Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for aligning threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingered Stanford/JPL hand are presented.
{"title":"Experiments in aligning threaded parts using a robot hand","authors":"M. Diftler, I. Walker","doi":"10.1109/70.795791","DOIUrl":"https://doi.org/10.1109/70.795791","url":null,"abstract":"Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for aligning threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt \"falls\" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingered Stanford/JPL hand are presented.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129495201","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}
A pan-tilt mechanism is a computer-controlled actuator designed to point an object such as a camera sensor. For applications in active vision, a pan-tilt mechanism should be accurate, fast, small, inexpensive and have low power requirements. The authors have designed and constructed a new type of actuator meeting these requirements, which incorporates both pan and tilt into a single, two-degree-of-freedom device. The spherical pointing motor (SPM) consists of three orthogonal motor windings in a permanent magnetic field, configured to move a small camera mounted on a gimbal. It is an absolute positioning device and is run open-loop. The SPM is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities of several hundred degrees per second with a repeatability of .15/spl deg/. The authors have also built a miniature camera consisting of a single CCD sensor chip and miniature lens assembly that fits on the rotor of this motor. In this paper, the authors discuss the theory of the SPM, which includes its basic electromagnetic principles, and derive the relationship between applied currents and resultant motor position. The authors present an automatic calibration procedure and discuss open- and closed-loop control strategies. Finally, the authors present the physical characteristics and results of their prototype. >
{"title":"A miniature pan-tilt actuator: the spherical pointing motor","authors":"B. Bederson, R. Wallace, E. Schwartz","doi":"10.1109/70.294205","DOIUrl":"https://doi.org/10.1109/70.294205","url":null,"abstract":"A pan-tilt mechanism is a computer-controlled actuator designed to point an object such as a camera sensor. For applications in active vision, a pan-tilt mechanism should be accurate, fast, small, inexpensive and have low power requirements. The authors have designed and constructed a new type of actuator meeting these requirements, which incorporates both pan and tilt into a single, two-degree-of-freedom device. The spherical pointing motor (SPM) consists of three orthogonal motor windings in a permanent magnetic field, configured to move a small camera mounted on a gimbal. It is an absolute positioning device and is run open-loop. The SPM is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities of several hundred degrees per second with a repeatability of .15/spl deg/. The authors have also built a miniature camera consisting of a single CCD sensor chip and miniature lens assembly that fits on the rotor of this motor. In this paper, the authors discuss the theory of the SPM, which includes its basic electromagnetic principles, and derive the relationship between applied currents and resultant motor position. The authors present an automatic calibration procedure and discuss open- and closed-loop control strategies. Finally, the authors present the physical characteristics and results of their prototype. >","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128314812","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}
This paper presents a data-mining-based production control approach for the testing and rework cell in a dynamic computer-integrated manufacturing system. The proposed competitive decision selector (CDS) observes the status of the system and jobs at every decision point, and makes its decision on job preemption and dispatching rules in real time. The CDS equipped with two algorithms combines two different knowledge sources, the long-run performance and the short-term performance of each rule on the various status of the system. The short-term performance information is mined by a data-mining approach from large-scale training data generated by simulation with data partition. A decision tree-based module generates classification rules on each partitioned data that are suitable for interpretation and verification by users and stores the rules in the CDS knowledge bases. Experimental results show that the CDS dynamic control is better than other common control rules with respect to the number of tardy jobs.
