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ASME 1987 Design Technology Conferences, DETC 1987

作者： Tucker, M. Perreira, N.D. Computer Science and Electrical Engineering Department Mechanical Engineering and Mechanics Department Institute for Robotics Lehigh University BethlehemPA United States

ISBN: (纸本)9780791897744

A procedure for obtaining solutions to the general inverse kinematics problem for both position and velocity is presented. Solutions to this problem are require~ for improved robot control and linkage synthesis. The procedure requires obtaining the inverse of the actual robot linkage Jacobian. A procedure to detect the presence of singularities in the Jacobians and their causes are given. Inverse solution techniques applicable to robots with less than, equal to, or greater than six degrees of freedom and their implementation to robots with various types of singularities is outlined. For each case, the implementation of both the complete Moore-Penrose inverse and a robot specific pseudo inverse are included. Although it is not necessary to use the complete Moore-Penrose inverse on any particular robot, it can be used to obtain generic inverse routines for general purpose applications. © 1987 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Robots

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New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

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AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

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Segmented Descriptions of 3-D Surfaces

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IEEE Journal on robotics and Automation 1987年第6期3卷 527-538页

作者： Fan, Ting-Jun Medioni, Gerard Nevatia, Ramakant Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles MC0273 CA 90089-0273 United States

A method to segment and describe visible surfaces of three-dimensional (3-D) objects is presented by first segmenting the surfaces into simple surface patches and then using these patches and their boundaries to describe the 3-D surfaces. First, distinguished points are extracted which will comprise the edges of segmented surface patches, using the zero-crossings and extrema of curvature along a given direction. Two different methods are used: if the sensor provides relatively noise-free range images, the principal curvatures are computed at only one resolution, otherwise, a multiple scale approach is used and curvature is computed in four directions 45° apart to facilitate interscale tracking. These points are then grouped into curves and these curves are classified into different classes which correspond to significant physical properties such as jump boundaries, folds, and ridge lines (or smooth extrema). Then jump boundaries and folds are used to segment the surfaces into surface patches, and a simple surface is fitted to each patch to reconstruct the original objects. These descriptions not only make explicit most of the salient properties present in the original input, but are more suited to further processing, such as matching with a given model. The generality and robustness of this approach is illustrated on scene images with different available range sensors. Copyright © 1987 by The Institute of electrical and Electronics Engineers, Inc.

关键词： Object recognition Engine cylinders Surface reconstruction Image sensors Intelligent robots Image segmentation Image resolution Image reconstruction Robustness Layout

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Synthesis of Place Transition Nets for Simulation and Control of Manufacturing Systems

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IFAC Proceedings Volumes 1987年第9期20卷 583-588页

作者： B.H. Krogh C.L. Beck Department of Electrical and Computer Engineering and the Robotics Institute Carneie-Mellon University Pittsburgh Pennsylvania USA

This paper presents a methodology for constructing a class of place/transition nets for modeling, simulation and control of discrete manufacturing processes. We consider batch production processes which can be decomposed into a set of discrete operations. For each operation, required resources and associated discrete resource states are identified. To model the discrete-event evolution of the system we define a class of modified Petri nets and present a procedure for synthesizing the net model from simple activity cycles for each resource. New results in Petri net theory are presented which guarantee the absence of system deadlocks and proper resource allocation for the MPN models. Synthesis of the net constitutes a design of viable discrete contro logic including error recovery loops and other real-time decision structures. As an example, the proposed methodology is applied to the high-level discrete control of a two-arm robotic assembly cell.

