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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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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control Computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing Manufacturing processes Containers Inorganic materials

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advanced automation in manufacturing and service industries

Advanced automation in manufacturing and service industries

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IEEE International Conference on robotics and automation (ICRA)

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

Summary form only given. While industrial automation has long been associated with the increase of manufacturing productivity, much of the current motivation behind the development of advanced automation techniques is driven by the need to enhance product quality, increase the safety of the operational environment, and quickly respond to changing consumer demands for new products. In this paper, we introduce some modern principles underlying the design and operation of advanced automation systems, then describe several industrial implementations in both manufacturing and service sectors. Special attention is paid to the concept of mass customization, and its potential impact on the growth of small enterprises. We start with the design stage, then look at the manufacturing process, and discuss the application of advanced automation concepts to the processing of both metals and textiles. The role of computer based modeling and inspection as quality control tools is examined. Finally, we present several recent developments in intelligent robotic systems, and describe their applications. Specific examples involving maintenance and repairs in nuclear power generation plants are discussed.

关键词： Manufacturing automation Manufacturing industries Design automation Application software robotics and automation Intelligent robots Productivity Product safety Pulp manufacturing Mass customization

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Task-based servoing in quaternion space

Task-based servoing in quaternion space

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IEEE International Conference on robotics and automation (ICRA)

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

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation Manufacturing automation Computer aided manufacturing Motion control Acceleration

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Applications of computational intelligence in industrial automation

Applications of computational intelligence in industrial aut...

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IEEE/IAS International Conference on Industrial automation and Control, IA & C

作者： K. Sridharan H.E. Stephanou S.S. Keerthi New York State Center for Adv. Technol. in Autom. & Robotics Rensselaer Polytech. Inst. Troy NY USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA Department of Computer Science and Automation Indian Institute of Science Bangalore India

Techniques such as genetic algorithms, simulated annealing and evolutionary programming constitute a discipline often referred to as computational intelligence. During the past decade, a number of computationally difficult problems in optimization have been solved reasonably well by application of these techniques. The authors' goal in the paper is to present a brief description of these techniques and consider some applications to engineering problems.< >

关键词： Computational intelligence Computer industry Genetic algorithms robotics and automation Simulated annealing Application software Computational modeling Computer simulation Genetic programming Biological system modeling

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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

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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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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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