{"title":"Data-mining approach to production control in the computer-integrated testing cell","authors":"Choonjong Kwak, Yuehwern Yih","doi":"10.1109/TRA.2003.819595","DOIUrl":"https://doi.org/10.1109/TRA.2003.819595","url":null,"abstract":"This paper presents a data-mining-based production control approach for the testing and rework cell in a dynamic computer-integrated manufacturing system. The proposed competitive decision selector (CDS) observes the status of the system and jobs at every decision point, and makes its decision on job preemption and dispatching rules in real time. The CDS equipped with two algorithms combines two different knowledge sources, the long-run performance and the short-term performance of each rule on the various status of the system. The short-term performance information is mined by a data-mining approach from large-scale training data generated by simulation with data partition. A decision tree-based module generates classification rules on each partitioned data that are suitable for interpretation and verification by users and stores the rules in the CDS knowledge bases. Experimental results show that the CDS dynamic control is better than other common control rules with respect to the number of tardy jobs.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2004-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123684406","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}
This paper presents a simple and analytical procedure for calibrating extrinsic camera parameters. First, a calibration equation that separates rotational and translational parameters is given. The calibrating equation involves only rotational parameters and requires no absolute position information. A four-point calibration procedure is proposed that involves three points on a line and one point out of the line, and leads to four possible calibration solutions, obtained analytically. Additional steps required to eliminate false solutions are also discussed. Once the true rotational parameters are identified, the translational parameters are obtained analytically and uniquely with additional absolute position information. The required absolute position information appears in a simple and explicit form. For extrinsic calibration among multiple cameras, such as stereo cameras, it is easy to show that the absolution position information is not needed.
{"title":"A simple and analytical procedure for calibrating extrinsic camera parameters","authors":"Fei-Yue Wang","doi":"10.1109/TRA.2003.820919","DOIUrl":"https://doi.org/10.1109/TRA.2003.820919","url":null,"abstract":"This paper presents a simple and analytical procedure for calibrating extrinsic camera parameters. First, a calibration equation that separates rotational and translational parameters is given. The calibrating equation involves only rotational parameters and requires no absolute position information. A four-point calibration procedure is proposed that involves three points on a line and one point out of the line, and leads to four possible calibration solutions, obtained analytically. Additional steps required to eliminate false solutions are also discussed. Once the true rotational parameters are identified, the translational parameters are obtained analytically and uniquely with additional absolute position information. The required absolute position information appears in a simple and explicit form. For extrinsic calibration among multiple cameras, such as stereo cameras, it is easy to show that the absolution position information is not needed.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2004-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116231257","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}
To real-time system designers, end-to-end time delay between external inputs and outputs is among the most important constraints. To ensure these system-wide constraints are satisfied, each of the constituent components is subject to a set of derived intermediate constraints. Since the system-wide constraints allow many possibilities for the intermediate constraints based on design tradeoffs, an important issue is how to guarantee the consistency between system-wide constraints and intermediate component constraints. In this paper, we present a systematic method for the verification of consistency between a system's global timing constraints and intermediate component constraints. The essence of this technique is to construct a timing model for each component, based on component constraints. This model treats a component as a black box. When replacing each component with its timing model, we obtain a complete time Petri net model for system architecture, which allows us to verify the consistency between global and component constraints. The key contribution is twofold. First, our technique of verification is efficient by supporting incremental analysis and suppressing internal state space of components. Second, much of the verification process presented in this paper can be automated. We illustrate the consistency verification process through a flexible manufacturing system example.
{"title":"Consistency verification in modeling of real-time systems","authors":"Yi Deng, Jiacun Wang, Mengchu Zhou","doi":"10.1109/TRA.2003.819737","DOIUrl":"https://doi.org/10.1109/TRA.2003.819737","url":null,"abstract":"To real-time system designers, end-to-end time delay between external inputs and outputs is among the most important constraints. To ensure these system-wide constraints are satisfied, each of the constituent components is subject to a set of derived intermediate constraints. Since the system-wide constraints allow many possibilities for the intermediate constraints based on design tradeoffs, an important issue is how to guarantee the consistency between system-wide constraints and intermediate component constraints. In this paper, we present a systematic method for the verification of consistency between a system's global timing constraints and intermediate component constraints. The essence of this technique is to construct a timing model for each component, based on component constraints. This model treats a component as a black box. When replacing each component with its timing model, we obtain a complete time Petri net model for system architecture, which allows us to verify the consistency between global and component constraints. The key contribution is twofold. First, our technique of verification is efficient by supporting incremental analysis and suppressing internal state space of components. Second, much of the verification process presented in this paper can be automated. We illustrate the consistency verification process through a flexible manufacturing system example.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2004-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116755949","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}
A new class of six-degree-of-freedom (DOFs) spatial parallel platform mechanism is considered in this paper. The architecture consists of a mobile platform connected to the base by three identical kinematic chains using five-bar linkages. Recent investigations showed that parallel mechanisms with such a topology for the legs can be efficiently statically balanced using only light elastic elements. This paper follows up with a workspace analysis and optimization of the design of that parallel mechanism. More specifically, considering a possible industrial application of the architecture as a positioning and orienting device of heavy loads, an optimization procedure for the maximization of the volume of the three-dimensional (3-D) constant-orientation workspace of the mechanism is first presented. As the mechanism could also have great potential as a motion base for flight simulators, we develop here a discretization method for the computation and graphical representation of a new workspace with coupled translational and rotational DOFs. This workspace can be defined as the 3-D space which can be obtained when generalized coordinates x,y and torsion angle /spl psi/ in the tilt-and-torsion angles parametrization are constant. A second procedure is then presented for the maximization of the volume of this second subset of the complete workspace. For both approaches, our purpose is to attempt an optimal design of the mechanism by maximizing the volume of the associated 3-D Cartesian region that is free of critical singularity loci.
