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Kinematic analysis and position/force control of the anthrobot dextrous hand

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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A WORKCELL BASED ROBOT DESIGN PROGRAM

A WORKCELL BASED ROBOT DESIGN PROGRAM

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880357

This paper discusses a computer graphics program that helps 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 of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. Program implementation is detailed. © 1998 by ASME.

关键词： Robots

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Workcell based robot design methodologies

Workcell based robot design methodologies

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880319

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 of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. A computer program was written to implement these methods. © 1998 by ASME.

关键词： Robots

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Issues in fine motion planning for assembly 3

Issues in fine motion planning for assembly

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3rd Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1991

作者： Gottschlich, Sue New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818625953

A common problem in robotic assembly is that of mating tightly fitting parts when the locations and the dimensions of the parts are somewhat uncertain. Because the clearances allowed between mating features of parts are likely to be smaller then the aggregate uncertainties, it is often necessary to use sensoryguided motions, as opposed to point-to-point motions, for carrying out portions of an assembly operation. In this paper we will discuss a fine motion planner that develops motion plans for assembly operations where force/torque guided motions are incorporated into the plan as needed. While much work in fine motion planning has focused on dealing with the uncertainties involved, this paper will expose equally important issues that arise in assembly motion planning due to the complicated geometry of assembly parts and the tight clearances allowed between mating features of assembly parts. © 1991 IEEE.

关键词： Motion planning

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FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPECTION

FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPE...

引用

1992 IEEE International Conference on Systems, Man, and Cybernetics

作者： TARBOX, GH GOTTSCHLICH, SN GERHARDT, LA New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

ISBN: (纸本)0780307208

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is 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 volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods: the method is capable of handling arbitrarily complex geometries and does not rely on the identification of features, it lends itself naturally to a multi-sensor environment, and it facilitates true 3D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2D plane. This paper focuses on an important aspect of volumetric inspection - the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected. © 1992 IEEE.

关键词： Inspection

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FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： SRIDHARAN, K STEPHANOU, HE New York State Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be... 详细信息

ISBN: (纸本)0780305469

关键词： Robot programming

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On the derivation of geometric constraints in stereo

On the derivation of geometric constraints in stereo

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1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1992

作者： Stewart, C.V. Department of Computer Science New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818628553

Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the gradient of disparity, the directional derivative of disparity, and disparity differences between matches. The PDFs resulting from the transformations are used to critically examine many existing stereo techniques. Several techniques based on these PDFs are proposed. © 1992 IEEE.

关键词： Probability density function

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The window corner algorithm for planning translational paths among polyhedral subassemblies

The window corner algorithm for planning translational paths...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Krishnan, S.S. Sanderson, A.C. New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)0780307372

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 whether a pair of non-convex subassemblies can be separated by a sequence of fine-motions and, possibly, contact-motions, when the amount of free space tends to be severly limited. We present the three-dimensional Window Corner algorithm to plan feasible paths. The algorithm solves the FeosiblePath problem, in worst-case time O(m5) where m is the product of the number of vertices describing the robot and obstacles respectively. A Feasiblepath solution hierarchy, for assembly sequence planning, is described for incremental, straight-line and multi-step paths. The Polyhedral Cone Representation (PCR) is introduced to efficiently represent the geometrical constraints on translation and as a basis for fast collision avoidance checks. We introduce the concept of Window Corners in the PCR and this results in a finite search space. The Polyhedral Cone Obstacle Representation (PCUR), which is a constructive representation of all boundary contact configurations, transforms the problem into that of a point moving amongst a collection, O(m), of convex obstacles. In comparison, the worstcase space complexity of the C-space boundary is O(m3). Certain contact-constrained, feasible motions, which lie on surfaces without interior points can be inaccessible in a typ i d C-space representation. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Robot programming

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

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 only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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Volumetric Based Inspection

Volumetric Based Inspection

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Tarbox, G.H. Gottschlich, S.N. Gerhardt, L.A. New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

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 volumetric representations gives this approach a number of distinct advantages over the more traditional surface-based inspection methods. One significant advantage of volumetric inspection is that there is no need to identify geometric "features", particularly important when inspecting objects such as castings and forgings whose features are often difficult to identify. Secondly, the volumetric representation lends itself naturally to a multi-sensor environment. By this we mean that a volumetric model of the sensed object can be synthesized utilizing information from multiple sensors of varying types, accuracy, location, etc. This allows a choice of the most appropriate sensor for acquiring information about the different regions of the object. Finally, the volumetric representation allows us to carry out true three-dimensional inspection as opposed to the typical approach where renderings of the reference model are compared to two-dimensional images of the actual object. © 1992 IEEE.

关键词： Inspection

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