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Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date 2-6 May 1993

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  • Proceedings of 1993 IEEE International Conference on Robotics and Automation

    Publication Year: 1993
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  • Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

    Publication Year: 1993, Page(s):462 - 469 vol.1
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by the generic structures of the model equations. For each class, problems of irreducibility of the model, configuration of the motorization and feedback equivalence are addressed View full abstract»

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  • Superior synthesis using Boolean matrix computation

    Publication Year: 1993, Page(s):337 - 342 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Discrete-event systems are modeled by finite state machines using Boolean matrices and vectors. A supervisor synthesis method for such discrete event systems using Boolean matrix computations is proposed. The supervisor synthesis algorithm is practical to implement, since the size of the Boolean state vector in the product system does not increase exponentially with the number of components View full abstract»

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  • Optimum design of manipulators under dynamic isotropy conditions

    Publication Year: 1993, Page(s):470 - 475 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    The optimum design of manipulator architectures under dynamic isotropy conditions is addressed. The goal of the design is to choose the kinematic and inertial parameters of manipulators such that their generalized inertia matrices can attain values as close to isotropy as possible. Two design examples are given. One pertains to a three-degree-of-freedom serial manipulator, and the other to a platf... View full abstract»

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  • Robot navigation in a known environment with unknown moving obstacles

    Publication Year: 1993, Page(s):25 - 30 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    The authors propose a type of artificial potential field, a hybrid potential field, to navigate a robot in situations in which the environment is known except for unknown and possibly moving obstacles. The authors show how to compute hybrid potential fields in real time, and use them to control the motions of a real robot. Their method is tested on both a simulated and a real robot. Extensive simu... View full abstract»

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  • A knowledge based simulation system for flexible manufacturing

    Publication Year: 1993, Page(s):858 - 863 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    A knowledge-based simulation system in which a traditional simulation language is combined with different expert systems is introduced. The rapid prototype system has some scheduling and quality control power based on the simulation communicating with advisory expert systems View full abstract»

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  • A unified theory for hybrid control of manipulators

    Publication Year: 1993, Page(s):343 - 348 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    Reciprocity-based task decomposition is established as a unified theory for the hybrid control of robots. All aspects of the decomposition are comprehensively interpreted to provide an unambiguous description of the force and motion constraints in a constrained motion task. The decomposition which is based on sets of screws and a corresponding indefinite inner product, is the most general and math... View full abstract»

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  • Potential-based modeling of three-dimensional workspace for obstacle avoidance

    Publication Year: 1993, Page(s):19 - 24 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    The potential-based modeling of a three-dimensional workspace for path planning purposes is described. It is assumed that the workspace boundary is uniformly distributed with generalized charge. The potential at a distance from a point charge is inversely proportional to the distance to the power of an integer. The approach completely eliminates the possibility of the collision between two objects... View full abstract»

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  • Closed-loop kinematic calibration of the RSI 6-DOF hand controller

    Publication Year: 1993, Page(s):142 - 148 vol.2
    Cited by:  Papers (11)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three, 6-degrees-of-freedom (DOF) arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the... View full abstract»

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  • A computer integrated development system for high speed robot design incorporating structural reconfiguration

    Publication Year: 1993, Page(s):677 - 683 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    A methodology for developing high-speed robots is presented. All the design, prototyping, and experimentation processes required are integrated and carried out under computer control. Based on the experimental results of a prototype, the design is modified, and the experiments are repeated for the new design to reevaluate its performance. The whole process is repeated until given specifications ha... View full abstract»

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  • Time optimal motions of manipulators with actuator dynamics

    Publication Year: 1993, Page(s):725 - 730 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    A method is presented for computing the time-optimal motions along specified paths of manipulators with third-order dynamics, considering rigid links and actuator dynamics. Using the Pontyragin maximum principle, it is shown that the optimal trajectory is bang-bang in the jerk along the path, except at singular points and along singular arcs. This control structure leads to an efficient algorithm ... View full abstract»

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  • Transputer network for dynamic control of multiple manipulators

    Publication Year: 1993, Page(s):864 - 869 vol.1
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    The design of a high-performance, real-time control system based on multiple processors is described. The hardware system is developed using Occam and the Transputer Development System. The main focus is on how to construct a modular hardware or software system for developing a flexible, powerful, and convenient real time controller. A proposed method is applied to a robotic control system, and go... View full abstract»

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  • Solving insertion tasks with a multifingered gripper by fumbling

    Publication Year: 1993, Page(s):173 - 179 vol.3
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    Part mating with a multifingered gripper mainly comprises two areas, i.e., the control of the gripper or hand and the strategies to solve the task. The problem is made more difficult by the uncertainties from mechanical, sensor or control errors within the gripper system or the parts to be assembled. The authors examine how to find and to realize a hand behavior, which solves the task under the as... View full abstract»

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  • Study of the effect of leg inertia in Stewart platforms

    Publication Year: 1993, Page(s):121 - 126 vol.1
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The inertia effect of all the leg rotations in a Stewart platform is studied. The dynamics of the legs are decoupled from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. Dynamic mobile simulation based on the decoupled dynamics formulation is discusse... View full abstract»

