The principle of a simple acoustic sensor system using three Polaroid transducers which can identify a plane, an edge, and a corner is discussed. Vector analysis of reflections involving one, two, and three mirror-lik...
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The principle of a simple acoustic sensor system using three Polaroid transducers which can identify a plane, an edge, and a corner is discussed. Vector analysis of reflections involving one, two, and three mirror-like orthogonal surfaces is presented. An algorithm to distinguish a corner from an edge using the triangular three-transceiver system is described, and computer simulated results are given.< >
This paper presents an experimental evaluation and comparison of basic strategies that have been proposed for force control of robot manipulators. This experimental review of force control methodologies is unique in i...
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This paper presents an experimental evaluation and comparison of basic strategies that have been proposed for force control of robot manipulators. This experimental review of force control methodologies is unique in its breadth - never has such a complete spectrum of strategies been experimentally compared on the same system. The commonality amongst the experiments has permitted the ability to objectively compare and contrast these strategies, and draw conclusions about the efficacy of each. As will be seen, the results support our previous analysis and show the superiority of integral force control for force trajectory tracking.
A fuzzy logic-based methodology is proposed to model the organization level of an intelligent robotic system. The user input commands to the system organizer are linguistic in nature and the primitive events-tasks fro...
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A fuzzy logic-based methodology is proposed to model the organization level of an intelligent robotic system. The user input commands to the system organizer are linguistic in nature and the primitive events-tasks from the task domain of the system are, in general, interpreted via fuzzy sets. Fuzzy relations are introduced to connect every event with a specific user input command. Approximate reasoning is accomplished via a modifier and the compositional rule of inference, whereas the application of the conjunction rule generates those fuzzy sets with elements all possible (crisp) plans. The most possible plan among all those generated, that is optimal under an application dependent criterion, is chosen and communicated to the coordination level. Off-line feedback information from the lower levels is considered as a-priori known and is used to update all organization level information. An example demonstrates the applicability of the proposed algorithm to intelligent robotic systems.
intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, rol...
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intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, role of vision sensing in intelligentrobotics, and architecture for the design of an intelligent robot. The chapter also describes the computational task hierarchy that governs a model-based robot vision system, and presents a detailed tutorial on two important components of this hierarchy: image segmentation and matching. The main capabilities that intelligent robotic systems should possess include ability for perception of their environment, planning of their actions, and execution of the planned action. The two important components of a model-based vision system are image segmentation and the matching module. A procedure that allows transformation of 2D image coordinates into 3D world coordinates is also discussed in the chapter. The architecture and control aspects of an integrated sensor-based robotic system consist of six modules: supervisor, task planner, perception, motor, user interface, and knowledge-base. intelligent, sensor-driven systems pose many challenging basic-research problems from a broad range of scientific and technological disciplines; however, there are many important application areas where such systems would be of significant value and utility, including hazardous environments such as nuclear plants, underwater, and space as well as many industrial-automation tasks. Recent advancements in the VLSI, computer-architectures, sensor-and robot-hardware, and artificial-intelligence fields may aid to the development of robust, practical, and cost-effective intelligent robotic systems for a wide variety of applications.
A new, nonlinear, neural network based, predictor has been devised for the encoding of speech data. It may be used in the design of a differential pulse code modulation (DPCM) coder for speech. A hybrid neural network...
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A new, nonlinear, neural network based, predictor has been devised for the encoding of speech data. It may be used in the design of a differential pulse code modulation (DPCM) coder for speech. A hybrid neural network architecture has been employed which combines the perceptron and back-propagation paradigms, thus called the PB-hybrid (PBH). Only two neurons are needed in the backpropagation section, keeping the required overhead modest. This predictor is designed by supervised training, based on a typical sequence of digitised values of samples in a speech frame. Simulation experiments have been carried out using 15 ms frames of 16 kHz speech data. The results obtained for the prediction gain show a 3 dB advantage of the PBH network over the linear predictor.
This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” ap...
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New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) ...
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New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) as specified by certain objective functions. The algorithms are based on the extension of the existing "joint-space command generator" technique in which a null space vector is introduced which optimizes a specific objective function along the joint trajectories. In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed. The case for joint position, velocity, and acceleration (PVA) generation is also addressed. Application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.
A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application i...
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A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >
Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers...
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Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >
A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile...
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A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.< >
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