A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients ...
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A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >
A description is given of a device for determining curvatures using a cylindrical tactile sensor. The finger touches an unknown convex surface. Principal curvatures, normal force and location are determined from a 4*4...
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A description is given of a device for determining curvatures using a cylindrical tactile sensor. The finger touches an unknown convex surface. Principal curvatures, normal force and location are determined from a 4*4 window of strain measurements. Sensor strains are predicted by convolving the spatial impulse response of the rubber skin with the assumed surface pressure distribution derived from a Hertz contact model. Gradient search finds the parameters of the convex second-order shape and the force that best fit the sensor data. Experiments show radius estimation within 10%, orientation within 2.5 degrees, and sub-tactel localization of 3% of the element spacing. Accuracy limits due to sensor noise are derived.< >
A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used ...
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A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >
The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various extern...
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The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >
A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in...
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A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in one dimension on a robotic gripper, with partial success. It was found that velocity as well as positional feedback were required to complete even simple movements. It is believed that aspects of this approach would readily extend to a tactile sensing system.< >
Real-time expert system techniques and applications to robot manipulator control systems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning ...
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Real-time expert system techniques and applications to robot manipulator control systems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning controller), is developed for the trajectory tracking control in repeat operations. ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like manner using the experience of previous operations in order to force the system output to converge to the prespecified desired trajectory. ELEC does not require the knowledge of system models, so it can be used in a fairly wide range of control problems. A numerical example for a two-link robot manipulator is given which shows the satisfactory performance of ELEC.< >
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