{"title":"Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism","authors":"B. Monsarrat, C. Gosselin","doi":"10.1109/TRA.2003.819603","DOIUrl":"https://doi.org/10.1109/TRA.2003.819603","url":null,"abstract":"A new class of six-degree-of-freedom (DOFs) spatial parallel platform mechanism is considered in this paper. The architecture consists of a mobile platform connected to the base by three identical kinematic chains using five-bar linkages. Recent investigations showed that parallel mechanisms with such a topology for the legs can be efficiently statically balanced using only light elastic elements. This paper follows up with a workspace analysis and optimization of the design of that parallel mechanism. More specifically, considering a possible industrial application of the architecture as a positioning and orienting device of heavy loads, an optimization procedure for the maximization of the volume of the three-dimensional (3-D) constant-orientation workspace of the mechanism is first presented. As the mechanism could also have great potential as a motion base for flight simulators, we develop here a discretization method for the computation and graphical representation of a new workspace with coupled translational and rotational DOFs. This workspace can be defined as the 3-D space which can be obtained when generalized coordinates x,y and torsion angle /spl psi/ in the tilt-and-torsion angles parametrization are constant. A second procedure is then presented for the maximization of the volume of this second subset of the complete workspace. For both approaches, our purpose is to attempt an optimal design of the mechanism by maximizing the volume of the associated 3-D Cartesian region that is free of critical singularity loci.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129406532","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}
Integrated circuit (IC) foundry fabs are difficult to model due to the increasing product mixes and flexible routes. An imprecise fab model cannot be used to evaluate fab performance or estimate product cycle time. The distributed colored timed Petri net (DCTPN) is a type of high-level Petri net with embedded entity attribute, time, communication, and remote object invocation properties that contribute to realistic descriptions, distributed modeling, and manufacturing execution system integration. Furthermore, the resource-oriented DCTPN modeling extends product mix and flexible route modeling capabilities. The DCTPN conflict resolution and token competition rules are used to construct the dispatching system for a controlled IC fab. A simplified 200 mm IC fab with six functional areas is discussed and demonstrated based on different control policies.
{"title":"Distributed performance evaluation of a controlled IC fab","authors":"C. Kuo, Han-Pang Huang","doi":"10.1109/TRA.2003.819720","DOIUrl":"https://doi.org/10.1109/TRA.2003.819720","url":null,"abstract":"Integrated circuit (IC) foundry fabs are difficult to model due to the increasing product mixes and flexible routes. An imprecise fab model cannot be used to evaluate fab performance or estimate product cycle time. The distributed colored timed Petri net (DCTPN) is a type of high-level Petri net with embedded entity attribute, time, communication, and remote object invocation properties that contribute to realistic descriptions, distributed modeling, and manufacturing execution system integration. Furthermore, the resource-oriented DCTPN modeling extends product mix and flexible route modeling capabilities. The DCTPN conflict resolution and token competition rules are used to construct the dispatching system for a controlled IC fab. A simplified 200 mm IC fab with six functional areas is discussed and demonstrated based on different control policies.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121500765","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}
In recent years, the hybrid control framework has received attention from the research community. Variations of this control framework are available in the literature. In this paper, a hybrid intelligent agent-based scheduling and control system architecture is presented for an actual industrial warehouse order-picking problem, where goods are stored at multiple locations and the pick location of goods can be selected dynamically in near-real time. The presented architecture includes a higher level optimizer, a middle-level guide agent, and lower level agents. The need for a higher level optimizer and communication between higher and lower level controllers is demonstrated. A mathematical model and a genetic algorithm for the resource assignment problem are presented. Simulation results demonstrating efficiency of the new approach are also presented.
