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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： Y. Zhang F. Gao W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. These uncontrollable forces need to be separated in the representation of contact forces to ensure that the contact forces are obtained by adjusting the controllable components of the contact forces. This paper provides a method to solve this problem. We decompose the space of contact forces into four subspaces. Based on this decomposition, the contact forces can be explicitly represented with respect to the joint torques. Therefore, the application of the technique leads to a controllable solution. Three examples are provided to illustrate the decomposition.

关键词： Fingers Intelligent robots Grasping Force control Torque control Manufacturing systems Laboratories Grippers Equations Vectors

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A high precision fuzzy-neural controller based on data remodification

A high precision fuzzy-neural controller based on data remod...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Tiehua Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory tjchool of Engineering Science Simon Fraser University Burnaby BC Canada

Fuzzy logic and neural networks have wide applications in intelligent systems. The research describes a high precision fuzzy neural controller design method in which a feedforward network learns fuzzy rules offline while employing an analytical approach in place of the conventional error back propagation method which can be time consuming to implement. Through repeated modifications of the system inputs, the proposed technique restores valuable information often lost during fuzzification. As a result, interpolation and data remodification properties inherently rooted in the controller significantly improve the system response.

关键词： Fuzzy control Fuzzy neural networks Fuzzy logic Neural networks Intelligent systems Intelligent networks Design methodology Error correction Interpolation Control systems

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Performance charts for the design of robotic mechanisms with three moving links

Performance charts for the design of robotic mechanisms with...

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IEEE International Conference on systems, Man and Cybernetics

作者： Feng Gao W.A. Gruver Yuru Zhang Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This research concerns a method for the analysis, classification and design of robotic mechanisms with three moving links. Using the workspace geometry, we describe relationships between the kinematic properties and link lengths. The method utilizes a model of the solution space for planar serial mechanisms. Using this model, performance charts are obtained for three types of workspaces. As an example of the proposed methodology, a large number of industrial robots and research manipulators are classified. The technique has wide application to the analysis and design of robotic hands, manipulators, and walking machines.

关键词： Intelligent robots Legged locomotion Orbital robotics Computational geometry Service robots Robot kinematics Solid modeling Industrial relations Manipulators Mechanical factors

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An improved fuzzy modeling algorithm. I. Inference mechanism

An improved fuzzy modeling algorithm. I. Inference mechanism

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaLlIndustnal Engineering University of Toronto Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaVIndusuial E University of Toronto Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhndustrial Engineering University of Toronto Toronto Canada

We attempt to improve the objectivity of fuzzy modeling and control by introducing a general and unified parameterized formulation to the reasoning process. As a result, we are no longer restricted to a few reasoning ... 详细信息

关键词： Inference algorithms Inference mechanisms Fuzzy systems Fuzzy reasoning Fuzzy sets Laboratories Flowcharts robotics and automation Intelligent systems Intelligent robots

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Robust dual-arm manipulation of rigid objects via palm grasping-theory and experiments

Robust dual-arm manipulation of rigid objects via palm grasp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Systems Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Los Angeles Davis CA USA

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot systems

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Journal of robotics and Mechatronics 1996年第3期8卷 286-291页

作者： Agah, Arvin Bekey, George A. Research Scientist Fellow Bio-Robotics Division Mechanical Engineering Laboratory 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States Robotics Research Laboratory University of Southern California Los AngelesCA90089 United States

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony. © 1996, Fuji Technology Press. All rights reserved.

关键词： Multi agent systems

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Classification of grasps by multifingered robot hands

Classification of grasps by multifingered robot hands

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： Y. Zhang W.A. Gruver Beijing Aeronautics and Astronautics University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the differences between three types of grasps classified in the paper and indicates how the contact force can be decomposed corresponding to each type of grasp. Therefore, it provides a guideline for formulating the distribution of contact forces as a basis for optimization. The subspaces and the determination of their dimensions are illustrated by examples.

关键词： Fingers Grasping Humans Force control Orbital robotics Intelligent robots Grippers Aerodynamics Manufacturing systems Laboratories

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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systems AND COMPUTERS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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OPTIMUM-SHAPE CONSTRUCTION OF FLEXIBLE MANIPULATORS WITH TOTAL WEIGHT CONSTRAINT

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1995年第4期25卷 605-614页

作者： WANG, FY RUSSELL, JL Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper addresses the problem of optimum shape design of flexible manipulators that maximizes the fundamental frequency of vibration under a specified total weight constraint, Successive iteration schemes are developed to solve the unconstrained optimum shape design problem analytically using the variational approach, while nonlinear programming methods are used to solve the constrained optimum shape design problem numerically using the optimization approach. In addition, since the tip load greatly influences the optimum frequency of a flexible arm and it is unavoidable for the arm to handle multiple tip loads, a minimax design method is proposed to construct the optimum shape under a finite range of tip loads, It is shown that the fundamental frequency of a flexible manipulator can be increased substantially through the optimum tapering of the cross section of its link, For example, numerical analysis indicates that, depending on the values of hub inertia and tip load, an increment from 149.76% to 642.31% in the fundamental frequency can be achieved for manipulators with links of geometrically similar cross sections, The results of this paper suggest a practical method of building flexible manipulators which can move faster under a given weight without causing serious vibration problems, thereby increasing productivity.

关键词： Shape Frequency Manipulator dynamics Structural beams Service robots Orbital robotics Space exploration Bandwidth Control systems Boundary conditions

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