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IEEE International Conference on robotics and Automation (ICRA)

作者： T.A. Lasky T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davisburg CA USA

A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface.< >

关键词： Force control Robot control Control systems Robot kinematics Manipulator dynamics Surface impedance Friction Velocity control Automatic control Algorithm design and analysis

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Preliminary experiments of visuo-motor integration in pushing tasks

Preliminary experiments of visuo-motor integration in pushin...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： P. Franchi F. Gandolfo G. Casalino P. Morasso G. Sandini R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.< >

关键词： Robot sensing systems Trajectory Layout Artificial intelligence Strategic planning Orbital robotics Motion planning Feedback Shape Power system planning

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Image-based homing

Image-based homing

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Hong X. Tan B. Pinette R. Weiss E.M. Riseman Robotics Research Laboratory Courant Institute New York University New York NY USA Computer and Information Science Department University of Massachusetts Amherst Amherst MA USA

A system that allows a robot to acquire a model of its environment and to use this model to navigate is described. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring target locations. Features of the approach include an imaging system that acquires a compact, 360 degrees representation of the environment and an image-based, qualitative homing algorithm that allows the robot to navigate without explicitly inferring three-dimensional structure from the image. The results of an experiment in a typical indoor environment are described, and its argued that image-based navigation is a feasible alternative to approaches using three-dimensional models.< >

关键词： Navigation Mobile robots Contracts Indoor environments Cultural differences Marine vehicles Solid modeling Military computing Information science Data mining

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ADAPTIVE-CONTROL OF MANIPULATORS CONTAINING CLOSED KINEMATIC LOOPS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1990年第1期6卷 10-19页

作者： WALKER, MW Robotics Research Laboratory Department of Electrical and Computer Science University of Michigan Ann Arbor MI USA

A novel algorithm for the adaptive control of a robot manipulator which may contain closed kinematic loops is described. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and, hence, obtains its computational efficiency through the recursive nature of the algorithm. Improved computational efficiency is achieved by eliminating the need to compute the constraint forces. Only inertial and gravitational forces are actually computed by the algorithm. Simulation results are presented.< >

关键词： Adaptive control Kinematics Manipulator dynamics Stability Acceleration Computational complexity Heuristic algorithms Parameter estimation Lyapunov method Accelerometers

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AN ADAPTIVE SCHEME FOR ROBOT JOINT TRAJECTORY GENERATION

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JOURNAL OF ROBOTIC systems 1990年第6期7卷 881-895页

作者： HSIA, TC GUO, ZY LI, L Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis Davis CA 95616

It has been shown recently that robot inverse kinematic transformation can be easily carried out by using a nonlinear dynamic system called “joint space command generator.” In this paper, an adaptive version of the command generator is proposed. The main feature of this command generator is that the inverse Jacobian is estimated on-line (using least-squares algorithms), thus the explicit form of the inverse Jacobian is not required. Since the Jacobian is dependent on the end-effector orientation representation, the adaptive command generator is then inherently flexible in accommodating any choice of orientation representation during Cartesian trajectory planning. The only knowledge required is the forward kinematics of the robot. Thus inverse kinematic transformation of robot trajectories can be carried out with a minimum amount of kinematic information. Extensive simulation studies of the proposed scheme have been carried out which showed that the adaptive command generator is computationally feasible and highly accurate. Different orientation representations have been tested with equal success. Some typical simulation results are presented to illustrate the performance of the adaptive command generator.

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BUILDING EFFICIENT AND FLEXIBLE FEATURE-BASED INDEXES

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INFORMATION systems 1990年第6期15卷 653-662页

作者： JEA, KFJ LEE, YC Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States Current affilation: Cell Communications Research United States Current affilation: AT and T Bell Laboratories U.S.A.

If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding design semantics or functionalities is often embedded in the geometric description of design objects, and is therefore not directly available for indexing. Presented in this paper is an efficient and flexible indexing mechanism for retrieving design objects that possess similar design features as described by the user. The underlying database is composed of rotational objects represented by constructive solid geometry (CSG). Although domain-specific representation schemes and algorithms are involved, the main objective of this paper is to emphasize the importance of engineering indices and to illustrate the effort required to build as well as to use such indices.

