In this paper, a control theoretic model is developed for analyzing the dynamics of distributed cooperative control systems for manufacturing job shops with multiple processing steps with parallel dissimilar machines in which parts control their release times autonomously. The model allows an arbitrary number of part types to be produced using an arbitrary number of machines with an arbitrary number of alternate routings. Conditions for global stability of the resulting distributed control system with nonlinearities are shown using results from Lyapunov stability theory. System stability is found to be robust to a variety of faults and disturbances that may be encountered in a manufacturing environment as long they are bounded in the mean. Feedback enables implicit adaptation to faults in real time, which allows the flexibility in the systems to be fully utilized to compensate for faults and disturbances. Numerical simulation experiments are used to illustrate the global stability and the distributed fault adaptation capability of the system without requiring explicit notification or compensation to conditions such as machine deterioration, multiple machine failures, and network communication delays. Simulation results for job shops with 2000 parts are also presented to illustrate the scalability of the approach.
{"title":"Stable fault adaptation in distributed control of heterarchical manufacturing job shops","authors":"V. Prabhu","doi":"10.1109/TRA.2002.807552","DOIUrl":"https://doi.org/10.1109/TRA.2002.807552","url":null,"abstract":"In this paper, a control theoretic model is developed for analyzing the dynamics of distributed cooperative control systems for manufacturing job shops with multiple processing steps with parallel dissimilar machines in which parts control their release times autonomously. The model allows an arbitrary number of part types to be produced using an arbitrary number of machines with an arbitrary number of alternate routings. Conditions for global stability of the resulting distributed control system with nonlinearities are shown using results from Lyapunov stability theory. System stability is found to be robust to a variety of faults and disturbances that may be encountered in a manufacturing environment as long they are bounded in the mean. Feedback enables implicit adaptation to faults in real time, which allows the flexibility in the systems to be fully utilized to compensate for faults and disturbances. Numerical simulation experiments are used to illustrate the global stability and the distributed fault adaptation capability of the system without requiring explicit notification or compensation to conditions such as machine deterioration, multiple machine failures, and network communication delays. Simulation results for job shops with 2000 parts are also presented to illustrate the scalability of the approach.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120956170","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}
The presence of joint velocity and acceleration limits must be taken into account by the inverse kinematics of robot manipulators, so as to avoid incorrect task execution when these are violated. To solve this problem, a novel algorithmic approach to kinematic control is presented in this paper, which guarantees that the joint variables do not overtake their limits. The proposed technique is based on a new second-order inverse kinematics algorithm, which enables the handling of velocity and acceleration constraints while tracking the desired end-effector path. The goal is achieved by suitably slowing down the task-space trajectory via a time warp when joints limits are encountered. The proposed method is designed for online applications, i.e., the desired trajectory is not known in advance, and requires a light computational burden. The application of the proposed approach is finally illustrated in experiments implemented on a six-degree-of-freedom industrial robot manipulator.
{"title":"A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits","authors":"G. Antonelli, S. Chiaverini, G. Fusco","doi":"10.1109/TRA.2002.807543","DOIUrl":"https://doi.org/10.1109/TRA.2002.807543","url":null,"abstract":"The presence of joint velocity and acceleration limits must be taken into account by the inverse kinematics of robot manipulators, so as to avoid incorrect task execution when these are violated. To solve this problem, a novel algorithmic approach to kinematic control is presented in this paper, which guarantees that the joint variables do not overtake their limits. The proposed technique is based on a new second-order inverse kinematics algorithm, which enables the handling of velocity and acceleration constraints while tracking the desired end-effector path. The goal is achieved by suitably slowing down the task-space trajectory via a time warp when joints limits are encountered. The proposed method is designed for online applications, i.e., the desired trajectory is not known in advance, and requires a light computational burden. The application of the proposed approach is finally illustrated in experiments implemented on a six-degree-of-freedom industrial robot manipulator.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130774607","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}
We consider the problem of resequencing a prearranged set of jobs on a moving assembly line with the objective of minimizing changeover costs. A changeover cost is incurred whenever two consecutive jobs do not share the same feature. Features are assigned from a set of job-specific feasible features. Resequencing is limited by the availability of offline buffers. The problem is motivated by a vehicle resequencing and painting problem at a major U.S. automotive manufacturer. We develop a model for solving the joint resequencing and feature assignment problem and an efficient solution procedure for simultaneously determining optimal feature assignments and vehicle sequences. We show that our solution approach is amenable to implementation in environments where a solution must be obtained within tight time constraints. We also show that the effect of offline buffers is of the diminishing kind with most of the benefits achieved with very few buffers. This means that limited resequencing flexibility is generally sufficient. Furthermore, we show that the value of resequencing is sensitive to the feature density matrix, with resequencing having a significant impact on cost only when density is in the middle range.
