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[1993] Proceedings IEEE International Conference on Robotics and Automation

2-6 May 1993

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Displaying Results 1 - 25 of 456
  • Obstacle avoidance inverse kinematics solution of redundant manipulators by neural networks

    Publication Year: 1993
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (95 KB)

    Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed s... View full abstract»

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  • Resolution of robot redundancy in the Cartesian space by criteria optimization

    Publication Year: 1993, Page(s):646 - 651 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (447 KB)

    A computationally efficient control law for a redundant robot in the Cartesian space is presented. This approach uses a decomposition of the joint acceleration into primary and secondary joint acceleration. The joint acceleration solution is searched in order to compute the dynamic control law which can achieve the desired task in the Cartesian space with smaller tracking errors, little calculatio... View full abstract»

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  • Proceedings of 1993 IEEE International Conference on Robotics and Automation

    Publication Year: 1993
    Request permission for commercial reuse | PDF file iconPDF (80 KB)
    Freely Available from IEEE
  • New criteria of exciting trajectories for robot identification

    Publication Year: 1993, Page(s):907 - 912 vol.3
    Cited by:  Papers (52)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (450 KB)

    Inertial and friction parameters of robots can be estimated using the minimal linear energy model in relation to the parameters and least squares techniques or a Bayesian approach when a priori statistical information (expected value, covariance matrix) on the solution vector are available. These techniques are sensitive to noise measurements and error modeling, and require the use of exciting tra... View full abstract»

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  • Modelling and control of two co-operating planar cranes

    Publication Year: 1993, Page(s):957 - 962 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    A dynamical model is developed for the closed chain motion of two rotary cranes holding a rigid object in a two-dimensional workspace. The system is treated as a six-bar linkage, and the kinematic and dynamic constraints are determined. These constraints are used to obtain the equations of motion in the system. A proportional, integral, and derivative (PID) controller is designed so that the objec... View full abstract»

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  • Automated polishing process with a human-like dexterous robot

    Publication Year: 1993, Page(s):950 - 956 vol.3
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    The generation of collision-free control data of a polishing robot with 6 degrees-of-freedom for a workpiece with complicated curve surface is discussed. The collision between the polishing tool and the workpiece is the problem to be solved in terms of automatically carrying out the polishing process. To obtain the collision-free polishing path, the possibility of a collision is checked, and a col... View full abstract»

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  • Internal force-based impedance control for cooperating manipulators

    Publication Year: 1993, Page(s):944 - 949 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    Internal force-based impedance control for cooperating manipulators controls the motion of the objects being manipulated and the internal force on the objects by enforcing a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller, thus eliminating the need to have bo... View full abstract»

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  • A force-controlled pneumatic actuator for use in teleoperation masters

    Publication Year: 1993, Page(s):938 - 943 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    A new pneumatic actuator for use in teleoperation masters and robot wrists requiring moderate, but accurate, force control is presented. The actuator uses flapper valves and low-friction cylinders. Its force is controlled by servoing differential pressure. Aspects of valve design, system modeling, controller design and experimental results are presented. A feedback controller is designed and imple... View full abstract»

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  • Integrated models for scheduling flexible manufacturing systems

    Publication Year: 1993, Page(s):827 - 832 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    Centralised and distributed automated guided vehicle system (AGVS) models and the model for part processing are integrated into a single coherent model. This formulation can be used to collectively schedule and control the entire flexible manufacturing system (FMS). The two AGVS models are based on Petri nets and can be directly used in the scheduling method that uses Petri net formulation and heu... View full abstract»

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  • Mousebuster: a robot system for catching fast moving objects by vision

    Publication Year: 1993, Page(s):932 - 937 vol.3
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    A control methodology for catching a fast moving object with a robot manipulator, where visual information is employed to track the trajectory of the target, is described. Sensing, planning, and control are performed in real-time to cope with possible unpredictable trajectory changes of the moving target. Prediction techniques are adopted to compensate for the time delays introduced by visual proc... View full abstract»

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  • On optimal scheduling in DEDS

    Publication Year: 1993, Page(s):821 - 826 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    The local optimality (LO) property for discrete event dynamic systems (DEDS) modeled using Petri nets (PNs) is presented. If a system is divided into independent subsystems and if the optimal behavior of these subsystems guarantees the optimal behavior of the whole system, then this system possesses the LO property. The main advantage of this approach is that it is possible to find an optimal sche... View full abstract»

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  • Motion planning and control for a robot performer

    Publication Year: 1993, Page(s):925 - 931 vol.3
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    The authors describe robot motion planning in a dynamic environment, that is, a trajectory generation to attain a working purpose with redundancy free to use under the restriction of time and space. Emphasis is placed on juggling. A parametric representation of the robot motion makes it easy to generate an appropriate trajectory of the end-effector for juggling tasks. A hierarchical learning contr... View full abstract»

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  • On minimizing the weighted sum of quadratic completion times on a single machine

