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[1993] Proceedings IEEE International Conference on Robotics and Automation

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
  • On comparing statistical and set-based methods in sensor data fusion

    Publication Year: 1993, Page(s):352 - 358 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    The theoretical and practical considerations of two common sensor data fusion methodologies (set based and statistically based parameter estimation) are compared. Their convergence behavior for a variety of simulated problems is examined. Robot localization systems implemented using both methods are described, and their performance is compared. It is concluded that set-based methods have performan... 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 (15)
    Request permission for commercial reuse | 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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  • Direct model reference adaptive control of a PUMA manipulator

    Publication Year: 1993, Page(s):346 - 351 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    The results of controlling a PUMA 560 robotic manipulator using a Command Generator Tracker (CGT) based model reference adaptive controller (DMRAC) are presented. Initially, the DMRAC algorithm is run in a simulation using a detailed dynamic model of the PUMA 560. The algorithm is tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired refere... View full abstract»

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  • Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

    Publication Year: 1993, Page(s):462 - 469 vol.1
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by the generic structures of the model equations. For each class, problems of irreducibility of the model, configuration of the motorization and feedback equivalence are addressed 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 (6)
    Request permission for commercial reuse | 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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  • A study of velocity kinematics for hybrid manipulators with parallel-series configurations

    Publication Year: 1993, Page(s):456 - 461 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    The velocity kinematics of a hybrid robotic mechanism comprising both serial and parallel closed chains is studied. The hybrid manipulator has six degrees of freedom, which features a three-degree-of-freedom in-series actuated module mounted on the moving plate of a three-degree-of-freedom in-parallel actuated manipulator. Methods of solution for forward (direct) and inverse problems are establish... View full abstract»

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  • A closed-form solution of the forward displacement analysis of a class of in-parallel mechanisms

    Publication Year: 1993, Page(s):720 - 724 vol.1
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    A class of in-parallel platforms of special geometry with algebraically solvable, closed-form, forward-displacement solutions is presented. It is shown that all variables of the forward-displacement analysis problem from linear or quadratic equations for those mechanisms where the S joints in the base and movable platform are each in one plane and the base and movable platform have the same form b... View full abstract»

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  • Path constrained motion optimization for rigid and flexible joint robots

    Publication Year: 1993, Page(s):223 - 229 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    For rigid robots, a time-optimal velocity profile can be computed using available methods. An approach which is applicable to both rigid robots and flexible joint robots is to use polynomial approximation to obtain a parametric optimization problem. A method based on this idea is presented. The method is implemented, and it is illustrated by numerical examples. An optimality result on the structur... View full abstract»

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  • Avoiding the past: a simple but effective strategy for reactive navigation

    Publication Year: 1993, Page(s):678 - 685 vol.1
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (796 KB)

    Reactive navigation methods, which eliminate or minimize the use of memory, are considered, focusing on problems that still present a challenge to reactive strategies (box canyons, for example). It is shown that the addition of a local spatial memory that allows a robot to avoid areas that have already been visited offers a solution to the box canyon and other navigational problems. Such a strateg... 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 (2)
    Request permission for commercial reuse | 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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  • 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 (28)
    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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  • The kinematic synthesis of serial manipulators with a prescribed Jacobian

    Publication Year: 1993, Page(s):450 - 455 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    The authors address the kinematic synthesis of serial-type robotic manipulators under the assumption that the associated Jacobian matrix is prescribed at a key configuration. By recalling that the columns of the Jacobian matrix are the Plucker coordinates of the joint axes and using a dual unit vector representation of these lines, the manipulator synthesis, i.e., the determination of the underlyi... View full abstract»

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  • Superior synthesis using Boolean matrix computation

    Publication Year: 1993, Page(s):337 - 342 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Discrete-event systems are modeled by finite state machines using Boolean matrices and vectors. A supervisor synthesis method for such discrete event systems using Boolean matrix computations is proposed. The supervisor synthesis algorithm is practical to implement, since the size of the Boolean state vector in the product system does not increase exponentially with the number of components View full abstract»

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  • Teaching and learning of deburring robots using neural networks

    Publication Year: 1993, Page(s):339 - 345 vol.3
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    A method for applying advanced robot adaptive control to manufacturing processes is described. A teaching method for constructing a sensor-based, task-level adaptive control system is described. Adaptive control laws that elucidate human motions are identified and stored in a multi-layer neural network. The resultant task performance is evaluated, and the relationship between the human actions and... 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)
    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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  • An exponentially convergent control law for a nonholonomic underwater vehicle

    Publication Year: 1993, Page(s):790 - 795 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    A feedback control law is developed for an underwater vehicle described by a nonholonomic kinematic model. The inputs of the system are the three angular velocity components and the forward velocity. The model is given in SE(3) by homogeneous transformation matrices and Euler parameters which give a global description without singularities. This model is shown to be controllable but not stabilizab... 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 (12)
    Request permission for commercial reuse | 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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  • Hybrid learning control techniques for the manipulation of rigid objects

    Publication Year: 1993, Page(s):672 - 677 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    The problem of dexterous manipulation of rigid objects is discussed. A formalism suitable for representing the space of the contact forces allowing a grasped object to perform an assigned motion is presented. The advantages that can be gained using such a formalism when robust grasping planning problems are dealt with are highlighted. The question of how manipulation dexterity in performing graspi... View full abstract»

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  • A reduced-order adaptive velocity observer for manipulator control

    Publication Year: 1993, Page(s):328 - 333 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    A reduced-order adaptive velocity observer is proposed for manipulator control. The observer combined with an adaptive controller yields locally asymptotically stable observed velocity errors and locally asymptotically stable position and velocity tracking errors. Implementation of the observer-controller on the PUMA-560 yields high quality tracking results 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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  • 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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  • Geometric characteristics of antagonistic stiffness in redundantly actuated mechanisms

    Publication Year: 1993, Page(s):654 - 661 vol.2
    Cited by:  Papers (11)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    Parallel closed-chain mechanical architectures allow for redundant actuation in the force domain. Antagonistic actuation, afforded by this input force redundancy, in conjunction with nonlinear linkage geometry, creates an effective stiffness directly analogous to that of a wound metal spring. A general stiffness model for such systems is derived, and it is shown that the constitutive relationship ... View full abstract»

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  • A discrete event approach to the control of robotic assembly tasks

    Publication Year: 1993, Page(s):331 - 336 vol.1
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    An approach to process modeling, task synthesis, and motion control for robotic assembly is presented. Assembly is modeled as a discrete-event dynamic system using Petri nets and incorporating both discrete and continuous aspects of the process. To accomplish a desired trajectory, a discrete event controller is developed. The controller issues velocity commands that direct the system toward the ne... View full abstract»

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  • Interactive planning in CIM-CASE

    Publication Year: 1993, Page(s):63 - 70 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    An interactive planning approach to the generation of complex software architectures for advanced automation systems is presented. The concept of CIM-computer-aided software engineering (CASE) is briefly described as a system that aids a system designer in deriving particular CIM architectures out of a reference model while referring to an electronic catalog of CIM components. Emphasis is put on t... View full abstract»

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