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Two Adaptive Control Structures of Robot Manipulators

IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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A modifed optical flow approach for robotic tracking and acquisition

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Journal of Robotic systems 1989年第5期6卷 489-508页

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh North Carolina 27695 United States

A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics and Intelligent systems laboratory.at NCSU is used as an integral part of the entire tracking and acquisition system. The eye‐in‐hand system is employed to characterize the object trajectory in real time via a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that is extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the experimental results is presented. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company

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THE AEGIS DATA BUS EXPERIMENT

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NAVAL ENGINEERS JOURNAL 1989年第5期101卷 53-58页

作者： FRINK, JG VERVEN, DM John G. Frink is an assistant group supervisor in the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He received his B.S. degree in physics from Michigan State University in 1968 and the M.S. degree in computer science from the University of Maryland in 1971. Mr. Frink worked at the Naval Surface Weapons Center White Oak Laboratory on a variety of weapons systems before joining the Applied Physics Laboratory in 1978. Mr. Frink has supervised the development of a large scale battle group simulation that successfully employs the receiver selection paradigm described herein on a hardware suite composed of an extensible number of (currently 15) processors. David M. Verven is a senior electrical engineer in the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He received the B.S. degree in electrical engineering from the University of Maryland College Park in 1979 and the M. S. degree in the same discipline from The Johns Hopkins University in 1984. Mr. Verven joined the Applied Physics Laboratory in 1979 and initially worked on analysis of Navy sensor systems. In 1981 he was the AN/SPS-49 test team leader for the New Threat Upgrade (NTU) combat system land-based test. In 1982 he became involved in the development of the BBWRS system. Currently he is involved in real-time computer program development for the CEP project.

This paper documents an experiment performed by The Johns Hopkins University Applied Physics laboratory.to measure the effect of inserting a data bus into a combat system. The experiment was conducted at the Aegis computer Center located at the Naval Surface Weapons Center in Dahlgren, Virginia (NSWC/DL). The purpose of the experiment was to determine whether or not the Aegis Weapon System (the core of the Aegis Combat System) could be operated with a portion of its point-to-point interelement cables replaced by a data bus. The data bus chosen for the experiment employs message broadcasting with receiver selection. A primary goal of the experiment was to minimize the amount of Aegis computer program changes required to accommodate the data bus. The results presented in this paper will show that the experiment was a success. Key certification tests were passed with no computer program changes to the tactical elements and minimal changes in the Aegis tactical executive (ATES) program (less than 110 words changed).

关键词： Data Transmission Equipment

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The role of multisensory integration and fusion in the operation of mobile robots

The role of multisensory integration and fusion in the opera...

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1988 IEEE International Workshop on Intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

作者： Luo, Ren C. Kay, Michael G. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

The use of multisensor integration and fusion enables a multisensor-based mobile robot to operate in uncertain or unknown dynamic environments. After first distinguishing between multisensor integration and the more restricted notion of multisensor fusion, the role of multisensor integration and fusion in the operation a mobile robot is described with reference to the type of information that the integrated multiple sensors can uniquely provide the robot. A hypothetical mobile robot architecture is used to illustrate the generic functions necessary for intelligent autonomous mobility. A variety of proposed high-level representations for multisensory information are presented, along with a discussion of different sensor combinations that have been used in mobile robots. The paper concludes with short descriptions of a selection of different mobile robots to illustrate the role of multisensor integration and fusion in their operation. © 1988 by the Institute of electrical and Electronics Engineers, Inc. (IEEE).

关键词： Mobile robots

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Recognition of similar objects using tactile image array sensor 6

Recognition of similar objects using tactile image array sen...

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Intelligent Robots and computer Vision VI 1987

作者： Luo, Ren C. Loh, Horng-Hai Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived and implementation of those features has been conducted. With those moment invariants, we can eliminate the effect of lateral displacement and rotation from the tactile images. Through the generation of a decision tree and the utilization of the complex moment features, the shape of the similar objects from the tactile array sensor can be identified. © 1988 SPIE. All rights reserved.

关键词： Object recognition

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Visually guided robotic system for flexible manufacturing automation

Visually guided robotic system for flexible manufacturing au...

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1988 International Conference on Industrial Electronics: robotics and Vision, IECON 1988

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is presented. This system can, in many instances, fulfill the same function as the human worker at a faster rate, with higher accuracy/repeatability, and at a reduced cost. The overall system is comprised of two major subsystems: the use of computer vision for object tracking and object identification/manipulation. These subsystems can be described as follows: an optimal tracking subsystem that can visually track and intercept an arbitrary object which is travelling at an unknown velocity on a moving conveyor and the development of a robust visual bar code scanning scheme which can accommodate arbitrary bar code orientations. Thus, the system will provide for the realization of autonomous identification and inspection of arbitrary objects travelling on a conveyor. A Unimate PUMA 560 robot with integrated sensors and a MicroVax II host computer have been employed to evaluate the performance of the presented techniques. The overall system configuration, its basic principles, and a demonstration of the initial results are discussed. © 1988 IEEE.

关键词： Intelligent robots

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Multisensor integration and fusion: Issues and approaches

Multisensor integration and fusion: Issues and approaches

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Sensor Fusion 1988

作者： Luo, Ren C. Kay, Michael G. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Issues concerning the effective integration of multiple sensors into the operation of intelligent systems are presented, and a description of some of the general paradigms and methodologies that address this problem is given. Multisensor integration, and the related notion of multisensor fusion, are defined and distinguished. The potential advantages and problems resulting from the integration of information from multiple sensors are discussed. © 1988 Proceedings of SPIE - The International Society for Optical engineering. All rights reserved.

关键词： Integration

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The design of an assembly cell task supervisor

The design of an assembly cell task supervisor

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IEEE International Conference on robotics and automation (ICRA)

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified, three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design of the supervisor is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. Using concepts from operating systems, the design of each of these supervisor blocks is examined.< >

关键词： Robotic assembly Assembly systems robotics and automation Manipulators Robot sensing systems Resource management Robot kinematics Sensor systems Job shop scheduling Robot programming

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Analytic formulation of intelligent machines as neural nets

Analytic formulation of intelligent machines as neural nets

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IEEE International Symposium on Intelligent Control (ISIC)

作者： G.N. Saridis M.C. Moed Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The design of the organization level of the intelligent machine as a Boltzmann machine, as described in current neural network literature, is discussed. Since this level is responsible for planning the actions of the machine, the problem at this tier is formulated as the construction of the right sequence of tasks or events which minimizes the entropy for the desired action. Two search techniques, simulated annealing (SA) and expanding subinterval random search (ESRS), are described. These techniques are used to find the global minimum entropy of a Boltzmann machine. Simulations using these search techniques were conducted using energy as a cost function, and results indicate that ESRS converges faster than SA to a global minimum if the topology contains narrow and deep cost wells.< >

关键词： Machine intelligence Neural networks Intelligent robots Intelligent control Learning systems Artificial intelligence Entropy Control systems Humans Intelligent structures

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An online supervisor for robotic tasks

An online supervisor for robotic tasks

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International Conference on computer Integrated Manufacturing

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. The overall function of the supervisor is examined in relation to the other levels of the hierarchical system. The theoretical design of each module of the supervisor is presented and a sample assembly is executed under the supervisor's control.< >

关键词： Robotic assembly Robot sensing systems Robot kinematics Assembly systems Manipulators Sensor systems Resource management Concurrent computing Hierarchical systems Communication system control

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