关键词： computer control discrete systems manufacturing processes Petri nets

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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KINEMATIC MODELING OF WHEELED MOBILE ROBOTS

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JOURNAL OF ROBOTIC SYSTEMS 1987年第2期4卷 281-340页

作者： MUIR, PF NEUMAN, CP Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh Pennsylvania 15213

We formulate the kinematic equations of motion of wheeled mobile robots incorporating conventional, omnidirectional, and ball wheels. 1 We extend the kinematic modeling of stationary manipulators to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface, and unactuated and unsensed wheel degrees of freedom. We apply the Sheth-Uicker convention to assign coordinate axes and develop a matrix coordinate transformation algebra to derive the equations of motion. We introduce a wheel Jacobian matrix to relate the motions of each wheel to the motions of the robot. We then combine the individual wheel equations to obtain the composite robot equation of motion. We interpret the properties of the composite robot equation to characterize the mobility of a wheeled mobile robot according to a mobility characterization tree. Similarly, we apply actuation and sensing characterization trees to delineate the robot motions producible by the wheel actuators and discernible by the wheel sensors, respectively. We calculate the sensed forward and actuated inverse solutions and interpret the physical conditions which guarantee their existence. To illustrate the development, we formulate and interpret the kinematic equations of motion of Uranus, a wheeled mobile robot being constructed in the CMU Mobile Robot Laboratory.

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Essentially decision free Petri nets for real-time resource allocation

Essentially decision free Petri nets for real-time resource ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Krogh R. Sreenivas Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA

Qualitative properties of Petri nets (such as liveness and safeness) are useful in discrete manufacturing applications since they correspond to consistent, deadlock-free control logic. In this paper we introduce the qualitative property of essentially decision free (EDF) places in Petri nets (PNs) to represent the absence of unresolved (nonunique) resource allocation conditions. We show that a previously developed method for PN synthesis of on-line control logic may lead to ambiguous resource allocation conditions which are exhibited in the PN model us non-EDF places. Using the theory of place-invariants, we develop a procedure for identifying non-EDF places in the synthesized logic. The procedure is illustrated for an example of assigning robots to tasks in a flexible assembly cell. For this example, allocation ambiguities are systematically resolved by introducing logical NOT conditions in the PN model.

关键词： Petri nets Resource management Logic Control system synthesis Manufacturing systems System recovery Robotic assembly Robots computer aided manufacturing Application software

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Decentralized adaptive control of robot manipulators

Decentralized adaptive control of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Gavel T. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA

A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.

关键词： Adaptive control Control systems Robot control Manipulator dynamics Distributed control Programmable control Feedback Performance gain Torque control Laboratories

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A prototype arm signature identification system

A prototype arm signature identification system

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Stone A. Sanderson Department of Electrical and Computer Engineering and Robotics Institute Carnegie-Mellon University Pittsburgh PA

The S-Model identification algorithm described in [6,7] is a technique which can be used to accurately identify the actual kinematic parameters of serial link robotic manipulators. The actual kinematic parameters of a manipulator differ from the design parameters due to the presence of random manufacturing errors. The set of identified kinematic parameters is called the arm signature. Accurate arm signatures are needed to control and improve the end-effector positioning accuracy of robotic manipulators for a variety of important tasks. This paper describes the hardware and software implementation of a prototype arm signature identification system. This system uses an external ultrasonic range sensor to measure the Cartesian position of target points placed on the links of the robot. Algorithms to compensate the primary range measurements for spatial variations in air temperature and humidity are also incorporated. The relative Cartesian positioning accuracy of the sensor system is ± .02cm. The general characteristics of our sensor design and the overall system design which exploits averaging over many sensor readings offer numerous advantages for arm signature identification. The prototype system has been applied in [6] to improve the kinematic performance of seven Puma 560 robots. For these robots relative positioning accuracy was improved by a factor of 10 on straight'line positioning tasks. Analysis and simulation of systematic errors confirms that the resolution of our sensor system should provide kinematic performance close to the limitations of the joint encoders. Our experimental studies show that sensor bias ultimately limits kinematic performance using this arm signature system. Experience with this prototype system has demonstrated that the S-Model identification algorithm is a practical and viable method for improving the kinematic performance of robotic manipulators.

关键词： Prototypes Kinematics Sensor systems Robot sensing systems Manipulators Sensor phenomena and characterization Ultrasonic variables measurement Manufacturing Hardware Software prototyping

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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