    Publication Year: 1993, Page(s):816 - 820 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    An efficient branch and bound method for solving single machine scheduling problems with quadratic penalty function is presented. In this kind of problem N jobs have to be sequenced on a single machine with the objective of minimizing the quadratic weighted sum of completion times. An improved bounding procedure based on criteria for ordering pairs of adjacent jobs in a sequence is developed toget... View full abstract»

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  • Robot motion control using induction motor drives

    Publication Year: 1993, Page(s):533 - 538 vol.2
    Cited by:  Papers (23)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    An asymptotically stable scheme for motion control of rigid robots with induction motor drives is presented. The result is established considering a model that includes the electrical and mechanical dynamics of the induction motors, as well as the full rigid body dynamics of the robot manipulator. The design is carried out in three steps. An inner control loop is designed such that the overall sys... View full abstract»

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  • Further progress in robot juggling: the spatial two-juggle

    Publication Year: 1993, Page(s):919 - 924 vol.3
    Cited by:  Papers (39)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    A spatial two-juggle is discussed. The device has the ability to bat two freely falling balls into stable periodic vertical trajectories with a single three degree-of-freedom robot arm using a real-time stereo camera system for sensory input. After a brief review of a previously-reported one-juggle, the author's initial approach to the two-juggle planning and control problem is described. A number... View full abstract»

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  • Planning velocity profiles from task-level constraints and environment uncertainties

    Publication Year: 1993, Page(s):537 - 542 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    A method for parameterizing robot trajectories in the presence of uncertainties is presented. The planning process is defined as a problem of constrained optimization and the concept of a task's difficulty is used as an optimization criterion. The task difficulty, as defined by the authors, comprises the combined effects of velocity and uncertainty, mimicking human perception of difficulty in posi... View full abstract»

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  • Intelligent scheduling for flexible manufacturing systems

    Publication Year: 1993, Page(s):810 - 815 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    A scheme for the scheduling of flexible manufacturing systems (FMSs) have been developed. It integrates neural networks, parallel Monte-Carlo simulation, genetic algorithms, and machine learning. Modular neural networks are used to generate a small set of attractive plans and schedules from a larger list of such plans and schedules. Parallel Monte-Carlo simulation predicts the impact of each on th... 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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  • Open loop stable control strategies for robot juggling

    Publication Year: 1993, Page(s):913 - 918 vol.3
    Cited by:  Papers (62)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Open-loop stable control strategies for a variety of juggling tasks are explored. The specific tasks studied are paddle juggling, ball-in-a-wedge juggling, five ball juggling, and devil sticking. All dynamic tasks introduced are solved by special purpose systems. The results of these investigations may provide insight into how open loop control can serve as a useful foundation for closed loop cont... View full abstract»

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  • Modeling dynamic uncertainty in robot motions

    Publication Year: 1993, Page(s):531 - 536 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    A method for modeling uncertainties that exist in a robotic system, based on stochastic differential equations, is presented. The use of such a model permits the capture in an analytical structure of the ability to properly express uncertainty within the motion descriptions and the dynamic, changing nature of the task and its constraints. With respect to the dynamic nature of robotic motion tasks,... View full abstract»

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  • Nonholonomic motion planning using Stoke's theorem

    Publication Year: 1993, Page(s):802 - 809 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    An algorithm for planning admissible trajectories for nonholonomic systems that will take the system from one point in its configuration space to another is developed. In this algorithm, the independent variables are converged to their desired values. Closed trajectories of the independent variables are used to converge the dependent variables. Stoke's theorem is used in the algorithm to convert t... View full abstract»

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  • Towards planning with force constraints: on the mobility of bodies in contact

    Publication Year: 1993, Page(s):994 - 1000 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi-static contact is described. This analysis is motivated by a class of articulated robot motion-planning problems that are not handled by current planning systems. Examples are a snake-like robot that crawls inside a tunnel by bracing against the tunnel walls, a limbed robot (analogous to a monkey) ... View full abstract»

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  • A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

    Publication Year: 1993, Page(s):545 - 550 vol.2
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion exe... View full abstract»

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  • A parallel computer architecture for real-time control applications in grasping and manipulation

    Publication Year: 1993, Page(s):410 - 415 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    A scheduling algorithm is presented for multiprocessor architectures based on either complete or incomplete crossbar interconnection networks. The proposed algorithm takes into account the communication delays between processors and minimizes both the execution time and the communication cost. The algorithms are verified by experiments on an INMOS T800 transputer-based system. The system consists ... View full abstract»

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  • The modular telerobot task execution system for space telerobotics

    Publication Year: 1993, Page(s):524 - 530 vol.3
    Cited by:  Papers (15)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    A telerobot task execution system that has been developed for space station Freedom applications is described. The modular telerobot task execution system (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The design addresses the constraints of limited computational power available at the remote site control system while providing a large range of con... View full abstract»

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