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IEEE International Conference on Systems, Man and Cybernetics

作者： P.P. Groumpos Laboratory of Automation & Robotics. Department of Electrical Engineering University of Patras Rion Greece

The structural properties of a class of large-scale multilevel hierarchical systems are investigated. The design of a controller structure which preserves the structure of the system is presented. The proposed partial... 详细信息

关键词： Hierarchical systems Control systems Large-scale systems Distributed control Controllability Observability Regulators State feedback robotics and automation Communication system control

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SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

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International Journal of Pattern Recognition and Artificial Intelligence 1993年第1期7卷 123-144页

作者： CHUXIN CHEN MOHAN M. TRIVEDI Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville TN 37996–2100 USA

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

关键词： Sensor-based robotics intelligent human-machine interface real-time robot simulation sensor simulation visualization virtual reality interactive control

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A novel graphical simulation and animation environment for integrated sensory-motor systems

A novel graphical simulation and animation environment for i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.B. Marapane M.M. Trivedi N. Lassiter Computer Vision Robotics Research Laboratory Electrical Computer Engineering Department University of Tennessee Knoxville TN USA

Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.

关键词： Animation Robot sensing systems Robot vision systems Buildings Software performance Hardware Kinematics Sensor phenomena and characterization Sensor systems Testing

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Developing telerobotic systems using virtual reality concepts

Developing telerobotic systems using virtual reality concept...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Trivedi C.X. Chen Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.

关键词： Telerobotics Virtual reality Robot sensing systems Humans Intelligent robots Man machine systems Intelligent systems computer vision Application software Switches

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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Obstacle avoidance inverse kinematics solution of redundant manipulators by neural networks

Obstacle avoidance inverse kinematics solution of redundant ...

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IEEE International Conference on robotics and automation (ICRA)

作者： T.C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed scheme provides very satisfactory solutions.< >

关键词： Neural networks Robot kinematics Manipulators Orbital robotics Q measurement Delta modulation Multi-layer neural network

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The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments 2nd

The equivalence of second order impedance control and propor...

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2nd International Symposium on Experimental robotics, ISER 1991

作者： Volpe, Richard Khosla, Pradeep The Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University PittsburghPA15213-3890 United States

ISBN: (纸本)9783540198512

This paper reveals the essential equivalence of second order impedance control and proportional gain explicit force control with feed forward. This is first done analytically by reviewing each control method and showing how they mathematically correspond. For stiff environments the correspondence is exact. However, even for softer environments similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are presented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensation, have equivalent response to commanded force trajectories. © Springer-Verlag London Limited 1993.

关键词： Force 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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