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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Gao F. Guy W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.

关键词： Manipulators Intelligent robots Orbital robotics Legged locomotion Humans Animals Biological system modeling Service robots Manufacturing systems Parallel robots

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Stable hybrid position/force control for redundant manipulators

Stable hybrid position/force control for redundant manipulat...

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IEEE International Conference on systems, Man and Cybernetics

作者： Luya Li W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation.

关键词： Force control Manipulator dynamics Jacobian matrices Control systems Force feedback Error correction Velocity control Intelligent robots Robot kinematics Stability

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Performance evaluation criteria for analysis and design of robotic specimens

Performance evaluation criteria for analysis and design of r...

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International Conference on Advanced robotics (ICAR)

作者： Feng Gao W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global err... 详细信息

关键词： Performance analysis Intelligent robots Computational geometry Kinematics Angular velocity Manufacturing systems Laboratories Design engineering Payloads Controllability

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Redundancy and fault-tolerance in grasping and manipulation by multifingered hands

Redundancy and fault-tolerance in grasping and manipulation ...

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International Conference on Advanced robotics (ICAR)

作者： L. Li W.A. Gruver T. Zhang Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution.

关键词： Redundancy Fault tolerance Grasping Pollution measurement Fingers Fault tolerant systems Intelligent robots Force measurement Equations Manufacturing systems

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Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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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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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics Intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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Dimensional synthesis of a flexible gripper with a high degree of stability

Dimensional synthesis of a flexible gripper with a high degr...

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IEEE International Conference on systems, Man and Cybernetics

作者： Yuru Zhang Feng Gao Yidong Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Since form-closure grasps are a strong condition for stability, they are very useful for applications. Whether form closure can be obtained depends on the design of the end-effector and the geometry of the grasped object. Previously, we proposed a new type of grasping mechanism using closed kinematic chains that can provide form-closure grasps for nearly any geometry of the object. An important design issue is the determination of the link lengths of the closed chain. This paper considers the design with respect to grasp stability. A criterion for evaluating grasp stability is proposed. The link lengths corresponding to an optimal value of the criterion is utilized to obtain a solution for dimensional synthesis. Because the criterion is a nonlinear function of the link lengths, the optimization cannot be obtained by simple computation. To avoid the computational burden in finding the optimal link lengths, we develop a graphical method for determining the link lengths. The grasping of cylindrical objects demonstrates the method.

关键词： Grippers Intelligent robots Terminology Manufacturing systems Laboratories Computational geometry Kinematics Stability criteria Sufficient conditions Fingers

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Determination of contact forces in grasping

Determination of contact forces in grasping

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： Y. Zhang F. Gao W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. These uncontrollable forces need to be separated in the representation of contact forces to ensure that the contact forces are obtained by adjusting the controllable components of the contact forces. This paper provides a method to solve this problem. We decompose the space of contact forces into four subspaces. Based on this decomposition, the contact forces can be explicitly represented with respect to the joint torques. Therefore, the application of the technique leads to a controllable solution. Three examples are provided to illustrate the decomposition.

关键词： Fingers Intelligent robots Grasping Force control Torque control Manufacturing systems Laboratories Grippers Equations Vectors

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A high precision fuzzy-neural controller based on data remodification

A high precision fuzzy-neural controller based on data remod...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Tiehua Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory tjchool of Engineering Science Simon Fraser University Burnaby BC Canada

Fuzzy logic and neural networks have wide applications in intelligent systems. The research describes a high precision fuzzy neural controller design method in which a feedforward network learns fuzzy rules offline while employing an analytical approach in place of the conventional error back propagation method which can be time consuming to implement. Through repeated modifications of the system inputs, the proposed technique restores valuable information often lost during fuzzification. As a result, interpolation and data remodification properties inherently rooted in the controller significantly improve the system response.

关键词： Fuzzy control Fuzzy neural networks Fuzzy logic Neural networks Intelligent systems Intelligent networks Design methodology Error correction Interpolation Control systems

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