[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 (55)  |  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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  • Optimized fingertip mapping for teleoperation of dextrous robot hands

    Publication Year: 1993, Page(s):769 - 775 vol.3
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (616 KB)

    An optimized fingertip mapping (OFM) has been developed to teleoperate the Utah/MIT Dextrous Hand (UMDH) by a new hand master: the Utah Dextrous Hand Master (UDHM). This mapping matches both the master's fingertip positions and orientations by the robot fingers, and accounts for partially overlapping workspaces caused by kinematic dissimilarities between master and robot hands. The OFM generates r... View full abstract»

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  • Graphical operator interface for space telerobotics

    Publication Year: 1993, Page(s):761 - 768 vol.3
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1108 KB)

    Potential applications of advanced graphical operator interfaces using graphics and graphical user interfaces in space telerobotic operations are addressed. Possible applications are illustrated with examples of graphics visualization displays developed for advanced teleoperation and with an example of an operator's interface design developed for remote surface inspection at the Jet Propulsion Lab... View full abstract»

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  • Predictive bilateral master-slave manipulation with statistical environment model

    Publication Year: 1993, Page(s):755 - 760 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (384 KB)

    A bilateral master-slave control algorithm is proposed. It incorporates a task-environment impedance-model and its modelling error to improve the performance in the presence of time delay between master- and slave-manipulator. The model at each point in slave-manipulator task-space is updated statistically by comparing real sensory information with simulation data. In the model, each object is giv... View full abstract»

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  • Control and dynamic analysis of multilink flexible manipulator

    Publication Year: 1993, Page(s):478 - 483 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (380 KB)

    Lagrange's finite element approach is used to formulate the dynamic model of a flexible manipulator system in three-dimensional space. All manipulator links are considered as slim beams connected in one degree-of-freedom frictionless revolute joints. Beam type finite elements, with third-order interpolating polynomials and six generalized perturbation coordinates per finite element nodal point, ar... View full abstract»

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  • Passivity motivated controller design for flexible structures

    Publication Year: 1993, Page(s):749 - 754 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (464 KB)

    When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such naturally passive pairs is small, the closed loop performance may not be satisfactory. This motivates the incorporation of additional sensors in the control design. However, the passi... View full abstract»

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  • Automatic reteach of manipulators for manufacturing multiple product lines

    Publication Year: 1993, Page(s):474 - 477 vol.3
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    A method for automatically reteaching robot tasks is described. Reteaching is necessary in many advanced applications of manipulators. The method allows tooling fixtures to be moved without requiring excessive manual reteach operations. This enables one manipulator to economically assemble multiple products even though the fixtures for only a single product will fit within the manipulator workspac... View full abstract»

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  • Toward the development of a material transport system using swarms of ant-like robots

    Publication Year: 1993, Page(s):766 - 771 vol.1
    Cited by:  Papers (84)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (352 KB)

    A decentralized method for controlling a homogeneous swarm of autonomous mobile robots that collectively transport a single palletized load is proposed. The small tank-like robots have no advanced sensory or communications capabilities. They have no information on the position or number of other robots transporting the small pallet. Instead, all information needed by the robots is derived from the... View full abstract»

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  • A sequential integration method for inverse dynamic analysis of flexible link manipulators

    Publication Year: 1993, Page(s):743 - 748 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (368 KB)

    A sequential integration method is proposed for the inverse dynamic analysis of flexible link manipulators. Due to link deflections, the kinematic and dynamic equations of flexible link manipulators are coupled. Based on the proposed method, while solving the dynamic equation for link deflections explicitly, joint motions can be implicitly obtained with the help of the kinematics of flexible link ... View full abstract»

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  • Curved fences for part alignment

    Publication Year: 1993, Page(s):467 - 473 vol.3
    Cited by:  Papers (20)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (480 KB)

    In automated packing or assembly it is often necessary to bring randomly oriented parts into uniform alignment. A slanted fence attached to the stationary sides of a conveyor belt is capable of orienting a stream of parts. The design of an individual fence, consisting of a straight slanted section followed by an optimal curved tail, is considered. The straight section selectively aligns certain ed... View full abstract»

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  • Coordinative behavior by genetic algorithm and fuzzy in evolutionary multi-agent system

    Publication Year: 1993, Page(s):760 - 765 vol.1
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (488 KB)