{"title":"Resequencing and feature assignment on an automated assembly line","authors":"M. Lahmar, H. Ergan, S. Benjaafar","doi":"10.1109/TRA.2002.807556","DOIUrl":"https://doi.org/10.1109/TRA.2002.807556","url":null,"abstract":"We consider the problem of resequencing a prearranged set of jobs on a moving assembly line with the objective of minimizing changeover costs. A changeover cost is incurred whenever two consecutive jobs do not share the same feature. Features are assigned from a set of job-specific feasible features. Resequencing is limited by the availability of offline buffers. The problem is motivated by a vehicle resequencing and painting problem at a major U.S. automotive manufacturer. We develop a model for solving the joint resequencing and feature assignment problem and an efficient solution procedure for simultaneously determining optimal feature assignments and vehicle sequences. We show that our solution approach is amenable to implementation in environments where a solution must be obtained within tight time constraints. We also show that the effect of offline buffers is of the diminishing kind with most of the benefits achieved with very few buffers. This means that limited resequencing flexibility is generally sufficient. Furthermore, we show that the value of resequencing is sensitive to the feature density matrix, with resequencing having a significant impact on cost only when density is in the middle range.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126221877","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 this paper, we present a novel algorithm for computing three-finger force-closure grasps of 2D and 3D objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2D and 3D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.
{"title":"On computing three-finger force-closure grasps of 2-D and 3-D objects","authors":"Jiawei Li, Hong Liu, H. Cai","doi":"10.1109/TRA.2002.806774","DOIUrl":"https://doi.org/10.1109/TRA.2002.806774","url":null,"abstract":"In this paper, we present a novel algorithm for computing three-finger force-closure grasps of 2D and 3D objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2D and 3D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126734935","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 describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates.
{"title":"Polyhedral contact formation modeling and identification for autonomous compliant motion","authors":"T. Lefebvre, H. Bruyninckx, J. Schutter","doi":"10.1109/TRA.2002.805677","DOIUrl":"https://doi.org/10.1109/TRA.2002.805677","url":null,"abstract":"This paper describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114927012","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 the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions and a novel extension of the navigation function method to account for nonpoint articulated robots. The dipolar inverse Lyapunov functions introduced are appropriate for nonholonomic control and offer superior performance characteristics compared to existing tools. The new potential field technique uses diffeomorphic transformations and exploits the resulting point-world topology. The combined approach is applied to the problem of handling deformable material by multiple nonholonomic mobile manipulators in an obstacle environment to yield a centralized coordinating control law. Simulation results verify asymptotic convergence of the robots, obstacle avoidance, boundedness of object deformations, and singularity avoidance for the manipulators.