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  • The `reciprocity' and `consistency' based approaches to uncertainty identification for compliant motions

    Publication Year: 1993, Page(s):349 - 354 vol.1
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    Two different approaches (reciprocity and consistency) to deriving identification equations for an arbitrary set of model uncertainties, and for arbitrary motion constraints are compared. For elementary motion constraints, the approaches are proved to be equivalent. For composite motion constraints, the identification equations are easily derived by the twist-based reciprocity approach and the wre... View full abstract»

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  • Two dimensional transformations and its application to vehicle motion control and analysis

    Publication Year: 1993, Page(s):13 - 18 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    The authors propose a new 2-D transformation group in order to represent positioning of rigid body vehicles working in a plane. This group is a variation of the 3-D homogeneous transformation group. The relationship between this transformation group and the group of all invertible 4×4 matrices is discussed. One of the advantages of this formulation is that the orientation of the vehicle is e... View full abstract»

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  • Utilizing semantic networks and fuzzy logic for the creation of the Planning Coordinator's primitive structure database

    Publication Year: 1993, Page(s):149 - 154 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    Continuing work on the Planning Coordinator, a logical extension to the coordination level of the Intelligent Machine Model that provides a platform for error recovery and online planning by autonomous and semi-autonomous robotic systems is reported. The design architecture of the Planning Coordinator is refined, focusing on the primitive structure database and node/link weighting mechanism. This ... View full abstract»

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  • Modeling, analysis and simulation of failures in a materials handling system with extended Petri nets

    Publication Year: 1993, Page(s):323 - 330 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    The authors model, analyze, accommodate, and simulate potential failures which may occur in a materials-handling system with extended Petri nets (EPNs). Detailed EPN-based subnets are provided to study and accommodate occurred failures. The subnet structural properties and the overall system properties are preserved. The Stochastic Petri Net Package (SPNP) is used for simulation studies View full abstract»

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  • Discrete implementation and adaptation of sliding mode control for robot manipulators

    Publication Year: 1993, Page(s):539 - 544 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    It is shown, by both theoretical argument and experimentation, that sliding control with a boundary layer does not outperform proportional-derivative (PD) control due to the fact that the gain in the boundary layer cannot exceed the PD gain due to noise and discretization. A combined switching and PD control is proposed with the level of switching selected so that the position error is reduced but... View full abstract»

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  • A minimum principle for the dynamic analysis of systems with frictional contacts

    Publication Year: 1993, Page(s):437 - 442 vol.3
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    The dynamic analysis and simulation of manufacturing processes and robot systems with multiple, concurrent frictional contacts are addressed. When principles of rigid body dynamics are used with empirical models for friction, inconsistencies and ambiguities may result. One approach to resolving this is to incorporate a model of the compliance at the contacts into the dynamic model. The principle o... View full abstract»

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  • Sensor-based self-localization for wheeled mobile robots

    Publication Year: 1993, Page(s):8 - 13 vol.1
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    A reliable and robust algorithm for localizing a mobile robot in an indoor environment that is relatively consistent with an a priori map is demonstrated. The algorithm uses an extended Kalman filter that combines dead-reckoning, ultrasonic, and infrared sensor data to estimate current position and orientation. Through a thresholding approach, unexpected obstacles can be detected. Experimental res... View full abstract»

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  • Assembly planning with intermediate states

    Publication Year: 1993, Page(s):71 - 76 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The nonmonotonicity of assembly planning in different states is characterized and used to represent the three-dimensional geometric constraints of assembly operations in the form of blocking states. A subsumption mechanism based on the blocking states is used to reduce the search space so that a feasible plan can be efficiently found. An algorithm, NOMOL, which can generate nonmonotonic and nonlin... View full abstract»

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  • Regional structure kinematic modules for singularity avoidance

    Publication Year: 1993, Page(s):988 - 993 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    Many industrial manipulators have three-revolute-joint (3R) regional structures for positioning a wrist center. Motion control of these 3R regional structures can be problematical, as boundary and internal singularities reduce the available spatial freedoms. This study addresses spatial motion singularity avoidance and performance enhancement via 4R regional structure kinematic modules View full abstract»

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  • Training a fuzzy controller to back up an autonomous vehicle

    Publication Year: 1993, Page(s):923 - 928 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    A design method for a fuzzy controller based on emulating an existing controller is presented. In this method, the human operator is not required to provide a set of explicit linguistic fuzzy control rules. Training information can be obtained by observing the input-output behavior of the human operator, where the target controller output for a given input is the control action of the human operat... View full abstract»

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  • Automatic generation of goal regions for assembly tasks in the presence of uncertainty

    Publication Year: 1993, Page(s):77 - 82 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    A systematic procedure for generating the goal region of a mating action from a CAD model of assemblies using the mating features and the constraint types residing in the model, is presented. Assuming convexity and similarity of mating features, an analytical solution for C-space interior is developed and used to construct the goal region from 2-D features. This method provides a well-defined goal... View full abstract»

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