Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526251
M. K. Ciliz, K. Narendra
The paper presents a novel methodology for the trajectory tracking control of robotic manipulators. The proposed method utilizes multiple models of the manipulator for the identification of its dynamics in an adaptive control frame work. Simulations and experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed methodology is used for different tracking tasks.
{"title":"Intelligent control of robotic manipulators: a multiple model based approach","authors":"M. K. Ciliz, K. Narendra","doi":"10.1109/IROS.1995.526251","DOIUrl":"https://doi.org/10.1109/IROS.1995.526251","url":null,"abstract":"The paper presents a novel methodology for the trajectory tracking control of robotic manipulators. The proposed method utilizes multiple models of the manipulator for the identification of its dynamics in an adaptive control frame work. Simulations and experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed methodology is used for different tracking tasks.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"1 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":"121993326","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.1995.525892
Sukhan Lee, Chunsik Yi
In this paper we present a statistical approach to assemblability evaluation based on tolerance and clearance propagations. Tolerance affect assemblability of an assembly sequence, however, clearance can compensate for tolerance. Assembly planners in the past have assumed nominal dimensions for product components for generating feasible assembly sequences. These sequences, however, may not be assemblable in practice due to propagations and accumulations of tolerances. With this concept of clearance, approaches to compute statistical tolerance and clearance propagations for serial, parallel, and multi-loop chains are proposed. The proposed method can be a valuable tool for CAD/CAM since early detection of assembly problems can significantly reduce the product cost.
{"title":"Evaluation of assemblability based on statistical analysis of tolerance propagation","authors":"Sukhan Lee, Chunsik Yi","doi":"10.1109/IROS.1995.525892","DOIUrl":"https://doi.org/10.1109/IROS.1995.525892","url":null,"abstract":"In this paper we present a statistical approach to assemblability evaluation based on tolerance and clearance propagations. Tolerance affect assemblability of an assembly sequence, however, clearance can compensate for tolerance. Assembly planners in the past have assumed nominal dimensions for product components for generating feasible assembly sequences. These sequences, however, may not be assemblable in practice due to propagations and accumulations of tolerances. With this concept of clearance, approaches to compute statistical tolerance and clearance propagations for serial, parallel, and multi-loop chains are proposed. The proposed method can be a valuable tool for CAD/CAM since early detection of assembly problems can significantly reduce the product cost.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"43 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":"122176058","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.1995.525884
L. Lopes, L. Camarinha-Matos
Research results concerning error detection and recovery in robotized assembly systems, key components of flexible manufacturing systems, are presented. A planning strategy and domain knowledge for nominal plan execution and for error recovery is described. A supervision architecture provides, at different levels of abstraction, functions for dispatching actions, monitoring their execution, and diagnosing and recovering from failures. Through the use of machine learning techniques, the supervision architecture will be given capabilities for improving its performance over time. Particular attention is given to the inductive generation of structured classification knowledge for diagnosis.
{"title":"A machine learning approach to error detection and recovery in assembly","authors":"L. Lopes, L. Camarinha-Matos","doi":"10.1109/IROS.1995.525884","DOIUrl":"https://doi.org/10.1109/IROS.1995.525884","url":null,"abstract":"Research results concerning error detection and recovery in robotized assembly systems, key components of flexible manufacturing systems, are presented. A planning strategy and domain knowledge for nominal plan execution and for error recovery is described. A supervision architecture provides, at different levels of abstraction, functions for dispatching actions, monitoring their execution, and diagnosing and recovering from failures. Through the use of machine learning techniques, the supervision architecture will be given capabilities for improving its performance over time. Particular attention is given to the inductive generation of structured classification knowledge for diagnosis.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"15 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":"123959325","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.1995.526233
A. Joukhadar, C. Laugier
This paper presents a complete dynamic modeling system, called Robot/spl Phi/. This system allows us to create a physical model of an object and to simulate its motion, its deformations, and its interaction with the environment and with other objects. This system takes into account three types of interactions: the collision, the static and dynamic friction, and the viscosity of the environment. An hierarchical representation of objects allows us to have a linear complexity when calculating the contact between objects. An adaptative time step allows the system to avoid numerical divergence, to optimise the computational time, and to control the incurred error.
