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...
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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...
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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...
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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...
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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 handle the complexity characterized by uncertainty,
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...
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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...
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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...
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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.< >
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 de...
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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.
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...
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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.< >
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