    A strategy for motion planning of multiple robots as a multi-agent system is proposed. All the robots cannot communicate globally, but some robots can communicate locally and coordinate to avoid competition for public resources. In such systems, it is difficult for each robot to plan its motion effectively, while considering other robots. Therefore, each robot determines its motion selfishly, plan... View full abstract»

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  • The singular perturbation control of a two-flexible-link robot

    Publication Year: 1993, Page(s):737 - 742 vol.3
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (384 KB)

    The control of flexible robots is discussed. The flexible manipulator dynamic is derived on the basis of a finite-element type model. Nonlinear feedback control can be used with flexible arms. At most, the number of variables to be exactly linearized must be equal to the number of actuators. To overcome this drawback the singular perturbation strategy is used to give classic composite control. The... View full abstract»

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  • Swing and locomotion control for two-link brachiation robot

    Publication Year: 1993, Page(s):719 - 724 vol.2
    Cited by:  Papers (28)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (400 KB)

    A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls the switching amplitude by a method based on parametric excitation. Experimental results of the swing and locomotion control of the robot using these methods are given. They enable the ... View full abstract»

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  • On the relation between friction and part shape in parallel-jaw grasping

    Publication Year: 1993, Page(s):461 - 466 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (504 KB)

    Previously, the authors gave planning algorithms for the problem of grasping and orienting planar parts using a parallel-jaw gripper, with analysis simplified by assuming zero friction between the part and the gripper. Their analysis is generalized to allow Coulomb friction. Coulomb friction introduces ranges of orientations where a part can become wedged between two points on its boundary. It is ... View full abstract»

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  • Nonlinear proportional and derivative control for high disturbance rejection and high gain force control

    Publication Year: 1993, Page(s):752 - 759 vol.1
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (464 KB)

    A non-model-based, nonlinear proportional-and derivative (NPD) controller for high disturbance rejection and high-gain force control is introduced. The controller actively raises the damping and stiffness exponentially when the motion is in an unfavorable direction. Design and analysis are given for a second-order system. Theoretical and experimental comparisons to a conventional proportional-and-... View full abstract»

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  • Dynamic control of a quadruped standing jump

    Publication Year: 1993, Page(s):346 - 351 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (376 KB)

    Control strategies are developed for a quadruped standing jump over irregular terrain obstacles. Simple open-loop leg forces are planned to remove the large linear and angular momentum of the body during landing. Super real-time simulation, which involves predicting landing conditions based on simulation using a simplified model, is used to select leg touchdown angles. Using the principle of symme... View full abstract»

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  • On computing a distance measure for path planning

    Publication Year: 1993, Page(s):554 - 559 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (392 KB)

    Given two objects, A and B, such that AB≠θ, the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and polyhedral objects and demonstrate how the measure can be used in collision detection for path planning View full abstract»

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  • Flexible robot arm control by a feedback linearization/singular perturbation approach

    Publication Year: 1993, Page(s):729 - 736 vol.3
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (496 KB)

    A nonlinear tracking controller for the link-tip positions and velocities of a multi-link flexible robot arm that gives guaranteed performance is designed. The controller has three loops: an outer tracking loop, an inner loop based on input-output feedback linearization, and an additional inner loop that stabilizes the internal dynamics, e.g., the flexible modes, using a singular perturbation desi... View full abstract»

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  • Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance

    Publication Year: 1993, Page(s):418 - 423 vol.3
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (536 KB)

    A control strategy is presented that visually tracks objects using a manipulator/camera system while simultaneously avoiding kinematic singularities and joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual servoing objective function in order to derive the control law. The algorithms developed... 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 (17)
    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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  • Robot navigation using the vector potential approach

    Publication Year: 1993, Page(s):805 - 811 vol.1
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (412 KB)

    The artificial vector potential is used to construct a navigation control that can drive a manipulator to a target set while avoiding undesired regions in the workspace. It is shown that a vector potential field can better navigate a robot than a scalar potential field. The strategy that is suggested for constructing the navigation control is very flexible in the sense that it allows the addition ... View full abstract»

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  • Grasp recognition strategies from empirical models

    Publication Year: 1993, Page(s):455 - 460 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (408 KB)

    A method for recognizing a part from a set of known parts using a parallel-jaw gripper and a simple sensor that measures the distance between the jaws is described. The authors consider how empirical measurements of part behavior can be used to generate efficient recognition strategies. These strategies are compared to random strategies using physical experiments. It is found that the former cut e... View full abstract»

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