Pub Date : 1991-11-18DOI: 10.1109/IRSSE.1991.658938
J.R. Noteworthy, A. M. Ryan, L. Gerhardt
This paper addresses the calibration of a robotic 3-0 vision system. The vision system consists of two cam- eras and a laser scanner each afixed with reposition- able mounts on the ceiling above a robotic testbed. The purpose is to gather global information about the robot workspace. Consequently, the laser scanner and each camera has a large angle of view and must provide ac- curate 3-D information over a range from 0.5 m to 2.5 meters. In this application, the manufacturing of a high precision calibration target is impractical, and so the calibration data points lack the precision com- mon in many calibration processes. This paper presents methods to determine useful camera and laser scanner calibrations in spite of imprecise calibration points
{"title":"Camera and Laser Scanner Calibration with Imprecise","authors":"J.R. Noteworthy, A. M. Ryan, L. Gerhardt","doi":"10.1109/IRSSE.1991.658938","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658938","url":null,"abstract":"This paper addresses the calibration of a robotic 3-0 vision system. The vision system consists of two cam- eras and a laser scanner each afixed with reposition- able mounts on the ceiling above a robotic testbed. The purpose is to gather global information about the robot workspace. Consequently, the laser scanner and each camera has a large angle of view and must provide ac- curate 3-D information over a range from 0.5 m to 2.5 meters. In this application, the manufacturing of a high precision calibration target is impractical, and so the calibration data points lack the precision com- mon in many calibration processes. This paper presents methods to determine useful camera and laser scanner calibrations in spite of imprecise calibration points","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"47 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116398141","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658937
S. Nayar
This paper presents new results in the area of image intensity understanding. We address the problem of recovering three-dimensional shapes of surfaces from twc-dimensional intensity images. Previous shape-fromintensity methods are not applicable to surfaces with varying reflectance properties. These methods are also inaccurate in the case of concave surfaces as they do not account for interreflections. Here, we present shape recovery methods that overcome both these problems. Our solutions are based on physics-based models of reflection and interreflection. Multiple images of a surface are obtained by varying the source direction. Shape and reflectance parameters are computed simultaneously from the measured image intensities. Experimental results are included to demonstrate the accuracy and robustness of the proposed shape recovery methods.
{"title":"Shape and Reflectance from Image Intensities","authors":"S. Nayar","doi":"10.1109/IRSSE.1991.658937","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658937","url":null,"abstract":"This paper presents new results in the area of image intensity understanding. We address the problem of recovering three-dimensional shapes of surfaces from twc-dimensional intensity images. Previous shape-fromintensity methods are not applicable to surfaces with varying reflectance properties. These methods are also inaccurate in the case of concave surfaces as they do not account for interreflections. Here, we present shape recovery methods that overcome both these problems. Our solutions are based on physics-based models of reflection and interreflection. Multiple images of a surface are obtained by varying the source direction. Shape and reflectance parameters are computed simultaneously from the measured image intensities. Experimental results are included to demonstrate the accuracy and robustness of the proposed shape recovery methods.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127851683","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658935
J. Wen
Mechanical systems such as robots are known to possess inherent dissipative properties. With the proper choice of inputs and outputs, a mechanical system is passive. This then leads to a large class of stabilizing controllers which require virtually no model information for their implementation. Additional model information can be used for performance enhancement through tuning the feedback system and constructing a feedforward system based on the inverse dynamics, without adversely affecting the stability. This paper describes this general passivity/inverse-dynamics approach to robot control. Applications to rigid robots, multiple robots, flexible joint robots, and flexible link robots, are discussed.
{"title":"Robot Control by Using the Concept of Passivity","authors":"J. Wen","doi":"10.1109/IRSSE.1991.658935","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658935","url":null,"abstract":"Mechanical systems such as robots are known to possess inherent dissipative properties. With the proper choice of inputs and outputs, a mechanical system is passive. This then leads to a large class of stabilizing controllers which require virtually no model information for their implementation. Additional model information can be used for performance enhancement through tuning the feedback system and constructing a feedforward system based on the inverse dynamics, without adversely affecting the stability. This paper describes this general passivity/inverse-dynamics approach to robot control. Applications to rigid robots, multiple robots, flexible joint robots, and flexible link robots, are discussed.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127590876","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658933
N. Papanikolopoulos, P. Khosla
In this paper, we present algorithms that address the real-time robotic visual tracking (eye-in-hand configuration) of satellites that move in 2-D space. To achieve our objective, we combine computer vision techniques, for detection of motion, with simple control strategies. The problem has been formulated from the systems theory point of view. This facilitates the extension of the algorithm to 3-D space. A cross-correlation technique (SSD optical flow) is used for computing the vector of discrete displacements and is combined with an appropriate control scheme to calculate the required motion of the space robotic system. Shared and traded control modes enable the integration of the human operator with the autonomous tracling modules. In this way, the human operator can intervene and correct the tracking motion through a joystick. The performance of the proposed algorithms has been tested on a real system, the CMU DD Arm 11, and the results are presented in this paper.