关键词： ENGINEERING DATABASE MANAGEMENT ENGINEERING INDEXES FEATURE EXTRACTION CONSTRUCTIVE SOLID GEOMETRY MULTIPLE KEY ACCESS PATTERN MATCHING DESIGN RETRIEVAL

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3-D CURVE MATCHING USING SPLINES 1st

3-D CURVE MATCHING USING SPLINES

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1ST EUROPEAN CONF ON computer VISION ( ECCV 90 )

作者： KISHON, E HASTIE, T WOLFSON, H AT&T Bell Laboratories Murray Hill 07974 NJ United States Robotics Research Laboratory New York University Computer Science Department Tel Aviv University Tel Aviv 69 978 Israel

ISBN: (纸本)354052522X

A machine vision algorithm to find the longest common subcurve of two 3-D curves is presented. The curves are represented by splines fitted through sequences of sample points extracted from dense range data. The approximated 3-D curves are transformed into 1-D numerical strings of rotation and translation invariant shape signatures, based on a multi-resolution representation of the curvature and torsion values of the space curves. The shape signature strings are matched using an efficient hashing technique that finds longest matching substrings. The results of the string matching stage are later verified by a robust, least-squares, 3-D curve matching technique, which also recovers the Euclidean transformation between the curves being matched. This algorithm is of average complexity O(n) where n is the number of the sample points on the two curves. The algorithm has applications in assembly and object recognition tasks. Results of assembly experiments are included. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Object recognition

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On reducing compensator bandwidth of LQG/LTR control: an H∞- optimization approach

On reducing compensator bandwidth of LQG/LTR control: an H∞...

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American Control Conference (ACC)

作者： K. C. Han T. C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616 Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

Due to lack of robustness, the Linear Quadratic Gaussian (LQG) approach to the design of control systems is enhanced by Loop Transfer Recovery (LTR) techniques. However, the robustness is recovered with the price paid to the unduly large or infinite bandwidth of the compensator. Such compensators are undesirable because plant output measurement noise is greatly amplified so as to degrade the system performance. A simple method is presented for reducing compensator bandwidth by H ∞ - optimization of a stable function which combines the usual sensitivity function difference with a weighted closed-loop transfer function from noise to plant input. An example is given to show the improvement achievable by this new design method.

关键词： Bandwidth Noise robustness Robust control Control systems Noise measurement Degradation System performance Optimization methods Transfer functions Noise reduction

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Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers

Robot manipulator control using decentralized linear time-in...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia L.S. Gao Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

It is shown that robot manipulator control can be accomplished using simple decentralized linear time invariant time-delayed joint controllers instead of the complicated computed torque control scheme. This means that all the online computational problems associated with computing robot inverse dynamics can be avoided, and the robot control problem is essentially reduced to that of computing n linear proportional-derivation controls for n joint subsystems. The proposed control technique employs a time-delayed control with a specially designed constant diagonal gain matrix to decouple and linearize the robot joint dynamics so that linear centralized joint control can be achieved. It is shown that the proposed controller is stable, and the value of the special gain matrix can be selected based on a sufficient condition of stability presently developed. However, the establishment of this sufficient condition requires knowledge of the inertial matrix of the robot. It is also shown that the controller is robust in the presence of payload uncertainty. A two-link planar robot is presented to illustrate the controller design procedures and the performance of the controller.< >

关键词： Robot control Torque control Centralized control Transmission line matrix methods Manipulator dynamics Sufficient conditions Proportional control Stability Robust control Payloads

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Joint trajectory generation for redundant robots in an environment with obstacles

Joint trajectory generation for redundant robots in an envir...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Z.Y. Guo T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

The problem of determining collision-free joint space trajectories for redundant robots is considered, and the command-generator approach is used to generate such trajectories. In this approach, a distance objective function is defined and is optimized along the robot joint trajectories through a vector in a null space. Algorithms for implementing this optimization problem are fully developed. It is shown that the proposed collision-free trajectory generation scheme is efficient and practical. Extensive simulation results of a four-link robot example are presented and analyzed.< >

关键词： Orbital robotics Collision avoidance Robot sensing systems Kinematics Null space Analytical models Path planning Object detection Robot control Servomechanisms

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