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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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    Freely Available from IEEE
  • Virtual environment for robot force control

    Publication Year: 1993 , Page(s): 219 - 224 vol.1
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (344 KB)  

    The authors present a new concept in robot force control: the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. This approach is presented, analyzed, and adapted to robot force control. Simulation results are presented to prove the efficiency of the method View full abstract»

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  • Using fuzzy behaviors for the outdoor navigation of a car with low-resolution sensors

    Publication Year: 1993 , Page(s): 548 - 553 vol.1
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (704 KB)  

    An approach using superposition of elemental fuzzy behaviors to emulate humanlike qualitative reasoning schemes is discussed. The authors describe how a previously developed navigation scheme implemented on custom-designed VLSI fuzzy inferencing boards for indoor navigation of a small laboratory-type robot was progressively enhanced and used to investigate two control modes for driving a car in a ... View full abstract»

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  • A system architecture for a mobile robot based on activities and a blackboard control unit

    Publication Year: 1993 , Page(s): 267 - 274 vol.2
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (712 KB)  

    The design and implementation of a system architecture for control of a mobile robot is presented based on the notion of activities that are supervised by a blackboard system. An activity is defined as an organizational unit which exhibits a basic skill. Six behavior and five design requirements are defined and are used in evaluating the performance of the system architecture. It is the author's c... View full abstract»

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  • A sensor-based direct search algorithm for autonomous path planning on 3-D terrain surfaces

    Publication Year: 1993 , Page(s): 236 - 242 vol.3
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (536 KB)  

    A practical path planning algorithm for 3-D terrain navigation is presented. Path planning is formulated as an unconstrained optimization problem of finding parameters of the parametric equations describing the paths on the terrain surface. When obstacles are present, a traversability test is performed on each candidate path during the searching process. Penalties are added to the cost of every pa... View full abstract»

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  • Event-based planning and control for multi-robot coordination

    Publication Year: 1993 , Page(s): 251 - 258 vol.1
    Cited by:  Papers (39)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (468 KB)  

    A planning and control scheme for multi-robot coordination is presented. An event-based motion reference that drives the system to achieve the best possible coordination is introduced. The general task space is combined with the nonlinear feedback technique to design hybrid position/force controllers. To improve the force control performance, the dynamics of joint motors are taken into account. Fo... 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 (5)
    Save to Project icon | Request Permissions | 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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  • On computing a distance measure for path planning

    Publication Year: 1993 , Page(s): 554 - 559 vol.1
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | 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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  • Input/output force analysis of parallel link manipulators

    Publication Year: 1993 , Page(s): 714 - 719 vol.1
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | 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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  • Implicit adaptive inverse dynamics control of robot manipulators

    Publication Year: 1993 , Page(s): 334 - 339 vol.2
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (272 KB)  

    An implicit adaptive inverse dynamics control scheme for robot manipulators is presented. Instead of estimating manipulator parameters, the feedback gain is directly updated according to the bounds of uncertainties of the robotic system. Two theorems are proven, and the resulting algorithm can tolerate the variation of physical parameters to some extent. The controller parameters have a certain re... View full abstract»

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  • Adaptive coordination of a multiple manipulator system

    Publication Year: 1993 , Page(s): 259 - 264 vol.1
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (364 KB)  

    The main problem in controlling a multiple manipulator system is the conflicting actions of the manipulators. This conflict is mostly due to the geometric modeling error or the discrepancy between the reference trajectories of the controllers. A control scheme that minimizes the conflict action by adjusting the reference trajectory of each controller is proposed. This adaptation process is accompl... 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)
    Save to Project icon | Request Permissions | 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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  • Sensing surface shape by touch

    Publication Year: 1993 , Page(s): 423 - 428 vol.1
    Cited by:  Papers (10)  |  Patents (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (496 KB)  

    The design and construction of a tactile sensor that has been developed to measure the surface shape of objects held between the fingers of a robot gripper are described. A robotic tactile sensory workcell has been assembled to investigate touch-mediated grasping and object manipulation. This system requires sensors to provide surface profile information for experiments involving object manipulati... View full abstract»

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  • A principle of distributed decision making of Cellular Robotic System (CEBOT)

    Publication Year: 1993 , Page(s): 833 - 838 vol.3
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (392 KB)  