{"title":"Using Control And Vision For Space Applications","authors":"N. Papanikolopoulos, P. Khosla","doi":"10.1109/IRSSE.1991.658933","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658933","url":null,"abstract":"In this paper, we present algorithms that address the real-time robotic visual tracking (eye-in-hand configuration) of satellites that move in 2-D space. To achieve our objective, we combine computer vision techniques, for detection of motion, with simple control strategies. The problem has been formulated from the systems theory point of view. This facilitates the extension of the algorithm to 3-D space. A cross-correlation technique (SSD optical flow) is used for computing the vector of discrete displacements and is combined with an appropriate control scheme to calculate the required motion of the space robotic system. Shared and traded control modes enable the integration of the human operator with the autonomous tracling modules. In this way, the human operator can intervene and correct the tracking motion through a joystick. The performance of the proposed algorithms has been tested on a real system, the CMU DD Arm 11, and the results are presented in this paper.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115846690","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658940
R. Montgomery
and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic
{"title":"On the Role of Inertial Actuators in Suppressing the Vibrations of a One-Link Robot Arm","authors":"R. Montgomery","doi":"10.1109/IRSSE.1991.658940","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658940","url":null,"abstract":"and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127950675","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658936
E. Cheung, M. Manzo, R. Mcconnell
On-orbit servicing of spacecraft‘ will require the changeout of their components in space. These components are usually configured into Orbital Replacement Units (ORUs) so that they can be handled by astronauts performing Extra-Vehicular Activity (EVA). Current research in robotics concerning supplementing or replacing EVA use vision and force feedback. Unfortunately, these sensor modalities do not offer a simple way of sensing proximity and avoiding collisions between the ORU and the environment. We propose to use a capacitive sensor for the detection of proximity of the ORU to objects. This sensor provides position and orientation feedback, which can be useful in the positioning and alignment of the ORU with respect to the docking fixture. In this paper we describe an algorithm that has successfully docked and undocked an ORU in a space allowing less than 1” clearance without touching. The resulting algorithm is simple to implement, has modest computational requirements, and is able to continuously prevent collisions of the ORU with the environment.
{"title":"Using Capaciflectors for ORU Docking","authors":"E. Cheung, M. Manzo, R. Mcconnell","doi":"10.1109/IRSSE.1991.658936","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658936","url":null,"abstract":"On-orbit servicing of spacecraft‘ will require the changeout of their components in space. These components are usually configured into Orbital Replacement Units (ORUs) so that they can be handled by astronauts performing Extra-Vehicular Activity (EVA). Current research in robotics concerning supplementing or replacing EVA use vision and force feedback. Unfortunately, these sensor modalities do not offer a simple way of sensing proximity and avoiding collisions between the ORU and the environment. We propose to use a capacitive sensor for the detection of proximity of the ORU to objects. This sensor provides position and orientation feedback, which can be useful in the positioning and alignment of the ORU with respect to the docking fixture. In this paper we describe an algorithm that has successfully docked and undocked an ORU in a space allowing less than 1” clearance without touching. The resulting algorithm is simple to implement, has modest computational requirements, and is able to continuously prevent collisions of the ORU with the environment.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126908285","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658930
S. Gottschlich
A common problem in robotic assembly is that of mating tightly fitting parts when the locations and the dimensions of the parts are somewhat uncertain. Because the clearances allowed between mating features of parts are likely to be smaller then the aggregate uncertainties, it is often necessary to use sensoryguided motions, as opposed to point-to-point motions, for carrying out portions of an assembly operation. In this paper we will discuss a fine motion planner that develops motion plans for assembly operations where force/torque guided motions are incorporated into the plan as needed. While much work in fine motion planning has focused on dealing with the uncertainties involved, this paper will expose equally important issues that arise in assembly motion planning due to the complicated geometry of assembly parts and the tight clearances allowed between mating features of assembly parts.
{"title":"Issues in Fine Motion Planning for Assembly","authors":"S. Gottschlich","doi":"10.1109/IRSSE.1991.658930","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658930","url":null,"abstract":"A common problem in robotic assembly is that of mating tightly fitting parts when the locations and the dimensions of the parts are somewhat uncertain. Because the clearances allowed between mating features of parts are likely to be smaller then the aggregate uncertainties, it is often necessary to use sensoryguided motions, as opposed to point-to-point motions, for carrying out portions of an assembly operation. In this paper we will discuss a fine motion planner that develops motion plans for assembly operations where force/torque guided motions are incorporated into the plan as needed. While much work in fine motion planning has focused on dealing with the uncertainties involved, this paper will expose equally important issues that arise in assembly motion planning due to the complicated geometry of assembly parts and the tight clearances allowed between mating features of assembly parts.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128836455","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658932
D. Lefebvre, G. Saridis
{"title":"A Computer Architecture for Intelligent Machines","authors":"D. Lefebvre, G. Saridis","doi":"10.1109/IRSSE.1991.658932","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658932","url":null,"abstract":"","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116086417","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658929
D. Johnson, M. Diftler, A. Trujillo, E. Y. Tu, B. Rogers, A. Testa
The Teleoperated Robotics Section at the NASAIJohnson Space Center i s currently evaluating a world-model-based Proximity Detection and Collision Avoidance (PDCA) system for use on Space Station Freedom (SSF). An analysis of test data from this study will determine PDCA'S impact on SSF teleoperated robotic task performance under various work site viewing conditions. This PDCA system is an emulation of a concept proposed by the Canadian Space Agency (CSA) . The system's hierarchical world model is generated automatically from a graphical database that is also used to simulate the SSF environment during testing. This world model includes all the fixed obstacles, modelled as convex polytopes, in the robot's workspace. Line segments with radial shells, referred to as clyspheres, approximate all moving robot and payload parts. A University of Michigan algorithm that calculates distances between arbitrary convex polytopes provides proximity data for use in collision avoidance. This multipart evaluation i s in its simulation stage, and testing is under way using detailed SSF graphical models and robot kinematic models. Future work is expected to include implementation i nto a previously developed hardware test bed.
