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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 (51)  |  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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  • Collision-free trajectory planning for two manipulators using virtual coordination space

    Publication Year: 1993, Page(s):674 - 679 vol.2
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    A method of planning collision free trajectories for two manipulators along specified joint paths is proposed. The joint path of each manipulator is represented by a path parameter, and two path parameters generate a two-dimensional space which contains the collision region of two manipulators. In order to connect the path parameter with the time, a time scale factor is introduced. In a three-dime... View full abstract»

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  • Interactive command building and sequencing for supervised autonomy

    Publication Year: 1993, Page(s):795 - 801 vol.2
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    An operator interface for interactive command building and sequencing for supervised autonomy is described. The system is the ground operator control station of a local-remote telerobotics system being developed for time-delayed remote-control of Space Station Freedom robots. The system provides stereo graphics overlay on video with interactive update of the environment. The operator selects objec... View full abstract»

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  • Task space velocity blending for real-time trajectory generation

    Publication Year: 1993, Page(s):680 - 687 vol.2
    Cited by:  Papers (7)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    A velocity blending approach to the problem of task space trajectory generation is presented. To compare this technique with others, a generalized formulation for task space trajectory blending is also developed. It is shown that task space velocity blending provides a substantial simplification in both representation and computational complexity over previously proposed methods. While some residu... View full abstract»

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  • Elastic bands: connecting path planning and control

    Publication Year: 1993, Page(s):802 - 807 vol.2
    Cited by:  Papers (209)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from th... View full abstract»

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  • Assembly task recognition with planar, curved and mechanical contacts

    Publication Year: 1993, Page(s):688 - 694 vol.2
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    The assembly-plan-from-observation (APO) method for robot programming is described. The APO method aims to build a system that has threefold capabilities. The method observes a human performing an assembly task, it understands the task based on this observation, and it generates a robot program to achieve the same task. Emphasis is placed on the main loop of the APO, which is task recognition. Usi... View full abstract»

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  • 2-D finite-element models of tactile sensors

    Publication Year: 1993, Page(s):941 - 947 vol.1
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    It is proposed that tactile sensors be modeled mechanically with finite-element methods, which capture the geometry and boundary conditions more faithfully than classical techniques. The main advantage of finite-element methods is increased realism of the models. The main disadvantage is a loss of simplicity, especially with respect to providing a model for fast and reliable inversion of the trans... View full abstract»

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  • An optimum path and posture planning for fixtureless assembly

    Publication Year: 1993, Page(s):808 - 813 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    A strategy is discussed for assembly path planning of parts to be assembled by two assembly robots in a working space. Path modeling based on the use of real and virtual vertices of male and female parts is introduced to represent the relative relationship of parts in assembled position. A new algorithm for assembly path planning of two parts is developed. An algorithm for optimum posture (positio... View full abstract»

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  • Real-time line-based motion stereo

    Publication Year: 1993, Page(s):367 - 372 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    A hybrid pyramid machine has been built for real-time computer vision applications. An algorithm for line-based motion stereo is presented. Input data is obtained from a single camera and a moving belt. A parallel and hierarchical (pyramidal) algorithm for line merging and matching is described. It is shown that the problem of matching lines among the multiple motion stereo images can be effective... View full abstract»

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  • Development of an assembly planner using decomposition approach

    Publication Year: 1993, Page(s):63 - 68 vol.2
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    The development of an assembly planner which uses a decomposition approach for generating the best feasible assembly sequence plan is presented. Based on an assumption that the sequence of assembly is the reverse of that of disassembly, this process generates a disassembly sequence by decomposing final assembly into separated parts. In order to generate the assembly sequences without running into ... View full abstract»

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  • Shape matching from grasp using a minimal representation size criterion

    Publication Year: 1993, Page(s):442 - 449 vol.1
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polyn... View full abstract»

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  • Dexterous manipulation planning and execution of an enveloped slippery workpiece

    Publication Year: 1993, Page(s):442 - 448 vol.2
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    When robotic hands or arms are capable of enveloping the workpieces that they manipulate, envelopment of the workpiece ensures grasp maintenance even if the object experiences significant external forces in directions unknown prior to grasp synthesis. The enveloping mechanism is useful in low-friction and microgravity environments. First-order stability cells are defined. They are used to plan a p... View full abstract»

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  • A method for analyzing human assembly operations for use in automatically generating robot commands

    Publication Year: 1993, Page(s):695 - 700 vol.2
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    A method for describing human movements in symbolic manner converts a human worker's movements into sets of parameters (state, movement, rotation). These parameter sets are used to program a robot to perform several tasks. Dextrous movements (extra movements the worker uses to complete a specific task properly) are derived as the difference between the parameter set for the task and the set of par... View full abstract»

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  • Design of space shuttle tile servicing robot: an application of task based kinematic design

    Publication Year: 1993, Page(s):867 - 874 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    A framework called task based design (TBD) to design an optimal robot manipulator for a given task is proposed. Only kinematic parameters are considered. An optimal manipulator is designed. It performs a given task best by using a framework called progressive design that decomposes the complexity of the task into three steps: kinematic design, planning, and kinematic control. As an example problem... 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)
    Request permission for commercial reuse | 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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  • Entropy searches for robotic reliability assessment

    Publication Year: 1993, Page(s):935 - 940 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    A technique for selecting a reliable algorithm for accomplishing some robotic task from m possible algorithms containing zero mean Gaussian errors is developed. The method is especially suitable for determining sensor placement and sensing parameters because alternate sensing strategies can be analytically compared. The reliability algorithm will analyze any robotic plan whose performance... 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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  • Integration of reactive navigation with a flexible parallel hardware architecture

    Publication Year: 1993, Page(s):271 - 276 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    AuRA (autonomous robot architecture), a hybrid, schema-based software architecture encompassing aspects of both deliberative and reactive control is described. A flexible, real-time, message-passing hardware platform for the development of AuRA and other software architectures is also presented. To demonstrate their flexibility and portability, they were integrated within a very short period to be... View full abstract»

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  • A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits

    Publication Year: 1993, Page(s):814 - 820 vol.2
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    A force-closure test function for an n-finger grasp on a planar object with friction is presented. All n-finger grasps can be represented by an n-dimensional contact space. The critical conditions of the test functions are used to define force-closure curves which are the boundaries of force-closure sets in the contact configuration space. It is shown that the force-clos... 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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  • Data fusion through fuzzy logic applied to feature extraction from multi-sensory images

    Publication Year: 1993, Page(s):359 - 366 vol.2
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    A fusion formula based on the measure of fuzziness is developed and tested mathematically against several desirable properties of fusion operators. A fuzzification scheme is established by which different types of input data (images) may be modeled. A defuzzification scheme is carried out to recover crisp data from the combined fuzzy assessment. This approach is implemented and tested with real ra... 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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