{"title":"Nonholonomic navigation and control of cooperating mobile manipulators","authors":"H. Tanner, S. Loizou, K. Kyriakopoulos","doi":"10.1109/TRA.2002.807549","DOIUrl":"https://doi.org/10.1109/TRA.2002.807549","url":null,"abstract":"This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions and a novel extension of the navigation function method to account for nonpoint articulated robots. The dipolar inverse Lyapunov functions introduced are appropriate for nonholonomic control and offer superior performance characteristics compared to existing tools. The new potential field technique uses diffeomorphic transformations and exploits the resulting point-world topology. The combined approach is applied to the problem of handling deformable material by multiple nonholonomic mobile manipulators in an obstacle environment to yield a centralized coordinating control law. Simulation results verify asymptotic convergence of the robots, obstacle avoidance, boundedness of object deformations, and singularity avoidance for the manipulators.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125202224","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}
We present the cyclic coordinate descent (CCD) algorithm for optimizing quadratic objective functions on SE(3), and apply it to a class of robot sensor calibration problems. Exploiting the fact that SE(3) is the semidirect product of SO(3) and /spl Rfr//sup 3/, we show that by cyclically optimizing between these two spaces, global convergence can be assured under a mild set of assumptions. The CCD algorithm is also invariant with respect to choice of fixed reference frame (i.e., left invariant, as required by the principle of objectivity). Examples from camera calibration confirm the simplicity, efficiency, and robustness of the CCD algorithm on SE(3), and its wide applicability to problems of practical interest in robotics.
{"title":"Numerical optimization on the Euclidean group with applications to camera calibration","authors":"Seung-Hyeon Gwak, Junggon Kim, F. Park","doi":"10.1109/TRA.2002.807530","DOIUrl":"https://doi.org/10.1109/TRA.2002.807530","url":null,"abstract":"We present the cyclic coordinate descent (CCD) algorithm for optimizing quadratic objective functions on SE(3), and apply it to a class of robot sensor calibration problems. Exploiting the fact that SE(3) is the semidirect product of SO(3) and /spl Rfr//sup 3/, we show that by cyclically optimizing between these two spaces, global convergence can be assured under a mild set of assumptions. The CCD algorithm is also invariant with respect to choice of fixed reference frame (i.e., left invariant, as required by the principle of objectivity). Examples from camera calibration confirm the simplicity, efficiency, and robustness of the CCD algorithm on SE(3), and its wide applicability to problems of practical interest in robotics.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127097524","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 this paper, we develop a mixed-integer programming model for integrated partner selection and scheduling in an Internet-enabled dynamic manufacturing network environment. We assume that all stakeholders in the supply chain (SC) share information on their capacities, schedules, and cost structures. Based on this information, the model addresses the issue of partner selection and SC synchronization for profit maximization, while considering various manufacturing and logistics constraints. Furthermore, we study the dynamic configuration of the SC and its performance with respect to different buyer locations, different order patterns, and the utilization of transshipment hubs. The model is solved using optimization tools from ILOG, located in Paris, France, and Mountain View, CA.
{"title":"Partner selection and synchronized planning in dynamic manufacturing networks","authors":"N. Viswanadham, R. Gaonkar","doi":"10.1109/TRA.2002.805659","DOIUrl":"https://doi.org/10.1109/TRA.2002.805659","url":null,"abstract":"In this paper, we develop a mixed-integer programming model for integrated partner selection and scheduling in an Internet-enabled dynamic manufacturing network environment. We assume that all stakeholders in the supply chain (SC) share information on their capacities, schedules, and cost structures. Based on this information, the model addresses the issue of partner selection and SC synchronization for profit maximization, while considering various manufacturing and logistics constraints. Furthermore, we study the dynamic configuration of the SC and its performance with respect to different buyer locations, different order patterns, and the utilization of transshipment hubs. The model is solved using optimization tools from ILOG, located in Paris, France, and Mountain View, CA.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132414794","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}
F. Blanchini, S. Miani, R. Pesenti, Franca Rinaldi
In this paper, we consider different aspects of the problem of controlling a multi-inventory system in the presence of uncertain demand and setups. The demand is unknown but bounded in an assigned compact set. The control input is assumed to be constant in its operating regime and to incur setup whenever a variation of this regime is required. Both setup times and setup configurations are unknown. We provide necessary and sufficient stabilizability conditions which turn out to be the same in the case in which there are no setups. Stabilization can be achieved, provided that the planning horizon is large enough and a computable lower bound is given. We also face the problem of ultimately confining the state in an assigned constraint set and provide conditions on this set for the problem to be feasible. Furthermore, we consider the case in which the controls are quantized, as in the case of systems which work in a switching mode. Finally, we deal with the case in which multiple setups may happen during the planning horizon.
