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PAR - A CSG-BASED UNIQUE REPRESENTATION SCHEME FOR ROTATIONAL PARTS

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1987年第6期17卷 1039-1049页

作者： LEE, YC JEA, KFJ Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109

PAR (principal axis representation) for rotational parts (i.e., solids of revolution) is proposed as an internal representation scheme for constructive solid geometry (CSG). They key idea of PAR is to represent an object uniquely by its principal axis and a set of boundary curves. Since PAR is in an evaluated form, geometrical properties of parts can be computed more directly and efficiently from this evaluated representation than from the original CSG tree. The scheme is described, and operations (e.g. union) on PARs are defined. The uniqueness of the scheme is proved. An algorithm that converts a CSG representation into PAR is presented along with examples. The equivalence of PAR to the CSG scheme for rotational parts is proved.

关键词： Feature extraction Solids Geometry Syntactics Task analysis Solid modeling Pattern recognition

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New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

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AIAA/NASA/USAF 2nd Symposium on automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

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Decentralized adaptive control of robot manipulators

Decentralized adaptive control of robot manipulators

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IEEE International Conference on robotics and automation (ICRA)

作者： D. Gavel T. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA

A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.

关键词： Adaptive control Control systems Robot control Manipulator dynamics Distributed control Programmable control Feedback Performance gain Torque control Laboratories

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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On a simplified joint controller design for robot manipulators

On a simplified joint controller design for robot manipulato...

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IEEE Conference on Decision and Control

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

A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.

关键词： Robot control Manipulators Torque control Robust control Couplings Force control Gravity Motion control Uncertainty computer simulation

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Range image segmentation and surface parameter extraction for 3-D object recognition of industrial parts

Range image segmentation and surface parameter extraction fo...

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IEEE International Conference on robotics and automation (ICRA)

作者： Joonhee Han R. Volz T. Mudge Department of Electrical Engineering and Computer Science Robotics Research Laboratory The University of Michigan Ann Arbor MI

This paper addresses the problem of extracting certain types of surfaces for 3-dimensional object recognition in the presence of partial occlusion and noise using range information. We restrict consideration to man made industrial parts. In this case, we need only work with a small set of surface shapes such as planes, cylinders, and spheres since such shapes are common in industrial parts and it is only necessary to recognize and locate a sufficient set of surface regions to uniquely distinguish the part being observed from all others that might be present. We describe a way of extracting the parameters of these types of surfaces using normal analysis. The use of surface parameters then allows efficient and robust use of a matching process for object recognition and pose determination even though there are many undefined or occluded surface regions.

关键词： Image segmentation Parameter extraction Object recognition Shape Surface reconstruction Noise shaping Eigenvalues and eigenfunctions computer industry Equations Image analysis

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PAR: A representation scheme for rotational parts

PAR: A representation scheme for rotational parts

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IEEE International Conference on robotics and automation (ICRA)

作者： Yung-Chia Lee K. Jea The Robotics Research Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI

A new representation scheme PAR (Principal Axis Representation) for rotational parts is proposed as an internal representation scheme for Constructive Solid Geometry (CSG). The main idea of PAR is to represent uniquely an object by its principal axis and a set of boundary curves so that geometrical properties of the part can be easily computed. In his paper, the PAR scheme is first described and followed by a proof of its equivalence to the CSG scheme. Also proved is the uniqueness of the PAR scheme. Finally, an algorithm that converts a CGS representation into PAR is briefly discussed along with examples.

关键词： Feature extraction Shape Lifting equipment Robots Laboratories Computational geometry Virtual manufacturing Solid modeling computer displays Pattern recognition

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Experimental evaluation of a PUMA manipulator model-referenced adaptive controller

Experimental evaluation of a PUMA manipulator model-referenc...

引用

IEEE Conference on Decision and Control

作者： M. B. Leahy S. H. Murphy R. Al-Jarr G. N. Saridis Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Robotics and Automation Laboratories Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Rensselaer Polytechnic Institute Troy New York

The robotic manipulator control performance database has been expanded by experimental evaluation of a joint space model-reference adaptive control technique. The trajectory tracking accuracy of the evaluated Model-Reference Adaptive Control technique was insufficient for gross motion control of a six degree of freedom PUMA manipulator. The adaption mechanism did not force the manipulator joints to track the reference model output. The Model-Referenced Adaptive Controller demonstrated efficacy inferior to dynamics based control techniques. Velocity reference input and friction compensation have been identified as essential components of any adaptive PUMA controller. Evaluation results provide valuable insight into further development of adaptive manipulator control methods.

关键词： Programmable control Adaptive control Manipulator dynamics Orbital robotics Robot control Databases Trajectory Tracking Motion control Friction

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Near-Optimum Control of a Robot Manipulator

引用

IFAC Proceedings Volumes 1987年第5期20卷 271-275页

作者： M. Jamshidi Y.T. Kim M. Shahinpoor CAD Laboratory for Systems/Robotics Electrical & Computer Engineering Department University of New Mexico Aluquerque NM 87131 USA Departmental of Mechanical Engineering University of New Mexico Aluquerque NM 87131 USA

This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of the linear state regulator problem. The effectiveness of the proposed method is verified by simulation results for a two-link planar robot.

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

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IEEE International Conference on robotics and automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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