{"title":"Fast dynamic simulation of rigid and deformable objects","authors":"A. Joukhadar, C. Laugier","doi":"10.1109/IROS.1995.526233","DOIUrl":"https://doi.org/10.1109/IROS.1995.526233","url":null,"abstract":"This paper presents a complete dynamic modeling system, called Robot/spl Phi/. This system allows us to create a physical model of an object and to simulate its motion, its deformations, and its interaction with the environment and with other objects. This system takes into account three types of interactions: the collision, the static and dynamic friction, and the viscosity of the environment. An hierarchical representation of objects allows us to have a linear complexity when calculating the contact between objects. An adaptative time step allows the system to avoid numerical divergence, to optimise the computational time, and to control the incurred error.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"12 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":"124756464","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.1995.525880
C. Tzafestas, M. Guihard, N. M'Sirdi
In this paper we propose an adaptive impedance control scheme consisting of two stages. The first stage performs an online estimation of the robot parameters imposing the desired mechanical impedance. It constitutes the kernel of the control system and remains active during the complete, free or constrained, motion of the robot. A simple algorithm for the numerical computation of the defined impedance error is presented where only the available feedback information is used. The imprecision in the parameters of the environment (stiffness, positioning) is compensated by the second stage of adaptation. This one constitutes an external force control loop closed around the internal nonlinear impedance controller. Simulation results obtained for a single leg of a pneumatic driven, quadruped robot show the effectiveness of the proposed control scheme in case of considerable uncertainty both in the robot and ground parameters.
{"title":"Two-stage adaptive impedance control applied to a legged robot","authors":"C. Tzafestas, M. Guihard, N. M'Sirdi","doi":"10.1109/IROS.1995.525880","DOIUrl":"https://doi.org/10.1109/IROS.1995.525880","url":null,"abstract":"In this paper we propose an adaptive impedance control scheme consisting of two stages. The first stage performs an online estimation of the robot parameters imposing the desired mechanical impedance. It constitutes the kernel of the control system and remains active during the complete, free or constrained, motion of the robot. A simple algorithm for the numerical computation of the defined impedance error is presented where only the available feedback information is used. The imprecision in the parameters of the environment (stiffness, positioning) is compensated by the second stage of adaptation. This one constitutes an external force control loop closed around the internal nonlinear impedance controller. Simulation results obtained for a single leg of a pneumatic driven, quadruped robot show the effectiveness of the proposed control scheme in case of considerable uncertainty both in the robot and ground parameters.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"12 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":"128316787","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.1995.526248
T. Nagata, Kosuke Konishi, H. Zha
This paper presents a new method for cooperative manipulations based on genetic algorithms using contact information. In order to apply genetic algorithms, each robot arm generates new information about object postures using its own contact information without using of any vision systems. The object postures are derived by calculating normal vectors of object surfaces. The system proposed on the basis of genetic algorithms determines forces which robot arms should apply to the objects by solving an optimization problem utilizing the generated and obtained information. Owing to genetic algorithms, the system has not only the adaptation to the change of the working environment, but also can determine the forces for robot arms without physical inconsistency.
{"title":"Cooperative manipulations based on genetic algorithms using contact information","authors":"T. Nagata, Kosuke Konishi, H. Zha","doi":"10.1109/IROS.1995.526248","DOIUrl":"https://doi.org/10.1109/IROS.1995.526248","url":null,"abstract":"This paper presents a new method for cooperative manipulations based on genetic algorithms using contact information. In order to apply genetic algorithms, each robot arm generates new information about object postures using its own contact information without using of any vision systems. The object postures are derived by calculating normal vectors of object surfaces. The system proposed on the basis of genetic algorithms determines forces which robot arms should apply to the objects by solving an optimization problem utilizing the generated and obtained information. Owing to genetic algorithms, the system has not only the adaptation to the change of the working environment, but also can determine the forces for robot arms without physical inconsistency.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"59 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":"128752771","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.1995.526170
L. Aguilar, R. Alami, S. Fleury, M. Herrb, F. Ingrand, Frédéric Robert
This paper presents an implemented system which allows one to run a fleet of autonomous mobile robots in a route network with a very limited centralized activity. The robots are provided with all the necessary ingredients for planning and executing navigation missions in a multi-robot context. Multi-robot cooperation is based on a generic paradigm called plan-merging paradigm, where robots incrementally merge their plans into a set of already coordinated plans. The robot architecture is derived from the generic architecture developed at LAAS. A 3D graphic environment system allows one to display a complete system composed of a dozen (or more) robots, each running on an independent workstation. An example is presented together with numerical results on the system behavior.
