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A correct and complete algorithm for the generation of mechanical assembly sequences

IEEE International Conference on robotics and Automation (ICRA)

作者： L.S. Homem de Mello A.C. Sanderson The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

ISBN: (纸本)0818619384

The authors present an algorithm for the generation of mechanical assembly sequences and a proof of its correctness and completeness. The algorithm uses a relational model which describes the geometry of the assembly and the attachments that bind one part to another. The problem of generating the assembly sequences is transformed into the problem of generating disassembly sequences, in which the disassembly tasks are the reverse of feasible assembly tasks. This transformation leads to a decomposition approach in which the problem of disassembling one assembly is decomposed into distinct subproblems, each involving the disassembly of one subassembly. It is assumed that at each assembly task exactly two subassemblies are mated and that all contacts between the parts in the two subassemblies are established. The algorithm yields an AND/OR graph representation of assembly sequences. The correctness of the algorithm is based on the assumption that it is always possible to decide correctly whether two subassemblies can be joined based on geometrical and physical criteria. An approach to compute this decision is given, and bounds for the amount of computation required are presented.< >

关键词： Robotic assembly Assembly systems Solid modeling Computational geometry Design engineering Automatic programming Concurrent engineering Design automation Process planning

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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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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Optimal safe path for robots

Optimal safe path for robots

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1988 IEEE International Workshop on Intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

作者： Lee, Tsu-Tian Lee, B.K. Chen, T.K. Dept. of Electrical Engineering Center for Robotics and Manufacturing Systems University of Kentucky LexingtonKY40506-0046 United States Institute of Electronics National Chiao Tung University Hsinchu Taiwan

A collision avoidance algorithm is presented to plan an optimal safe path for a robot working in a space clustered with obstacles. The rolwt coasidered here is a specific articulated robot with 5 degree of freedom. The scanning method, which considers both robot motion and geometric property, is applied to find the free space of each degree-of-freedom in the presence of circular obstacles. As a result, the forbidden angle of each joint can be determined by a recursive algorithm. In addition, the forbidden angle of each joint also satisfies the superposition principle. Hence, the finding path problem is reduced to a robot moving in free space with state constrained inequalities. And the optimal safe path problem can be transformed to become a non-linear optimal control, subject to ctatc and control constraints. This approach is further extended to multi-arm robots. Specifically, free space of several arms can be obtained by first considering them as time-varying obstacles moving in the work space. Then a set of time-varying state constraints could be obtained. Similarly, the optimal safe path for each arm and their respective actuator input can be found by the proposed algorithm. © 1988 by the institute of electrical and Electronics Engineers, Inc. (IEEE).

关键词： Degrees of freedom (mechanics)

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Task-oriented dual-arm manipulability and its application to configuration optimization

Task-oriented dual-arm manipulability and its application to...

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IEEE Conference on Decision and Control

作者： S. Lee J.M. Lee Department of Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.< >

关键词： Motion control Kinematics Arm Force control Ellipsoids Intelligent robots Master-slave Optimal control Jacobian matrices Intelligent systems

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The design of an assembly cell task supervisor

The design of an assembly cell task supervisor

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified, three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. 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 online coordination of the activity of these specialists to accomplish the user-specified assembly. The design of the supervisor is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. Using concepts from operating systems, the design of each of these supervisor blocks is examined.< >

关键词： Robotic assembly Assembly systems robotics and automation Manipulators Robot sensing systems Resource management Robot kinematics Sensor systems Job shop scheduling Robot programming

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Analytic formulation of intelligent machines as neural nets

Analytic formulation of intelligent machines as neural nets

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IEEE International Symposium on Intelligent Control (ISIC)

作者： G.N. Saridis M.C. Moed Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The design of the organization level of the intelligent machine as a Boltzmann machine, as described in current neural network literature, is discussed. Since this level is responsible for planning the actions of the machine, the problem at this tier is formulated as the construction of the right sequence of tasks or events which minimizes the entropy for the desired action. Two search techniques, simulated annealing (SA) and expanding subinterval random search (ESRS), are described. These techniques are used to find the global minimum entropy of a Boltzmann machine. Simulations using these search techniques were conducted using energy as a cost function, and results indicate that ESRS converges faster than SA to a global minimum if the topology contains narrow and deep cost wells.< >

关键词： Machine intelligence Neural networks Intelligent robots Intelligent control Learning systems Artificial intelligence Entropy Control systems Humans Intelligent structures

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An online supervisor for robotic tasks

An online supervisor for robotic tasks

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International Conference on Computer Integrated Manufacturing

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. 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 online coordination of the activity of these specialists to accomplish the user-specified assembly. The design is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. The overall function of the supervisor is examined in relation to the other levels of the hierarchical system. The theoretical design of each module of the supervisor is presented and a sample assembly is executed under the supervisor's control.< >

关键词： Robotic assembly Robot sensing systems Robot kinematics Assembly systems Manipulators Sensor systems Resource management Concurrent computing Hierarchical systems Communication system control

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Building an accurate range finder with off the shelf components

Building an accurate range finder with off the shelf compone...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： J.-L. Jezouin P. Saint-Marc G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present an active triangulation range finding system composed of an independent laser system generating a plane of light projected on an object placed on a rotary table driven by a personal computer. This computer includes a video digitizer board connected to a camera looking at the scene. Besides its low cost, this system has other advantages over the comparable existing systems. First, the authors have designed a simple, fast and accurate calibration procedure which does not require any knowledge about the camera parameters or the relative position of the camera with the laser plane. Furthermore, this calibration procedure is performed only once, ensuring stable and accurate results. The result of the scanning of a given object is given in cylindrical coordinates. Choosing different viewpoints, Cartesian range images of the same object are computed in order to show, with shaded and perspective views of the scanned object, the quality of the results.< >

关键词： Calibration Cameras Intelligent robots Costs Computer vision Robot kinematics Intelligent systems Laser theory Microcomputers Layout

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Useful geometric properties of the generalized cone

Useful geometric properties of the generalized cone

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： K. Rao G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present results on geometric properties of the generalized cone, in an effort to utilize it for a shape description system. They first derive the relationship between the generalized cone description and the surface description given by differential geometry. Then they derive expressions for the Gaussian and mean curvatures of a generalized cone, in general, and obtain expressions for some special cases like the torus, the solid of revolution etc. They study the planarity property of the contour generators of a generalized cone, in particular, one with a planar axis. They find that homogeneous generalized cones with planar axes and circular cross sections or constant-size cross sections have planar contour generators in an orthographic side view. An example of such a generalized cone is the torus. However, the contour generators are not planar in a general view. They also study symmetry properties of some generalized cones and find, in particular, that in orthographic projection the contour of the solid of revolution is symmetric about the projection of its axis from any point of view.< >

关键词： Shape Intelligent robots Solids Intelligent systems Geometry Computer vision Robustness Contracts Monitoring Laboratories

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