Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.
{"title":"Vibration control of Gough-Stewart platform on flexible suspension","authors":"Yuan Cheng, Gexue Ren, Shiliang Dai","doi":"10.1109/TRA.2003.810233","DOIUrl":"https://doi.org/10.1109/TRA.2003.810233","url":null,"abstract":"Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128063337","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 a new method for improving the azimuth accuracy of range information using conventional (Polaroid) low-resolution ultrasonic sensors mounted in a circular array on a mobile robot. Although ultrasonic sensors are fairly accurate in measuring distance in depth, they commonly have significant uncertainty in azimuth. We model this uncertainty with a uniform distribution along an arc. This means that the echo has an equal likelihood of originating from any point along the arc. We then introduce a new method to fuse sonar data to better approximate the actual obstacle location. This new method is termed the arc transversal median method because the robot determines the location of an object 1) by intersecting one arc with other arcs, 2) then by considering only "transversal" intersections, those which exceed a threshold in angle, and 3) by taking the median of the intersections. The median is a robust estimator that is insensitive to noise; a few stray readings will not affect its value. We show, via some simple geometric relationships, that this method can improve the azimuth accuracy of the sonar sensor by a specified amount under well-defined conditions. Experimental results on an ultrasonic sensor array situated on a mobile robot verify this approach.
{"title":"The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracy","authors":"H. Choset, K. Nagatani, N. Lazar","doi":"10.1109/TRA.2003.810580","DOIUrl":"https://doi.org/10.1109/TRA.2003.810580","url":null,"abstract":"This paper describes a new method for improving the azimuth accuracy of range information using conventional (Polaroid) low-resolution ultrasonic sensors mounted in a circular array on a mobile robot. Although ultrasonic sensors are fairly accurate in measuring distance in depth, they commonly have significant uncertainty in azimuth. We model this uncertainty with a uniform distribution along an arc. This means that the echo has an equal likelihood of originating from any point along the arc. We then introduce a new method to fuse sonar data to better approximate the actual obstacle location. This new method is termed the arc transversal median method because the robot determines the location of an object 1) by intersecting one arc with other arcs, 2) then by considering only \"transversal\" intersections, those which exceed a threshold in angle, and 3) by taking the median of the intersections. The median is a robust estimator that is insensitive to noise; a few stray readings will not affect its value. We show, via some simple geometric relationships, that this method can improve the azimuth accuracy of the sonar sensor by a specified amount under well-defined conditions. Experimental results on an ultrasonic sensor array situated on a mobile robot verify this approach.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126001701","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 design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.
{"title":"Visually guided landing of an unmanned aerial vehicle","authors":"S. Saripalli, J. Montgomery, G. Sukhatme","doi":"10.1109/TRA.2003.810239","DOIUrl":"https://doi.org/10.1109/TRA.2003.810239","url":null,"abstract":"We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114889393","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 new family of fully-parallel robots producing motions of the Schoenflies displacements subgroup (three translations and one rotation about a given axis in world coordinates) for high-speed handling and machining. First, the structure's ability to provide this four-degrees-of-freedom motion is presented. Then, two of its possible designs are analyzed: the symmetrical and the asymmetrical one. Constructive designs are then presented. Some of the prototype's preliminary control results are given to prove the H4 robot's efficiency.
{"title":"A new high-speed 4-DOF parallel robot synthesis and modeling issues","authors":"O. Company, F. Marquet, F. Pierrot","doi":"10.1109/TRA.2003.810232","DOIUrl":"https://doi.org/10.1109/TRA.2003.810232","url":null,"abstract":"This paper presents a new family of fully-parallel robots producing motions of the Schoenflies displacements subgroup (three translations and one rotation about a given axis in world coordinates) for high-speed handling and machining. First, the structure's ability to provide this four-degrees-of-freedom motion is presented. Then, two of its possible designs are analyzed: the symmetrical and the asymmetrical one. Constructive designs are then presented. Some of the prototype's preliminary control results are given to prove the H4 robot's efficiency.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120823198","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 human motor-control system has a hierarchical and decentralized structure, and building such a control system for a multiple robot system would require a decomposed model. The difficulty in decomposing complex robotic systems is due to interactions between robots, and the paper proposes a control architecture that controls the manipulator joints and interactions separately. A decomposable model for an N - n degrees-of-freedom multimanipulator/object system handling an object is derived. This model is then used to design a Lyapunov-based fuzzy logic controller for the system by solving linear matrix equalities. It is shown that this controller is closed-loop stable and a stable suboptimal controller for the system may be designed using bounds.
