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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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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

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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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Preface——Special Issue on new Directions in Nonlinear and Distributed Control

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Journal of Systems Science & Complexity 2018年第1期31卷 1-3页

作者： LIU Tengfei XIN Bin JIANG Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China Tandon School of Engineering New York University Brooklyn NY 11201 USA

Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha... 详细信息

关键词：控制问题非线性分布式工程应用程序电子物理自然系统生产线相互作用

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Description and kinematic analysis of the Anthrobot-2 dextrous hand

Description and kinematic analysis of the Anthrobot-2 dextro...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： J. Vanriper 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 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.< >

关键词： Kinematics Fingers robotics and automation Robots End effectors Jacobian matrices Software prototyping Prototypes NASA Servomechanisms

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Fuzzy distance functions for motion planning

Fuzzy distance functions for motion planning

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International Conference on Tools for Artificial Intelligence (ICTAI)

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

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.< >

关键词： Motion planning robotics and automation Fuzzy sets Robots Bandwidth Motion measurement Motion detection Manipulators Euclidean distance Algorithm design and analysis

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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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Issues in Fine Motion Planning for Assembly

Issues in Fine Motion Planning for Assembly

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Annual Conference on Intelligent Robotic Systems for Space Exploration

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

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Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments

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Journal of Intelligent and Robotic Systems: Theory and Applications 1994年第3期11卷 223-267页

作者： Kyriakopoulos, K.J. Saridis, G.N. New York State Cent for Advanced Technology in Automation and Robotics NY United States

An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. Two solutions are obtained: (1) A numerical solution of the optimization problem and a perturbation type of control to update the optimal plan and (2) A computationally efficient method giving near optimal solutions. Simulation results verify the value of the proposed strategies and allow for comparisons.

关键词： Mobile robots

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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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