    The Cellular Robotic System (CEBOT) is studied with the aim of realizing a self-organizing robotic system. A principle of the distributed decision making method for a multi-agents robotic system is reported. Some simple control laws which each unit should obey are proposed. The conditions of parameters of the control laws to keep the total system stable are also discussed. To demonstrate the effic... 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)
    Save to Project icon | Request Permissions | 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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  • Constraint-based object recognition in multisensor systems

    Publication Year: 1993 , Page(s): 135 - 142 vol.3
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (632 KB)  

    A general procedure to compute and validate geometric constraints between uncertain geometric features is presented. Uncertain geometric information is represented using the symmetries and perturbation model. The procedure obtains the geometric relations between any pair of geometric elements in a systematic way, with an explicit consideration of the uncertainty due to the use of different sensors... View full abstract»

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  • Motion planning in dynamic environments using the relative velocity paradigm

    Publication Year: 1993 , Page(s): 560 - 565 vol.1
    Cited by:  Papers (39)  |  Patents (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (432 KB)  

    A simple and efficient approach to the computation of avoidance maneuvers among moving obstacles is presented. The method is discussed for the case of a single maneuvering object avoiding several obstacles moving on known linear trajectories. The original dynamic problem is transformed into several static problems using the relative velocity between the maneuvering object and each obstacle. The st... 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 (12)
    Save to Project icon | Request Permissions | 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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  • Finger position computation for 3-dimensional equilibrium grasps

    Publication Year: 1993 , Page(s): 216 - 222 vol.2
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (444 KB)  

    Finger position computation for 3-dimensional equilibrium grasps is discussed. The grasp object is a polyhedron and each finger pushes the face of the object within a given polygonal region. It is shown that in a planar grasp the moment equilibrium equation can be made linear by replacing each real finger by a pair of virtual fingers fixed at the vertices of the region. Using such virtual fingers ... View full abstract»

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  • Path planning using optically computed potential fields

    Publication Year: 1993 , Page(s): 295 - 300 vol.2
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (460 KB)  

    An algorithm for the optical computation of potential field maps suitable for mobile robot navigation is described, and experimentally produced maps and paths are presented. The parallel analog optical computation uses a two-dimensional spatial light modulator on which an image of the potential field map is generated. Optically calculated fields contain no local minima, tend to produce paths cente... View full abstract»

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  • Variable structure adaptive cascade control of multi-link robot manipulators with flexible joints: the case of arbitrary uncertain flexibilities

    Publication Year: 1993 , Page(s): 340 - 345 vol.2
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (480 KB)  

    The design of adaptive tracking control of flexible joint manipulators in the general n-link case with arbitrary (possibly large) uncertain flexibility is addressed. Two strategies based on cascade control are presented combining an adaptive scheme for link control with two alternative variable structure control laws for joint control. Global stability or arbitrarily large domain of stability is o... View full abstract»

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  • Structure from motion: a region based approach using affine transformations and moment invariants

    Publication Year: 1993 , Page(s): 120 - 127 vol.3
    Cited by:  Papers (5)  |  Patents (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (768 KB)  

    A region-based method to solve the structure and motion problem is presented. Region matchings between images are accomplished by using affine invariants. No feature extraction or segmentation is needed in the matching process. Having recovered the region matches, a closed-form solution for the camera motion and the 3-D structures of the regions can be obtained. The advantage of this approach is t... 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 (6)
    Save to Project icon | Request Permissions | 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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  • Toward a new intelligent reactive controller for autonomous mobile robots

    Publication Year: 1993 , Page(s): 249 - 254 vol.3
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (448 KB)  

    An onboard controller for autonomous robots requires improvements in reactivity and real-time efficiency. A real-time computing model with specific features to guarantee satisfactory behavior of low level robotics control is presented. An autonomous mobile robot controller to evaluate the real improvements of such a system in a real application is described View full abstract»

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  • Estimating friction using incipient slip sensing during a manipulation task

    Publication Year: 1993 , Page(s): 429 - 434 vol.1
    Cited by:  Papers (84)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (452 KB)  

    A scheme is presented by which a manipulator can use dynamic tactile sensing to detect when it is about to lose hold of a grasped object. By detecting localized slips on the gripping surface which precede gross slip, the controller can modify the grasp force to prevent the object from slipping. Also, by monitoring normal and tangential forces at the contact when these incipient slip signals occur,... View full abstract»

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