{"title":"Proximity Detection and Collision Avoidance for Space Station Freedom Robot Manipulators","authors":"D. Johnson, M. Diftler, A. Trujillo, E. Y. Tu, B. Rogers, A. Testa","doi":"10.1109/IRSSE.1991.658929","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658929","url":null,"abstract":"The Teleoperated Robotics Section at the NASAIJohnson Space Center i s currently evaluating a world-model-based Proximity Detection and Collision Avoidance (PDCA) system for use on Space Station Freedom (SSF). An analysis of test data from this study will determine PDCA'S impact on SSF teleoperated robotic task performance under various work site viewing conditions. This PDCA system is an emulation of a concept proposed by the Canadian Space Agency (CSA) . The system's hierarchical world model is generated automatically from a graphical database that is also used to simulate the SSF environment during testing. This world model includes all the fixed obstacles, modelled as convex polytopes, in the robot's workspace. Line segments with radial shells, referred to as clyspheres, approximate all moving robot and payload parts. A University of Michigan algorithm that calculates distances between arbitrary convex polytopes provides proximity data for use in collision avoidance. This multipart evaluation i s in its simulation stage, and testing is under way using detailed SSF graphical models and robot kinematic models. Future work is expected to include implementation i nto a previously developed hardware test bed.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125271656","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 : 1991-11-18DOI: 10.1109/IRSSE.1991.658934
T. Nguyen, J. Wang, K. Alder
Force accommodation control technology has been applied to the Shuttle Remote Manipulator System (SRMS). Unique characteristics of the SRMS such as seuctural jlexibilities, large payloads, servo saturation limits, joint friction, low sampling rate, and limited access to rhe servo interface have been shown to influence the stability, limit the peqormance and dictate ihe type of a candidate force feedback control scheme. This paper first describes the linear analysis for a single link SRMS model where the cffects of gearbox flexibility, link flexibility, payload and environment stifness are discussed. A jbrce control law is then designed based on this model using classical control appproaches. Next, the effects of non-linearities, such as: gearbox backlash, friction, and servo saturation limits, on rhe stability of the control law are discussed using describing function technique. The control is then applied to a real-time SRMS simulation facility, called the Space System Automated Integration and Assembly Facility (SSAIAF) at the Johnson Space Center. The facility houses a 6-DOF Stewart table that is controlled via a man-in-the-loop to follow a real-time, high fidelity iiynamic model of the SRMS. Docking hardware is mounted on the table to provide real contact jbrces for studying the Stationlshuttle docking task. Force feedback control was implemented and tested for one of the docking scenarios. Experimental results are presented in the last section.
{"title":"Force Accommodation Control Of The Space Shuttle Remote Manipulator System: Experimental Results","authors":"T. Nguyen, J. Wang, K. Alder","doi":"10.1109/IRSSE.1991.658934","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658934","url":null,"abstract":"Force accommodation control technology has been applied to the Shuttle Remote Manipulator System (SRMS). Unique characteristics of the SRMS such as seuctural jlexibilities, large payloads, servo saturation limits, joint friction, low sampling rate, and limited access to rhe servo interface have been shown to influence the stability, limit the peqormance and dictate ihe type of a candidate force feedback control scheme. This paper first describes the linear analysis for a single link SRMS model where the cffects of gearbox flexibility, link flexibility, payload and environment stifness are discussed. A jbrce control law is then designed based on this model using classical control appproaches. Next, the effects of non-linearities, such as: gearbox backlash, friction, and servo saturation limits, on rhe stability of the control law are discussed using describing function technique. The control is then applied to a real-time SRMS simulation facility, called the Space System Automated Integration and Assembly Facility (SSAIAF) at the Johnson Space Center. The facility houses a 6-DOF Stewart table that is controlled via a man-in-the-loop to follow a real-time, high fidelity iiynamic model of the SRMS. Docking hardware is mounted on the table to provide real contact jbrces for studying the Stationlshuttle docking task. Force feedback control was implemented and tested for one of the docking scenarios. Experimental results are presented in the last section.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115597759","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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