[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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  • Verification of a closed-loop shaped-input controller for a five-bar-linkage manipulator

    Publication Year: 1993, Page(s):216 - 221 vol.3
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    A closed-loop control strategy is verified experimentally for a five-bar-linkage manipulator with one flexible link. The prototype, a highly nonlinear system, is a prominent candidate of a class of manipulators with one flexible link. The controller combines a closed-loop shaped-input filter with conventional control techniques. Experimental results show that this technique is effective and robust... View full abstract»

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  • Synthesis of live models for a class of FMS

    Publication Year: 1993, Page(s):557 - 563 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    The synthesis of live models for flexible manufacturing systems (FMSs) is discussed. A class of FMSs composed by a set of sequential processes competing for a set of common resources is considered. For modeling and analysis purposes, a special class of Petri net is considered, i.e., the class of systems of simple sequential processes with resources, that has a practical interest in FMS environment... View full abstract»

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  • Sensitivity analysis of a FMS by a Petri net-based perturbation method

    Publication Year: 1993, Page(s):564 - 569 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    A Petri net-based perturbation analysis method with respect to discrete parameters is presented. This perturbation of a discrete parameter will modify the underlying reachability graph. One approach is to reevaluate the entire model. Using the Petri net's structural properties, it is possible to find the perturbed reachability graph without another analysis as well as the relationship between the ... View full abstract»

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  • Petri net truncation: an effective approach to solving complex scheduling problem

    Publication Year: 1993, Page(s):570 - 575 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A Petri net truncation technique is proposed to ease the computational demand in some applications problems. The truncation technique is used to convert the search in a large Petri net into that in several smaller subnets. Each subnet is examined separately, and therefore the search effort is reduced. An overall optimum schedule may be obtained by combining the sub-schedules resulted from the subn... View full abstract»

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  • Issues in learning global properties of the robot kinematic mapping

    Publication Year: 1993, Page(s):205 - 212 vol.1
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    The robotic kinematic mapping generally has multiple distinct solution branches for a given end-effector location, where each branch can have a nontrivial manifold structure (as in the case of a redundant manipulator). Learning techniques that exploit known topological properties of the mapping are used to determine the number and nature of these branches. Specifically, clustering of input-output ... 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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  • Contact transition control: an experimental study

    Publication Year: 1993, Page(s):363 - 368 vol.1
    Cited by:  Papers (32)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    Several methods for controlling the transition from free motion to constrained motion are examined, with an emphasis on minimizing fingertip load oscillations during the transition. An approach based on input command shaping is discussed and compared with several methods developed in prior research. The various techniques were evaluated on a one-axis impact testbed, and results from those experime... View full abstract»

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  • Input/output force analysis of parallel link manipulators

    Publication Year: 1993, Page(s):714 - 719 vol.1
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    A method for evaluating kinematic structures of parallel link manipulators based on the relation between actuator forces/moments and output forces/moments of the mechanism is proposed. The input/output force analyses proposed previously have been based on the manipulator Jacobian, in which forces and moments are dealt with together. Manipulators are analyzed in the present work by dealing with the... View full abstract»

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  • Perception control for obstacle detection by a cross-country rover

    Publication Year: 1993, Page(s):20 - 27 vol.2
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Perception control consists of optimally tuning sensor or processing parameters in order to increase perception efficiency under requirement constraints or while adjusting to the environment. Perception control in the task of obstacle detection from cross-country navigation is addressed. The authors show how to maximize the vehicle safety at a given velocity, or inversely how to derive the maximum... View full abstract»

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  • Performability modeling of an automated manufacturing system with deterministic and stochastic Petri nets

    Publication Year: 1993, Page(s):576 - 581 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    A deterministic and stochastic Petri net (DSPN) model for an automated manufacturing system in which tools are subject to wear and maintenance is presented. The DSPN takes into account the degradable performance of tools due to wear and the deterministic service times of parts. The service requirements of parts at tools dependent on their wear are represented in the DSPN by deterministic transitio... View full abstract»

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  • Closed-form resolution of the direct kinematics of parallel manipulators using extra sensors data

    Publication Year: 1993, Page(s):200 - 204 vol.1
    Cited by:  Papers (30)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    In the most general case the measurement of the link lengths of a six-degree-of-freedom parallel manipulator is not sufficient to determine the actual unique posture of its platform. It is shown that by adding four sensors on the passive joints, a unique closed-form solution of the posture of the end-effector can be obtained for the most general case. It is shown that three sensors are sufficient ... View full abstract»

