Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526131
Ming Zhu, S. Salcudean
A four-channel data transmission structure has been suggested in the literature to achieve "transparency" for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixed position/rate mode. A one degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability.
{"title":"Achieving transparency for teleoperator systems under position and rate control","authors":"Ming Zhu, S. Salcudean","doi":"10.1109/IROS.1995.526131","DOIUrl":"https://doi.org/10.1109/IROS.1995.526131","url":null,"abstract":"A four-channel data transmission structure has been suggested in the literature to achieve \"transparency\" for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixed position/rate mode. A one degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122182261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526263
Scott K. Ralph, D. Pai
Robotic tasks usually require some collision free motions, and there has been considerable work in methods for collision avoidance. However, noise in the sensor data, movement of the obstacles, and incomplete or inaccurate model of the surroundings all may lead to unexpected collisions. Detecting such collisions is necessary before recovery and/or replanning may take place. A means of detecting a collision, as well as the position of the collision on the manipulator has been developed. The detection scheme combines information from observed disturbance torques to detect collision and infer the location of contact with the environment. Knowledge of contact position allows for a more intelligent and less error-prone recovery scheme. A simulation using a three DOF manipulator shows that the collision identification and localization scheme is feasible and robust with respect to noise.
{"title":"Detection and localization of unmodeled manipulator collisions","authors":"Scott K. Ralph, D. Pai","doi":"10.1109/IROS.1995.526263","DOIUrl":"https://doi.org/10.1109/IROS.1995.526263","url":null,"abstract":"Robotic tasks usually require some collision free motions, and there has been considerable work in methods for collision avoidance. However, noise in the sensor data, movement of the obstacles, and incomplete or inaccurate model of the surroundings all may lead to unexpected collisions. Detecting such collisions is necessary before recovery and/or replanning may take place. A means of detecting a collision, as well as the position of the collision on the manipulator has been developed. The detection scheme combines information from observed disturbance torques to detect collision and infer the location of contact with the environment. Knowledge of contact position allows for a more intelligent and less error-prone recovery scheme. A simulation using a three DOF manipulator shows that the collision identification and localization scheme is feasible and robust with respect to noise.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130789878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526235
M. Bergerman, Christopher Lee, Yangsheng Xu
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modem learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or underactuated robot manipulator. In this paper we present the hardware development, dynamic parameters, control software and experimental results of real-time control of the U-ARM.
{"title":"Experimental study of an underactuated manipulator","authors":"M. Bergerman, Christopher Lee, Yangsheng Xu","doi":"10.1109/IROS.1995.526235","DOIUrl":"https://doi.org/10.1109/IROS.1995.526235","url":null,"abstract":"Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modem learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or underactuated robot manipulator. In this paper we present the hardware development, dynamic parameters, control software and experimental results of real-time control of the U-ARM.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134542235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525909
Y. Kimuro, T. Nagata
The authors have proposed a new data structure for an omni-directional view. That is a spherical hexagonal pyramid which has pyramid- and tree-type structures. Such structures manipulate hierarchical and multi-resolution representations of data and it seems useful for mobile robots and manipulators in an assembling task. Because these robots and manipulators have to observe various directions and to utilize image processing for achieving their purposes. This paper describes two methods for observing environment and objects with the aim of confirming of efficiency of this data structure. One is to extract great circles and vanishing points. The information is used for estimating some coordinate systems in an artificial world. And the other is to recognize objects by use of hexagonal chain codes.
{"title":"Image processing on an omni-directional view using a spherical hexagonal pyramid: vanishing points extraction and hexagonal chain coding","authors":"Y. Kimuro, T. Nagata","doi":"10.1109/IROS.1995.525909","DOIUrl":"https://doi.org/10.1109/IROS.1995.525909","url":null,"abstract":"The authors have proposed a new data structure for an omni-directional view. That is a spherical hexagonal pyramid which has pyramid- and tree-type structures. Such structures manipulate hierarchical and multi-resolution representations of data and it seems useful for mobile robots and manipulators in an assembling task. Because these robots and manipulators have to observe various directions and to utilize image processing for achieving their purposes. This paper describes two methods for observing environment and objects with the aim of confirming of efficiency of this data structure. One is to extract great circles and vanishing points. The information is used for estimating some coordinate systems in an artificial world. And the other is to recognize objects by use of hexagonal chain codes.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134299786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525791
Bumjin Song, A. Koivo
An automatic control system for backhoe type excavators during free motion and digging operations is presented. Some of the uncertainties associated with the basically unstructured environment of soil digging tasks are dealt with by using an adaptive control system capable of on-line learning and control of the dynamic response over a wide range of parameter variations. The proposed control system comprises a primary and a secondary controller; the former is used to linearize the plant and the latter to compensate for modeling errors. The primary controller is implemented as a feedforward multilayer neural net trained to emulate the inverse dynamics of the plant. The secondary controller is a PID controller with the gains tuned so as to provide a satisfactory transient behavior. Simulation results are used to demonstrate the applicability of the proposed control scheme.
