robust control Impedance Force control Robots Manipulator dynamics Uncertainty Three-term control Error correction Stability analysis Convergence

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MoNiF: a modular neuro-fuzzy controller for race car navigation

MoNiF: a modular neuro-fuzzy controller for race car navigat...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： K.C. Ng R. Scorcioni M.M. Trivedi N. Lassiter Computer Vision and Robotics Research Laboratory Electrical anad Computer Engineering Department University of California San Diego CA USA

This paper characterizes how well the modular neuro-fuzzy controller, MoNiF, can perform in robotic applications by testing it in a race-car simulator. The performance of this controller is compared with that of a neural network controller (NNC) and the best programmed car (the ideal car). During the phase of learning from the ideal car, MoNiF reaches its stable performance (when it demonstrates good control) at lap 300; while the NNC requires 700 laps. Without further learning and when competing in the same learning track, MoNiF completes 20 laps of the track about 24 seconds later than the ideal car but 29 second ahead of the NNC car. However, when they all are competing in different unfamiliar tracks, MoNiF performs comparably to the ideal car, while NNC has completely lost its ability to drive. Observing the behaviors of NNC and MoNiF, we conclude that MoNiF learns to refine the output of expert rules and thus can drive in most tracks. Meanwhile NNC learns to drive in a particular track but loses its generality for other tracks. It is shown that this modular control method, equipped with the pretrained knowledge of only few simple expert rules, learns much faster than a NNC without any apriori knowledge.

关键词： Navigation Neural networks computer vision Robot vision systems Application software computer simulation Target tracking Laboratories Performance evaluation Testing

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners Intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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High-speed extraction of 3D structure of selectable quality using a translating camera

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computer VISION AND IMAGE UNDERSTANDING 1996年第1期64卷 97-110页

作者： Dalmia, AK Trivedi, M Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee 37996-2100

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds, This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera, Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, interframe camera displacement, and number of frames in a stream are chosen to control the resolution, depth of field, and accuracy, The acquisition and processing of the image stream are done in real time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the system's accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between image acquisition and processing. The total acquisition and processing time in these experiments is in the range from 0.27 to 1.56 s. The depth results have an accuracy of 85% to 92%. (C) 1996 Academic Press, Inc.

关键词： computer vision

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A study of neural network control of robot manipulators

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ROBOTICA 1996年第1期14卷 7-15页

作者： Jung, S Hsia, TC [a1 ]Robotics Research Laboratory Department of Electrical and Computer Engineering University of California at Davis Davis CA 95615 (USA)

The basic robot control technique is the model based computer-torque control which is known to suffer performance degradation due to model uncertainties. Adding a neural network (NN) controller in the control system is one effective way to compensate for the ill effects of these uncertainties. In this paper a systematic study of NN controller for a robot manipulator under a unified computed-torque control framework is presented. Both feedforward and feedback NN control schemes are studied and compared using a common back-propagation training algorithm. Effects on system performance for different choices of NN input types, hidden neurons, weight update rates, and initial weight values are also investigated. Extensive simulation studies for trajectory tracking are carried out and compared with other established robot control schemes.

关键词： neural networks simulation studies robot control

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

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Robust neural force control with robot dynamic uncertainties under totally unknown environment

Robust neural force control with robot dynamic uncertainties...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California슠Davis Davis CA USA Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

In this paper, a robust robot force tracking impedance control scheme that uses a neural network as a compensator is proposed. The proposed neural compensator has the capability of making the robot track a specified desired force as well as of compensating for uncertainties in environment location and stiffness, and the uncertainties in robot dynamics. The neural compensator is trained separately for free space motion and contact space motion control using two different training signals. The proposed training signal for force control can be used regardless of the environment profile in order to achieve desired force tracking. Simulation studies with three link rotary robot manipulator are carried out to demonstrate the robustness of the proposed scheme under uncertainties in robot dynamics, environment position and environment stiffness. The results show that excellent force tracking is achieved by the neural network.

关键词： Robust control Force control Robots Uncertainty Orbital robotics Neural networks Manipulator dynamics Impedance Motion control Robustness

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Neural network reference compensation technique for position control of robot manipulators

Neural network reference compensation technique for position...

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International Conference on Neural Networks

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A neural network technique for robot manipulator control is proposed. This technique called reference compensation technique(RCT), compensates for uncertainties in robot dynamics at input trajectory level rather than at the joint torque level. The ultimate goal of the proposed technique is to achieve an ideal computed-torque controlled system. Compensating at trajectory level carries several advantages over other neural network control schemes that compensate at robot joint torques. First, the position tracking performance is better. Second, the neural controller is more robust to feedback controller gain variations. Finally, practical implementation can be done with ease without changing the internal control algorithm. Simulation studies have been conducted for various neural network structures and different training signals. The results showed the superior performances of the RCT over other NN control schemes.

关键词： Neural networks Position control Control systems Robot control Uncertainty Torque control Manipulator dynamics Trajectory Computational modeling Adaptive control

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

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