In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine...
详细信息
作者:
Derby, StephenDirector
Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States
This paper details a set of methodologies to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error...
详细信息
In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of o...
详细信息
A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volu...
详细信息
An anthropomorphic five-fingered hand, the Anthrobot-2, is described. It features anatomical consistency with a human hand, giving it special advantages during teleoperation. Each finger has four joints as in the huma...
详细信息
An anthropomorphic five-fingered hand, the Anthrobot-2, is described. It features anatomical consistency with a human hand, giving it special advantages during teleoperation. Each finger has four joints as in the human hand: two at the knuckle, one between the proximal and middle finger segments, and one between the middle and distal finger segments. The thumb has four degrees of freedom, allowing it to emulate human thumb motion. The controlling hardware and the kinematic analysis, including forward and inverse kinematics, are presented. Future research is discussed.< >
The problem of planning motions offline for a robot in the presence of obstacles via an algorithm that does not proceed by a discretization of the search space involves defining good heuristics to characterize the pro...
详细信息
The problem of planning motions offline for a robot in the presence of obstacles via an algorithm that does not proceed by a discretization of the search space involves defining good heuristics to characterize the proximal relationships between two rigid bodies and the development of algorithms for their computation. Several measures are presented, and schemes for their computation are developed. The performances of the algorithms are determined in terms of their running time. The advantage of the fuzzy model is that it lends itself easily to numerical computation involving manipulation of the coordinates of the extreme points.< >
Presents a novel approach to automated visual inspection based on comparing volumetric models of a reference object to a model of an actual object iteratively created from sensor data. The use of volumetric models giv...
详细信息
Presents a novel approach to automated visual inspection based on comparing volumetric models of a reference object to a model of an actual object iteratively created from sensor data. The use of volumetric models gives this approach a number of distinct advantages over more traditional surface-based methods. First, there is no need to identify "features" which is important when inspecting objects whose features are difficult to identify. Second, volumetric inspection lends itself naturally to multi-sensor applications. Finally, true 3-D comparisons of the reference and sensed objects can be easily carried out using volumetric models.< >
The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental re...
详细信息
The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.< >
An anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics, as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or auto...
详细信息
An anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics, as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or autonomous operation. The Anthrobot frames are assigned using the modified Denavit-Hartenberg formulation, referred to as the hand frame. A finger with proximal link contact point is described.< >
暂无评论