{"title":"Multiple manipulator control from a human motor-control perspective","authors":"C. Kambhampati, S. Rajasekharan","doi":"10.1109/TRA.2003.810244","DOIUrl":"https://doi.org/10.1109/TRA.2003.810244","url":null,"abstract":"The human motor-control system has a hierarchical and decentralized structure, and building such a control system for a multiple robot system would require a decomposed model. The difficulty in decomposing complex robotic systems is due to interactions between robots, and the paper proposes a control architecture that controls the manipulator joints and interactions separately. A decomposable model for an N - n degrees-of-freedom multimanipulator/object system handling an object is derived. This model is then used to design a Lyapunov-based fuzzy logic controller for the system by solving linear matrix equalities. It is shown that this controller is closed-loop stable and a stable suboptimal controller for the system may be designed using bounds.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127775246","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}
Presents a passive bilateral feedforward control scheme for linear dynamically similar (LDS) teleoperated manipulators with kinematic scaling and power scaling. The proposed control law renders the teleoperator as a passive rigid mechanical tool with programmable apparent inertia to the human operator and the work environment by utilizing bilateral force feedforward and kinematic feedback control. The passivity of the closed-loop system is robust to force measurement inaccuracies and model uncertainty. Thus, interaction stability of the teleoperator with any passive environment is guaranteed. Coordination error and the overall motion aspects of teleoperation are controlled individually. The proposed control law is also applicable to general nonlinear robotic teleoperators if sufficiently high kinematic feedback gains are used. The proposed control schemes have been validated experimentally for both LDS and non-LDS systems.
{"title":"Passive bilateral feedforward control of linear dynamically similar teleoperated manipulators","authors":"Dongjun Lee, Perry Y. Li","doi":"10.1109/TRA.2003.810576","DOIUrl":"https://doi.org/10.1109/TRA.2003.810576","url":null,"abstract":"Presents a passive bilateral feedforward control scheme for linear dynamically similar (LDS) teleoperated manipulators with kinematic scaling and power scaling. The proposed control law renders the teleoperator as a passive rigid mechanical tool with programmable apparent inertia to the human operator and the work environment by utilizing bilateral force feedforward and kinematic feedback control. The passivity of the closed-loop system is robust to force measurement inaccuracies and model uncertainty. Thus, interaction stability of the teleoperator with any passive environment is guaranteed. Coordination error and the overall motion aspects of teleoperation are controlled individually. The proposed control law is also applicable to general nonlinear robotic teleoperators if sufficiently high kinematic feedback gains are used. The proposed control schemes have been validated experimentally for both LDS and non-LDS systems.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123500008","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 basic definition of the reentrant line, which constitutes the typical abstraction for the formal modeling and analysis of the fabrication (fab) scheduling problem, considers only the job contest for the finite processing capacity of the system workstations, ignoring completely the effects and complications arising from additional operational issues like the finite buffering capacity of the system workstations/production units. Yet, as the semiconductor industry moves to more extensively automated operational modes, the explicit characterization and control of these additional operational features is of paramount importance for the robust and stable operation of the entire system. Moreover, the operational policies developed to control these logical aspects of the system behavior introduce additional constraints to the fab scheduling problem, that complicate it even further and, more importantly, invalidate prior characterizations of its optimal solutions. Motivated by these remarks, the work presented in the paper develops an analytical framework for the modeling, analysis, and control of capacitated, flexibly automated reentrant lines, based on the class of generalized stochastic Petri nets. The proposed framework allows the seamless integration of the logical/structural and the timed-based aspects of the system behavior, provides an analytical formulation for the underlying scheduling problem, and leads to an interesting qualitative characterization of the structure of the optimal scheduling policy. Hence, it provides the analytical basis for addressing the reentrant line scheduling problem in its contemporary, more complex operational context, and it constitutes the starting point for the development of new scheduling tools and policies for it.
