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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering systems engineering and theory Equations Manifolds Fuses

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation systems engineering and theory Iterative algorithms Convergence

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Application of a robust indirect adaptive-control method in task-space hybrid manipulator control

Application of a robust indirect adaptive-control method in ...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： U. Nunes R. Araujo A.T. de Almeida ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed.< >

关键词： Robust control Adaptive control Manipulators Robot kinematics Parameter estimation Control systems Programmable control Force control Algorithm design and analysis Robustness

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Discrete implementation and adaptation of sliding mode control for robot manipulators

Discrete implementation and adaptation of sliding mode contr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Glatzl S.H. Murphy J.T. Wen P. Kopacek Institute for Handling Devices and Robotics University of Technology Vienna Austria Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

It is shown, by both theoretical argument and experimentation, that sliding control with a boundary layer does not outperform proportional-derivative (PD) control due to the fact that the gain in the boundary layer cannot exceed the PD gain due to noise and discretization. A combined switching and PD control is proposed with the level of switching selected so that the position error is reduced but is slightly higher than the noise level in order that chattering will not occur. The switching level can be further adaptively updated based on the position error level. Through extensive experimentation of a six-degrees-of-freedom (DOF) arm, it is shown that the proposed controllers avoid chattering and reduce the transient and steady state position errors of the PD control alone.< >

关键词： Sliding mode control Manipulators PD control Friction Error correction Proportional control Robot sensing systems Sensor phenomena and characterization Noise level Torque control

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Dynamic Modelling and Tracking Control of Nonholonomic Wheeled Vehicles

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IFAC Proceedings Volumes 1993年第2期26卷 61-64页

作者： G.J. Pappas K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics & Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

Nonholonomic vehicles are shown to be kinematically equivalent to unicycles. A dynamic model for mobile vehicles moving on planar surfaces under nonholonomic constraints is derived. The model is decomposed into a kinematic and a dynamic subsystem. The kinematic subsystem is shown to be globally stabilizable by using continuous control laws on reference trajectories that are nonstationary and continuously differentiable with respect to time. The continuity of the kinematic control inputs allows the extension of the vehicle control at the dynamic level. Stability of the overall closed loop system is examined using singular perturbation theory. Simulations verify all theoretical derivations.

关键词： Nonholonomic Control Vehicle Control Mobile Robots

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Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures systems engineering and theory Geometry Valves Manufacturing processes Surface morphology

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE Conference on Decision and Control

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >

关键词： Path planning Control systems Nonlinear control systems Controllability robotics and automation systems engineering and theory Kinematics Space vehicles Velocity control Nonlinear systems

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Shape matching from grasp using a minimal representation size criterion

Shape matching from grasp using a minimal representation siz...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson New York Center for Advanced Technology in Automation and Robotics USA Electrical Computer and Systems engineering Department Rensselaer Polytechnic Institute Troy NY USA

A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >

关键词： Shape Polynomials robotics and automation Testing Robustness Kinematics Least squares approximation Fingers Data engineering systems engineering and theory

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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Vougioukas S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute NY USA

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping systems engineering and theory Technology planning Sensor systems

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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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