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IEEE International Conference on robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering Systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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Process monitoring and control for robotic resistive welding

Process monitoring and control for robotic resistive welding

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IEEE Conference on Control technology and Applications (CCTA)

作者： D. Mintz J.T. Wen Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute New York State Center for Advanced Technology in Automation Troy NY USA

Spot welding is a commonly used process for joining metals. Under nominal operating conditions, existing weld controllers can produce high quality welds. In practice, however, the process can significantly deviate from the nominal condition, and thus compromise the quality of the weld. This paper presents an overview of the main contributing factors to the process variation and suggest methods to detect and ameliorate them.

关键词： Monitoring Robot control Process control Spot welding Electrodes Surface resistance robotics and automation manufacturing automation Computer aided manufacturing manufacturing processes

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IVIS: an integrated volumetric inspection system

IVIS: an integrated volumetric inspection system

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Proceedings of the CAD-Based Vision Workshop

作者： G.H. Tarbox S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

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.< >

关键词： Inspection Solid modeling robotics and automation Casting Machining Materials science and technology Geometry Robot sensing systems manufacturing industries Production

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on robotics and automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation Systems engineering and theory Iterative algorithms Convergence

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering Systems engineering and theory Equations Manifolds Fuses

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Variably-autonomous manipulation

Variably-autonomous manipulation

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh A. Silverthorne S. Gottschlich H. Stephanou New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping Systems engineering and theory

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Dynamic modeling and force/position control for the Anthrobot dextrous robotic hand

Dynamic modeling and force/position control for the Anthrobo...

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IEEE Conference on Decision and Control

作者： A.R. Zink K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

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

关键词： Force control Position control Robots robotics and automation Fingers Servomechanisms Regulators Analog-digital conversion Kinematics Manipulators

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The kinematics of the Anthrobot-2 dextrous hand

The kinematics of the Anthrobot-2 dextrous hand

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IEEE International Conference on robotics and automation (ICRA)

作者： M.S. Ali K.J. Kyriakopoulos H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

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.< >

关键词： Kinematics Fingers Thumb robotics and automation Humans End effectors Jacobian matrices Robots Anthropomorphism Spraying

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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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