[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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  • Minimum-weight robot arm for a specified fundamental frequency

    Publication Year: 1993, Page(s):490 - 495 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    The problem of designing a minimum-weight one-link flexible manipulator for a given fundamental vibration frequency is investigated. The optimum design problem is investigated. The optimum design problem is formulated by using the variational method. Iteration schemes are developed for solving the nonlinear Euler equations derived from variational calculus in various situations. Numerical analysis... View full abstract»

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  • Force tracking in impedance control

    Publication Year: 1993, Page(s):499 - 506 vol.2
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    Two simple and computationally efficient schemes for force tracking using impedance control are presented. The schemes generate the reference position trajectory required to produce a desired contact force despite lack of knowledge of the environmental stiffness and location. The first scheme uses direct adaptive control to generate the reference position on-line as a function of the force trackin... 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 (29)
    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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  • Shaped inputs for a multimode system

    Publication Year: 1993, Page(s):484 - 489 vol.3
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    A method for limiting vibration in flexible systems that have more than one characteristic frequency and mode is presented. It is only necessary to have knowledge of the component mode frequencies and damping ratios in order to be able to calculate the timing and magnitudes of the impulse sequence used in the shaping. Only two impulses, in the nonrobust case, or three impulses, in a more robust ca... View full abstract»

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  • Study of the effect of leg inertia in Stewart platforms

    Publication Year: 1993, Page(s):121 - 126 vol.1
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The inertia effect of all the leg rotations in a Stewart platform is studied. The dynamics of the legs are decoupled from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. Dynamic mobile simulation based on the decoupled dynamics formulation is discusse... View full abstract»

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  • On algebraic and graph structural properties of assembly Petri net

    Publication Year: 1993, Page(s):507 - 514 vol.2
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Assembly planning is a significant problem for automatic assembling using robotic manipulators. An assembly planning method using a Petri net is presented. The assembly network is modeled by using the Petri net with reference to the conventional and/or net. The state shift equation of the Petri net, which is a mathematical model of the net, is analyzed. From this analysis, it is clarified that the... View full abstract»

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  • Map making by cooperating mobile robots

    Publication Year: 1993, Page(s):254 - 259 vol.2
    Cited by:  Papers (30)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    The problem of map making using cooperating multiple heterogeneous mobile robots is investigated. The mobile robots vary in size and capabilities in terms of speeds to navigate through the region and sensor ranges to acquire information about the region. The robots are assumed to have sufficient memory to store the map and to be able to communicate with each other. An algorithm is presented for ma... View full abstract»

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  • Object localization using crossbeam sensing

    Publication Year: 1993, Page(s):692 - 699 vol.1
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    A localization technique using reliable, highly accurate, robust, inexpensive light beam sensors designed for mechanical assembly and manufacturing is presented. The technique involves passing polyhedral objects through a set of crossed beams and storing the positions when any beam is broken or reconnects. The geometrical constraints simplify the correspondence problem, so that it is solvable in l... View full abstract»

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  • On the accuracy of a Stewart platform. II. Kinematic calibration and compensation

    Publication Year: 1993, Page(s):725 - 731 vol.1
    Cited by:  Papers (32)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    An effective algorithm for the identification of the kinematic parameters of a Stewart platform is presented and verified through simulations. The algorithm can be applied to both the reduced and the full models, which differ by the number of parameters to be identified. Compensation procedures for models are also presented. The algorithm was tested using simulated measurements that included reali... 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 (31)
    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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  • Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

    Publication Year: 1993, Page(s):213 - 218 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot 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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  • On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances

    Publication Year: 1993, Page(s):114 - 120 vol.1
    Cited by:  Papers (66)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    Manufacturing tolerances, installation errors and link offsets cause deviations with respect to the nominal kinematic parameters of the platform. As a result, if the nominal values of these parameters are used within the platform control software, the resulting pose of the platform will be inaccurate. In order to evaluate the effects of the above factors on the platform accuracy, the inverse and f... View full abstract»

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  • Constructing assembly plans

    Publication Year: 1993, Page(s):515 - 520 vol.2
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Some of the issues related to the problem of joining-up assembly plans to form composite assembly plans are addressed. Assembly plans are represented using a Petri net model. Several schemes for composing plans while preserving desirable properties of the assembly plans are presented. The schemes include composition via a final transition, via a set of transitions and via set of shared places. In ... View full abstract»

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  • Exploration strategies for mobile robots

    Publication Year: 1993, Page(s):248 - 253 vol.2
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    The problem of programming a robot to carry out a systematic exploration of its environment using realistic sensors is considered. The robot is modeled as a single point moving in a two-dimensional configuration space populated with visually opaque and transparent obstacles. The robot is equipped with proximity sensors, a vision-based recognition system, and a method of odometry, all of which have... View full abstract»

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  • A `sidewinding' locomotion gait for hyper-redundant robots

    Publication Year: 1993, Page(s):101 - 106 vol.3
    Cited by:  Papers (54)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The kinematics of a form of hyper-redundant mobile robot locomotion which is analogous to the sidewinding locomotion of desert snakes are considered. This form of locomotion can be generated by a repetitive traveling wave of mechanism bending. Using a continuous backbone curve model, algorithms are developed which enable travel in a uniform direction as well as changes in direction View full abstract»

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  • Registration of dissimilar featureless models for inspection

    Publication Year: 1993, Page(s):686 - 691 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match fea... 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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  • SMART: a modular architecture for robotics and teleoperation

    Publication Year: 1993, Page(s):416 - 421 vol.2
    Cited by:  Papers (16)  |  Patents (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    SMART (Sequential Modular Architecture for Robotics and Teleoperation) is introduced. SMART is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultrasonic sensors, force sensors) and input devices, (e.g., space ball, force-reflecting master, autonomous trajectory generators) required for waste management and environm... View full abstract»

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  • Fully automated two-robot assembly cell

    Publication Year: 1993, Page(s):332 - 338 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    The problem of scheduling for a two-robot assembly cell is formulated, and an algorithm is proposed to resolve the problem. Such a cell is able to process more than one type of assembly task and each type can be performed more than once (usually many times). All the parts are input to the cell through a conveyor belt in a serial order. They are identified online using an overhead camera and a side... View full abstract»

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  • A new design of six-axis force sensors

    Publication Year: 1993, Page(s):961 - 967 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    A six-axis force sensor composed of two identical three-axis force sensors and a connector (Twin-Head, or TH, force sensor for short) is proposed. The theoretical basis for the operation of TH force sensors is described, and the characteristic matrix connecting the load and sensor output vectors is given. While six types of three-axis sensor are theoretically conceivable, it is proved that the onl... View full abstract»

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