{"title":"Neural adaptive control of excavators","authors":"Bumjin Song, A. Koivo","doi":"10.1109/IROS.1995.525791","DOIUrl":"https://doi.org/10.1109/IROS.1995.525791","url":null,"abstract":"An automatic control system for backhoe type excavators during free motion and digging operations is presented. Some of the uncertainties associated with the basically unstructured environment of soil digging tasks are dealt with by using an adaptive control system capable of on-line learning and control of the dynamic response over a wide range of parameter variations. The proposed control system comprises a primary and a secondary controller; the former is used to linearize the plant and the latter to compensate for modeling errors. The primary controller is implemented as a feedforward multilayer neural net trained to emulate the inverse dynamics of the plant. The secondary controller is a PID controller with the gains tuned so as to provide a satisfactory transient behavior. Simulation results are used to demonstrate the applicability of the proposed control scheme.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114572908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526133
M. Stein, R. Paul, P. Schenker, E. Paljug
The teleprogramming system is a supervisory control approach to time delayed teleoperation that incorporates predictive graphics and reactive skills to accomplish dexterous manipulation tasks in the presence of significant time delay. This paper presents an experimental effort to validate the teleprogramming system using the GRASP Laboratory of the University of Pennsylvania as the operator station and the TROPICS Laboratory of the Jet Propulsion Laboratory as the remote site. The teleprogramming experiment involved operator supervisory control of a robot performing puncture and slice operations on the thermal blanket securing tape of a satellite repair mission sub-task This experiment was successfully performed in August, 1994 using the Internet as the sole medium of communication. During experimentation, messages experienced time-varying time delay between three and fifteen seconds with an average delay of approximately six seconds.
{"title":"A cross-country teleprogramming experiment","authors":"M. Stein, R. Paul, P. Schenker, E. Paljug","doi":"10.1109/IROS.1995.526133","DOIUrl":"https://doi.org/10.1109/IROS.1995.526133","url":null,"abstract":"The teleprogramming system is a supervisory control approach to time delayed teleoperation that incorporates predictive graphics and reactive skills to accomplish dexterous manipulation tasks in the presence of significant time delay. This paper presents an experimental effort to validate the teleprogramming system using the GRASP Laboratory of the University of Pennsylvania as the operator station and the TROPICS Laboratory of the Jet Propulsion Laboratory as the remote site. The teleprogramming experiment involved operator supervisory control of a robot performing puncture and slice operations on the thermal blanket securing tape of a satellite repair mission sub-task This experiment was successfully performed in August, 1994 using the Internet as the sole medium of communication. During experimentation, messages experienced time-varying time delay between three and fifteen seconds with an average delay of approximately six seconds.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131785631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526271
C. Giraud-Carrier, B. Jouvencel
This paper addresses the problem of sensor selection during an automatic task, for examples, a process of data fusion, a sensing task or the design of a perceptual system for a mobile robot. The authors propose an approach based on geometrical interaction between a sensor and an environment, this approach is enlarged with Gaussian approximation to take into account the measurement noise. The Bayes reasoning allows one to estimate the information given by the multi-sensor system for a given scene. Our model takes into account the number of use of each sensor. This characteristic interests us in two ways: it is possible to discard useless sensors, and it is possible to estimate the acquisition delay for a given multi-sensor system site. With this approach, we propose a quadratic criterion which is able to describe the distance between the desired information and an available information. The effectiveness of this procedure is illustrated with an example of application concerning the sensor placement problem.
{"title":"Sensor selection: a geometrical approach","authors":"C. Giraud-Carrier, B. Jouvencel","doi":"10.1109/IROS.1995.526271","DOIUrl":"https://doi.org/10.1109/IROS.1995.526271","url":null,"abstract":"This paper addresses the problem of sensor selection during an automatic task, for examples, a process of data fusion, a sensing task or the design of a perceptual system for a mobile robot. The authors propose an approach based on geometrical interaction between a sensor and an environment, this approach is enlarged with Gaussian approximation to take into account the measurement noise. The Bayes reasoning allows one to estimate the information given by the multi-sensor system for a given scene. Our model takes into account the number of use of each sensor. This characteristic interests us in two ways: it is possible to discard useless sensors, and it is possible to estimate the acquisition delay for a given multi-sensor system site. With this approach, we propose a quadratic criterion which is able to describe the distance between the desired information and an available information. The effectiveness of this procedure is illustrated with an example of application concerning the sensor placement problem.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132300429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525843
Kavita Ravi, A. Basu
Robot calibration is essential to improve the positioning accuracy of robot manipulators. A mathematical (kinematic) model is used to describe the geometric structure of a robot manipulator. Robot calibration procedure involves calculating and improving the values of this model's parameters. The robot calibration technique presented in this paper uses a vision system, to calibrate the kinematic model. For an n-linked robot manipulator, the procedure calibrates one link at a time, starting with the n/sup th/ link by making small movements. The resulting equations are linear, consequently, the algorithms are simple.
