检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： S.K. Nayar Y. Nakagawa The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Production Engineering Research Laboratory Hitachi and Limited Yokohama Kanagawa Japan

Two algorithms for depth estimation are presented. The first algorithm simply looks for the focus level that maximizes the focus measure at each image point. The second algorithm uses a Gaussian model to interpolate the focus measures to obtain more accurate depth estimates. The algorithms were implemented and tested on surfaces of different roughness and reflectance properties. The results indicate that the shape-from-focus method may be applied to a variety of industrial vision problems.< >

关键词： Shape Rough surfaces Surface roughness Focusing Frequency Image sensors Image analysis Layout Robots Image sequences

来源：评论

学校读者我要写书评

暂无评论

Determining the axis of a surface of revolution using tactile sensing

Determining the axis of a surface of revolution using tactil...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier R.S. Fearing Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

Sparse tactile sensing can be used to determine the positions and orientations of objects if the objects are restricted to being of a particular class. Consideration is given to a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three tactile curvature measurements on a surface of revolution with sweeping rule in C/sup 2/ are shown to be sufficient for determining the axis except for certain singular configurations. Position and orientation error bounds and preliminary experimental results are presented for a capacitive tactile sensor with two contacts. Optimal angular spacing was seen to be 90 degrees between contacts. Experiments showed that the method worked with a position error of 0.07 in. and an angle error of 7.3 degrees .< >

关键词： Tactile sensors Robot sensing systems Force feedback Shape measurement Laboratories Force sensors Fingers Solid modeling Probes Image analysis

来源：评论

学校读者我要写书评

暂无评论

Control primitives for robot systems

Control primitives for robot systems

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D.C. Deno R.M. Murray K.S.J. Pister S.S. Sastry Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA

A methodology is developed for describing of hierarchical control of robot systems in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to encompass a wide variety of systems. A consistent set of primitive operations which form the core of a robot system description and control language is presented. This language, motivated by the hierarchical organization of neuromuscular systems, is capable of describing a large class of robot systems under a variety of single-level and distributed control schemes.< >

关键词： Robot control Control systems Robot kinematics Equations Manipulator dynamics Laboratories Feedback loop Data structures Lagrangian functions

来源：评论

学校读者我要写书评

暂无评论

A motion planner for multiple mobile robots

A motion planner for multiple mobile robots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D. Parsons J. Canny Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

An algorithm is described for planning the motions of several mobile robots which share the same workspace. Each robot is capable of independent translational motion in two dimensions, and the workspace contains polygonal obstacles. The algorithm computes a path for each robot which avoids all obstacles in the workspace as well as the other robots. It is guaranteed to find a solution if one exists. The algorithm takes a cell decomposition approach, where the decomposition used is based on the idea of a product operation defined on the cells in a decomposition of a two-dimensional free space. This algorithm is being implemented for the case of two robots as part of ongoing research into useful algorithms for task-level programming of the RobotWorld system.< >

关键词： Mobile robots Orbital robotics Robot sensing systems Law Legal factors Rails

来源：评论

学校读者我要写书评

暂无评论

Time-optimal trajectories for a robot manipulator: a provably good approximation algorithm

Time-optimal trajectories for a robot manipulator: a provabl...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G. Heinzinger P. Jacobs J. Canny B. Paden Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley Berkeley CA USA Laboratoire d'Automatique et d'Analyse des Systemes Toulouse France Department of Computer Science University of California Berkeley CA USA Department of Mechanical Engineering and Center for Robotic Systems in Microelectronics University of California슠Santa Barbara Santa Barbara CA USA

An algorithm is presented for generating near-time-optimal trajectories for an open-kinematic-chain manipulator moving in a cluttered workspace. This is the first algorithm to guarantee bounds on the closeness of an approximation to a time-optimal trajectory. The running time and space required are polynomial in the desired accuracy of the approximation. The user may also specify tolerances by which the trajectories must clear obstacles in the workspace to allow modeling of control errors.< >

关键词： Robots Manipulators Approximation algorithms Optimized production technology Safety