{"title":"Stabilization of multi-inventory systems with uncertain demand and setups","authors":"F. Blanchini, S. Miani, R. Pesenti, Franca Rinaldi","doi":"10.1109/TRA.2002.807553","DOIUrl":"https://doi.org/10.1109/TRA.2002.807553","url":null,"abstract":"In this paper, we consider different aspects of the problem of controlling a multi-inventory system in the presence of uncertain demand and setups. The demand is unknown but bounded in an assigned compact set. The control input is assumed to be constant in its operating regime and to incur setup whenever a variation of this regime is required. Both setup times and setup configurations are unknown. We provide necessary and sufficient stabilizability conditions which turn out to be the same in the case in which there are no setups. Stabilization can be achieved, provided that the planning horizon is large enough and a computable lower bound is given. We also face the problem of ultimately confining the state in an assigned constraint set and provide conditions on this set for the problem to be feasible. Furthermore, we consider the case in which the controls are quantized, as in the case of systems which work in a switching mode. Finally, we deal with the case in which multiple setups may happen during the planning horizon.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134034957","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 examines the role played by vehicle models and their impact on the performance of sensor-based navigation systems for autonomous land vehicles. In a navigation system, information from internal and external vehicle sensors is combined to estimate the motion of the vehicle. However, while the issue of sensing and effects of sensor accuracy have been widely studied, there are few results or insights into the complementary role played by the vehicle model. This paper has two main contributions: a theoretical analysis of the role of the vehicle model in navigation system performance, and an empirical study of three models of increasing complexity, used in a navigation system for a conventional road vehicle. The theoretical analysis focuses on understanding the effect of estimation errors caused by approximations to the "true" vehicle model. It shows that while substantial performance improvements can be obtained from better vehicle modeling, there is, in general, no definitive "best" model for such complex nonlinear estimation problems. The empirical study shows that an appropriate choice of a higher order model can lead to significant improvements in the performance of the navigation system. However, the highest order model suffers from problems related to the observability of some of its parameters. We show how this problem can be overcome through the imposition of weak constraints.
{"title":"On the role of process models in autonomous land vehicle navigation systems","authors":"S. Julier, H. Durrant-Whyte","doi":"10.1109/TRA.2002.805661","DOIUrl":"https://doi.org/10.1109/TRA.2002.805661","url":null,"abstract":"This paper examines the role played by vehicle models and their impact on the performance of sensor-based navigation systems for autonomous land vehicles. In a navigation system, information from internal and external vehicle sensors is combined to estimate the motion of the vehicle. However, while the issue of sensing and effects of sensor accuracy have been widely studied, there are few results or insights into the complementary role played by the vehicle model. This paper has two main contributions: a theoretical analysis of the role of the vehicle model in navigation system performance, and an empirical study of three models of increasing complexity, used in a navigation system for a conventional road vehicle. The theoretical analysis focuses on understanding the effect of estimation errors caused by approximations to the \"true\" vehicle model. It shows that while substantial performance improvements can be obtained from better vehicle modeling, there is, in general, no definitive \"best\" model for such complex nonlinear estimation problems. The empirical study shows that an appropriate choice of a higher order model can lead to significant improvements in the performance of the navigation system. However, the highest order model suffers from problems related to the observability of some of its parameters. We show how this problem can be overcome through the imposition of weak constraints.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126189422","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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