{"title":"Ten autonomous mobile robots (and even more) in a route network like environment","authors":"L. Aguilar, R. Alami, S. Fleury, M. Herrb, F. Ingrand, Frédéric Robert","doi":"10.1109/IROS.1995.526170","DOIUrl":"https://doi.org/10.1109/IROS.1995.526170","url":null,"abstract":"This paper presents an implemented system which allows one to run a fleet of autonomous mobile robots in a route network with a very limited centralized activity. The robots are provided with all the necessary ingredients for planning and executing navigation missions in a multi-robot context. Multi-robot cooperation is based on a generic paradigm called plan-merging paradigm, where robots incrementally merge their plans into a set of already coordinated plans. The robot architecture is derived from the generic architecture developed at LAAS. A 3D graphic environment system allows one to display a complete system composed of a dozen (or more) robots, each running on an independent workstation. An example is presented together with numerical results on the system behavior.","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":"128677226","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.1995.525857
B. Bluethmann, S. Ananthakrishnan, J. Scheerer, T. Faddis, R. Greenway
The purpose of this paper is to describe the results derived from an experimental study of dexterous manipulation using hybrid force and position control. The paper includes descriptions of the electrohydraulic master/slave manipulator, experimental system identification, control system design and implementation, and experimental results of closed chain position and force feedback control to demonstrate Space Station like robotic operations. A combination of minor loop rate feedback with integral mode, joint based position feedback, and end-effector based force feedback is shown to provide the desired dexterity of hybrid force and position control tasks.
{"title":"Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator","authors":"B. Bluethmann, S. Ananthakrishnan, J. Scheerer, T. Faddis, R. Greenway","doi":"10.1109/IROS.1995.525857","DOIUrl":"https://doi.org/10.1109/IROS.1995.525857","url":null,"abstract":"The purpose of this paper is to describe the results derived from an experimental study of dexterous manipulation using hybrid force and position control. The paper includes descriptions of the electrohydraulic master/slave manipulator, experimental system identification, control system design and implementation, and experimental results of closed chain position and force feedback control to demonstrate Space Station like robotic operations. A combination of minor loop rate feedback with integral mode, joint based position feedback, and end-effector based force feedback is shown to provide the desired dexterity of hybrid force and position control tasks.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"152 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":"128920868","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.1995.525795
C. Colombo, S. Andronico, P. Dario
This paper describes preliminary work on a non-intrusive gaze-driven interface for man-machine interaction based on vision techniques. The current computer screen location pointed at by the user is evaluated using a linear model of image-to-screen mapping, which can be easily auto-calibrated at run-time on the basis of the current relative position of camera and user and camera settings. A simple active deformable model of the eye is defined, which is used both to track user's movements and estimate the current position of the user's pupil in the image in a decoupled fashion. Experiments show that the proposed approach is fast and accurate enough for the design of low-cost man-machine interfaces, with applications ranging from the assistance to the disabled people to multimedia systems.
{"title":"Prototype of a vision-based gaze-driven man-machine interface","authors":"C. Colombo, S. Andronico, P. Dario","doi":"10.1109/IROS.1995.525795","DOIUrl":"https://doi.org/10.1109/IROS.1995.525795","url":null,"abstract":"This paper describes preliminary work on a non-intrusive gaze-driven interface for man-machine interaction based on vision techniques. The current computer screen location pointed at by the user is evaluated using a linear model of image-to-screen mapping, which can be easily auto-calibrated at run-time on the basis of the current relative position of camera and user and camera settings. A simple active deformable model of the eye is defined, which is used both to track user's movements and estimate the current position of the user's pupil in the image in a decoupled fashion. Experiments show that the proposed approach is fast and accurate enough for the design of low-cost man-machine interfaces, with applications ranging from the assistance to the disabled people to multimedia systems.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"1 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":"129113114","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.1995.525787
J. Rosenblatt, C. Thorpe
The authors' experience over the years with different architectures and planning systems for mobile robots has led them to a distributed approach where an arbiter receives votes for and against commands from each subsystem and decides upon the course of action which best satisfies the current goals and constraints of the system. Centralized arbitration of votes from distributed, independent decision-making processes provides coherent, rational, goal-directed behavior while preserving real-time responsiveness to its immediate physical environment. The Distributed Architecture for Mobile Navigation (DAMN) has been successfully used to integrate various independently developed subsystems, providing systems that perform road following, cross-country navigation, or teleoperation while avoiding obstacles and meeting mission objectives. Examples of implemented systems are given. Further research will seek to more rigorously define the behavior of the system.
{"title":"Combining multiple goals in a behavior-based architecture","authors":"J. Rosenblatt, C. Thorpe","doi":"10.1109/IROS.1995.525787","DOIUrl":"https://doi.org/10.1109/IROS.1995.525787","url":null,"abstract":"The authors' experience over the years with different architectures and planning systems for mobile robots has led them to a distributed approach where an arbiter receives votes for and against commands from each subsystem and decides upon the course of action which best satisfies the current goals and constraints of the system. Centralized arbitration of votes from distributed, independent decision-making processes provides coherent, rational, goal-directed behavior while preserving real-time responsiveness to its immediate physical environment. The Distributed Architecture for Mobile Navigation (DAMN) has been successfully used to integrate various independently developed subsystems, providing systems that perform road following, cross-country navigation, or teleoperation while avoiding obstacles and meeting mission objectives. Examples of implemented systems are given. Further research will seek to more rigorously define the behavior of the system.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"1 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":"130257009","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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