来源：评论

学校读者我要写书评

暂无评论

A NEW TECHNIQUE FOR ROBUST-CONTROL OF SERVO SYSTEMS

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1989年第1期36卷 1-7页

作者： HSIA, TCS Robotics Research Laboratory Department Electrical Engineering and Computer Science University of California Davis Davis CA USA

The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliary controller is to cancel out the plant uncertainties directly without the use of the high loop gain principle. Interpretation of robot controller as a signal-synthesis adaptive controller is given. Practical implementation issues of the auxiliary controller are discussed. Simulations of a design example with large parameter uncertainty, nonlinearity, and external disturbance are presented to demonstrate the effectiveness of the design technique. This technique is further tested with success in an experimental study of joint position control of a PUMA 560 robot arm.< >

关键词： Robust control Servomechanisms Uncertainty DC motors Servomotors Adaptive control Robot control Programmable control Uncertain systems Testing

来源：评论

学校读者我要写书评

暂无评论

ADAPTIVE EDGE-FOLLOWING FORCE CONTROL OF AN INDUSTRIAL ROBOT

引用

robotics AND computer-INTEGRATED MANUFACTURING 1989年第4期6卷 331-337页

作者： LIOU, JN JAMSHIDI, M STARR, GP CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States Robotic Research Laboratory Department of Mechanical Engineering University of New Mexico Albuquerque NM 87131 United States

Control of tool-workpiece interaction force is of vital importance in automated assembly. Using a simple linear continuous model of an edge-following system to predict the appropriate accomodation gains in a force control loop, previous work has shown that force control by accomodation is feasible. Following up this work, this paper describes the analysis, simulation and implementation of an adaptive force control in a two-dimensional edge-following task with a PUMA 560 robot and wrist force sensor. First, a discrete-time model of an edge-following system is developed and then used as the plant; second, a model reference adaptive control (MRAC) scheme is applied to achieve both tracking and regulation purposes. The reference (tracking) model can be determined by experimental reference input and desired model output information; the reference (regulation) model can be obtained by simulation to smooth out the plant output and improve the augmented filtered plant-model error. Study is done on the values of the adaptation gains in the adaptive mechanism, and hence can be adjusted to insure the best plant output performance.

关键词： Robots, Industrial

来源：评论

学校读者我要写书评

暂无评论

Optimal object localization using dual number quaternions 7

Optimal object localization using dual number quaternions

引用

Applications of Artificial Intelligence VII 1989

作者： Walker, Michael W. Shao, Lejun Volz, Richard A. Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann ArborMI48109-2110 United States

This paper presents a new algorithm for determining the position and orientation of objects. The problem is formulated as an optimization problem using dual number quaternions. It is shown that this reduces to an eigenvalue problem for which standard software library routines can be used to obtain the solution. © 1989 SPIE. All rights reserved.

关键词： Eigenvalues and eigenfunctions

来源：评论

学校读者我要写书评

暂无评论

Adaptive coordinated motion control of two manipulator arms

Adaptive coordinated motion control of two manipulator arms

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Walker D. Kim J. Dionise Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan USA

An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the object is proved, assuming perfect models for both manipulators. The computational algorithm is similar to the Newton-Euler inverse dynamics algorithm with complexity linear in the number of links in the manipulators. A significant feature of the control method is that both manipulators use the identical computational algorithm. Thus, the concept of master/slave relationship between the two manipulators is avoided. Two simulations are presented. The first assumes an ideal model for each manipulator. As expected, the controller is stable and provides excellent tracking ability of the manipulator. The second simulation investigates the effects of modeling errors in the mass properties of each arm. The position trajectories track very close to their desired values; however, they never completely converge.< >

关键词： Programmable control Adaptive control Motion control Arm Manipulator dynamics Trajectory Computational modeling Weight control Convergence Heuristic algorithms

来源：评论

学校读者我要写书评

暂无评论

Joint trajectory generation for redundant robots

Joint trajectory generation for redundant robots

引用

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

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：