{"title":"An active technique for piecewise calibration of robot manipulators","authors":"Kavita Ravi, A. Basu","doi":"10.1109/IROS.1995.525843","DOIUrl":"https://doi.org/10.1109/IROS.1995.525843","url":null,"abstract":"Robot calibration is essential to improve the positioning accuracy of robot manipulators. A mathematical (kinematic) model is used to describe the geometric structure of a robot manipulator. Robot calibration procedure involves calculating and improving the values of this model's parameters. The robot calibration technique presented in this paper uses a vision system, to calibrate the kinematic model. For an n-linked robot manipulator, the procedure calibrates one link at a time, starting with the n/sup th/ link by making small movements. The resulting equations are linear, consequently, the algorithms are simple.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133850649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525841
Yunhui Liu, S. Arimoto, Vicente Parra‐Vega, K. Kitagaki
This paper presents a general approach for adaptively and distributively controlling multiple cooperative manipulators. The proposed approach does not adopt a centralized architecture but assigns a controller to each robot. Any communication requirement is determined by motion constraints existing in the cooperative system. All physical parameters of the manipulators or the load of the system are online estimated by a model-based adaptive algorithm. A Lyapunov function guarantees asymptotic convergence of trading errors of the trajectory and the interactive force among the robots. Performance of this controller is further shown by simulations on six DOF manipulators.
{"title":"Adaptive distributed cooperation controller for multiple manipulators","authors":"Yunhui Liu, S. Arimoto, Vicente Parra‐Vega, K. Kitagaki","doi":"10.1109/IROS.1995.525841","DOIUrl":"https://doi.org/10.1109/IROS.1995.525841","url":null,"abstract":"This paper presents a general approach for adaptively and distributively controlling multiple cooperative manipulators. The proposed approach does not adopt a centralized architecture but assigns a controller to each robot. Any communication requirement is determined by motion constraints existing in the cooperative system. All physical parameters of the manipulators or the load of the system are online estimated by a model-based adaptive algorithm. A Lyapunov function guarantees asymptotic convergence of trading errors of the trajectory and the interactive force among the robots. Performance of this controller is further shown by simulations on six DOF manipulators.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134052402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526149
K. Kosuge, T. Itoh, T. Fukuda, M. Otsuka
This paper proposes an alternative control algorithm for a scaled telemanipulation system based on a semi-autonomous task-oriented virtual tool. In the algorithm a telemanipulator is controlled so that it has a virtual tool dynamics. The virtual tool dynamics designed appropriately for a given task is to assist an operator as a tool and the operator executes the task easily with the tool. In addition, the motion and force relation between the master and the slave can be specified freely by using two scaling factors; a motion scaling factor and a force scaling factor. The stability of the resultant system is analyzed based on the passivity of the resultant system and the total stability is guaranteed for an operator and a passive environment with unknown dynamics. The proposed algorithm is experimentally applied to a telemanipulator. The experimental results illustrate the validity of the algorithm.
{"title":"Scaled telemanipulation system using semi-autonomous task-oriented virtual tool","authors":"K. Kosuge, T. Itoh, T. Fukuda, M. Otsuka","doi":"10.1109/IROS.1995.526149","DOIUrl":"https://doi.org/10.1109/IROS.1995.526149","url":null,"abstract":"This paper proposes an alternative control algorithm for a scaled telemanipulation system based on a semi-autonomous task-oriented virtual tool. In the algorithm a telemanipulator is controlled so that it has a virtual tool dynamics. The virtual tool dynamics designed appropriately for a given task is to assist an operator as a tool and the operator executes the task easily with the tool. In addition, the motion and force relation between the master and the slave can be specified freely by using two scaling factors; a motion scaling factor and a force scaling factor. The stability of the resultant system is analyzed based on the passivity of the resultant system and the total stability is guaranteed for an operator and a passive environment with unknown dynamics. The proposed algorithm is experimentally applied to a telemanipulator. The experimental results illustrate the validity of the algorithm.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133640277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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