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  • A control structure for fault-tolerant operation of robotic manipulators

    Publication Year: 1993, Page(s):684 - 690 vol.3
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    Failure of any robotic system component during operation is a matter of concern. Internal shock phenomena due to the failure of joint actuation, and a recovery algorithm for both serial and parallel mechanisms under such circumstances are investigated. A control algorithm is studied that consists of a model reference algorithm and a simple proportional integral derivative (PID) controller in the f... View full abstract»

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  • Stable phase transition control for robot arm motion

    Publication Year: 1993, Page(s):355 - 362 vol.1
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    A nonlinear-feedback-based algorithm is combined with explicit force control to drive a rigid manipulator from free space to compliant motion. Force control is switched on when the sensors report a contact event. An event-based motion planning method is used. Physically sensible definitions for the stability of a phase transition are given. A nonlinear interaction force model is considered in the ... View full abstract»

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  • Reactive control for mobile manipulation

    Publication Year: 1993, Page(s):228 - 235 vol.3
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while the base is moving. This paper applies reactive control concepts to achieve this type of motion. Tools for modeling integrated arm-vehicle kinematics and dynamics are discussed.... View full abstract»

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  • An inexpensive pneumatic manipulator for rehabilitation robotics

    Publication Year: 1993, Page(s):636 - 641 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Important considerations in the design of a low-cost wheelchair-mounted robot arm for motor-disabled children are discussed. The pneumatic actuation system for each joint consists of a four-bar transmission mechanism driven by two Flexator actuators. Modeling and control of the actuation system are discussed, and experimental results on the dynamic performance characteristics are presented. The pr... View full abstract»

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  • Kinematic analysis of a novel 6-DOF parallel manipulator

    Publication Year: 1993, Page(s):708 - 713 vol.1
    Cited by:  Papers (29)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    The kinematics of a Cartesian six-degree-of-freedom parallel manipulator is described. The manipulator consists of a base plate, a top plate, and three connecting legs in an all-revolute-joint design. The inverse kinematics are presented in closed form, and a numerical solution for the forward kinematics is given. The kinematic equations presented have been implemented in the real-time control sof... View full abstract»

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  • Global vision for the control of free-ranging AGV systems

    Publication Year: 1993, Page(s):14 - 19 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    A method termed global vision that provides the information necessary for the control of free-ranging automated guided vehicle (AGV) systems is described. Global vision refers to the use of cameras placed at fixed locations in a workspace to extend the local sensing available on board each AGV. The characteristics of an overall global vision-based control system are discussed. A camera placement a... View full abstract»

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  • Designing control laws for cooperative agent teams

    Publication Year: 1993, Page(s):582 - 587 vol.3
    Cited by:  Papers (74)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Control laws for cooperative agent teams utilize a combination of local and/or global knowledge to achieve the resulting group behavior. A key difficulty in this development is determining the appropriate balance between the use of global information and the use of local information to achieve coherent cooperation without excessive communication requirements. This issue is addressed by presenting ... View full abstract»

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  • Higher order singularities of regional manipulators

    Publication Year: 1993, Page(s):194 - 199 vol.1
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    The conics method is applied to an analysis of the workspace of a 3R regional manipulator. Specifically, the boundary curve of the workspace is investigated. For the 3R manipulator, it is demonstrated that higher-order root multiplicities of the inverse kinematics correspond to singular points of the workspace region boundary curve. An example of such a point is given View full abstract»

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  • Fault-tolerant robotic system for critical applications

    Publication Year: 1993, Page(s):691 - 696 vol.3
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    The concept, design, and features of a fault-tolerant intelligent robotic control system being developed for Space and commercial applications that require high dependability are described. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system l... View full abstract»

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  • Hidden Markov model approach to skill learning and its application in telerobotics

    Publication Year: 1993, Page(s):396 - 402 vol.1
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    The problem of how human skill can be represented as a parametric model using a hidden Markov (HMM), and how an HMM-based skill model can be used to learn human skill, is discussed. The HMM is feasible for characterizing two stochastic processes, measurable action and immeasurable mental states that are involved in the skill learning. Based on the most likely performance criterion, the best action... View full abstract»

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