{"title":"A hybrid scheduling and control system architecture for warehouse management","authors":"Byung-In Kim, S. Heragu, R. Graves, A. S. Onge","doi":"10.1109/TRA.2003.819735","DOIUrl":"https://doi.org/10.1109/TRA.2003.819735","url":null,"abstract":"In recent years, the hybrid control framework has received attention from the research community. Variations of this control framework are available in the literature. In this paper, a hybrid intelligent agent-based scheduling and control system architecture is presented for an actual industrial warehouse order-picking problem, where goods are stored at multiple locations and the pick location of goods can be selected dynamically in near-real time. The presented architecture includes a higher level optimizer, a middle-level guide agent, and lower level agents. The need for a higher level optimizer and communication between higher and lower level controllers is demonstrated. A mathematical model and a genetic algorithm for the resource assignment problem are presented. Simulation results demonstrating efficiency of the new approach are also presented.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124020133","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}
This paper presents analysis and experiment results on regulation of a two-link robot with a constantly revolving arm. The rotating member imposes a harmonic excitation on the system. A control algorithm inspired by passive dynamic vibration absorber is devised to turn the base link to a target position asymptotically. The displacement of the base link is the only state variable required in the feedback loop. Asymptotic stability is proved using a tool based on the center manifold theory. Real-time experiments are conducted to verify the performance of the proposed method.
{"title":"Output regulation of robot manipulators with a constantly revolving arm","authors":"Shang-Teh Wu, Yi-Chih Chuang","doi":"10.1109/TRA.2003.819599","DOIUrl":"https://doi.org/10.1109/TRA.2003.819599","url":null,"abstract":"This paper presents analysis and experiment results on regulation of a two-link robot with a constantly revolving arm. The rotating member imposes a harmonic excitation on the system. A control algorithm inspired by passive dynamic vibration absorber is devised to turn the base link to a target position asymptotically. The displacement of the base link is the only state variable required in the feedback loop. Asymptotic stability is proved using a tool based on the center manifold theory. Real-time experiments are conducted to verify the performance of the proposed method.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126563516","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}
There is an increasing interest in examining the use of flexible link manipulators in tasks where there is contact with the environment. Presently, there has been limited work examining the stability of force control strategies for such manipulators, especially in the case where there is a switching transition between the unconstrained and constrained environments. In this paper, the modeling and stability of a single flexible link under proportional derivative control contacting an environment is studied. Intuitively, since the system only has passive elements, one would expect the system to be stable. With a few very reasonable assumptions, the problems associated with finite-dimensional approximations are solved by using a novel infinite-dimensional approach. The resultant infinite-dimensional switching system is shown to be asymptotically stable using an energy-based method.
{"title":"Exact solution and infinite-dimensional stability analysis of a single flexible link in collision","authors":"Francis Ching, David W. L. Wang","doi":"10.1109/TRA.2003.819716","DOIUrl":"https://doi.org/10.1109/TRA.2003.819716","url":null,"abstract":"There is an increasing interest in examining the use of flexible link manipulators in tasks where there is contact with the environment. Presently, there has been limited work examining the stability of force control strategies for such manipulators, especially in the case where there is a switching transition between the unconstrained and constrained environments. In this paper, the modeling and stability of a single flexible link under proportional derivative control contacting an environment is studied. Intuitively, since the system only has passive elements, one would expect the system to be stable. With a few very reasonable assumptions, the problems associated with finite-dimensional approximations are solved by using a novel infinite-dimensional approach. The resultant infinite-dimensional switching system is shown to be asymptotically stable using an energy-based method.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129513312","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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