{"title":"A generalized stochastic Petri net model for performance analysis and control of capacitated reentrant lines","authors":"J. Choi, S. Reveliotis","doi":"10.1109/TRA.2003.810577","DOIUrl":"https://doi.org/10.1109/TRA.2003.810577","url":null,"abstract":"The basic definition of the reentrant line, which constitutes the typical abstraction for the formal modeling and analysis of the fabrication (fab) scheduling problem, considers only the job contest for the finite processing capacity of the system workstations, ignoring completely the effects and complications arising from additional operational issues like the finite buffering capacity of the system workstations/production units. Yet, as the semiconductor industry moves to more extensively automated operational modes, the explicit characterization and control of these additional operational features is of paramount importance for the robust and stable operation of the entire system. Moreover, the operational policies developed to control these logical aspects of the system behavior introduce additional constraints to the fab scheduling problem, that complicate it even further and, more importantly, invalidate prior characterizations of its optimal solutions. Motivated by these remarks, the work presented in the paper develops an analytical framework for the modeling, analysis, and control of capacitated, flexibly automated reentrant lines, based on the class of generalized stochastic Petri nets. The proposed framework allows the seamless integration of the logical/structural and the timed-based aspects of the system behavior, provides an analytical formulation for the underlying scheduling problem, and leads to an interesting qualitative characterization of the structure of the optimal scheduling policy. Hence, it provides the analytical basis for addressing the reentrant line scheduling problem in its contemporary, more complex operational context, and it constitutes the starting point for the development of new scheduling tools and policies for it.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133450271","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 introduce a mixed-integer programming formulation for finding optimal cyclic schedules for printed circuit board lines with multiple hoists on a shared track, where the processing sequence may be different than the location sequence of the tanks. Computational results on some benchmark problems indicate that optimal cyclic schedules for problems of realistic size can be found in a reasonable time.
{"title":"Optimal cyclic scheduling for printed circuit board production lines with multiple hoists and general processing sequence","authors":"J. Leung, Guoqing Zhang","doi":"10.1109/TRA.2003.810240","DOIUrl":"https://doi.org/10.1109/TRA.2003.810240","url":null,"abstract":"We introduce a mixed-integer programming formulation for finding optimal cyclic schedules for printed circuit board lines with multiple hoists on a shared track, where the processing sequence may be different than the location sequence of the tanks. Computational results on some benchmark problems indicate that optimal cyclic schedules for problems of realistic size can be found in a reasonable time.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131749597","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}
Life cycle engineering, or integrated product and process development (IPPD), has gained much attention recently due to its significant applications to various products and systems in industry. The authors' previous work introduced an IPPD methodology as a systems approach to competitive and environmentally conscious product and process development. Different product development issues are formally described as constrained optimization problems and solved using a life locus tree. The paper extends the methodology to the development of manufacturing systems. In order to increase its modeling capability and decision accuracy, a time variable is introduced into the methodology. The execution duration of processes and their time-varying characteristics are considered. The methodology is then applied to the life cycle development of a flexible manufacturing system (FMS). FMS machine selection and decisions along its life are optimally made. The latter includes how many times each FMS component should be upgraded and which end-of-life option it should take. Life cycle decision making is based on cost, benefit, and environmental impact of an FMS. The proposed approach provides a new way to develop cost-effective, high-quality, and environmentally conscious FMS.
{"title":"A life cycle engineering approach to development of flexible manufacturing systems","authors":"Pingtao Yan, Mengchu Zhou","doi":"10.1109/TRA.2003.810583","DOIUrl":"https://doi.org/10.1109/TRA.2003.810583","url":null,"abstract":"Life cycle engineering, or integrated product and process development (IPPD), has gained much attention recently due to its significant applications to various products and systems in industry. The authors' previous work introduced an IPPD methodology as a systems approach to competitive and environmentally conscious product and process development. Different product development issues are formally described as constrained optimization problems and solved using a life locus tree. The paper extends the methodology to the development of manufacturing systems. In order to increase its modeling capability and decision accuracy, a time variable is introduced into the methodology. The execution duration of processes and their time-varying characteristics are considered. The methodology is then applied to the life cycle development of a flexible manufacturing system (FMS). FMS machine selection and decisions along its life are optimally made. The latter includes how many times each FMS component should be upgraded and which end-of-life option it should take. Life cycle decision making is based on cost, benefit, and environmental impact of an FMS. The proposed approach provides a new way to develop cost-effective, high-quality, and environmentally conscious FMS.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125457004","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, a modified two-step compliance control method for robot hands is proposed: resolved interfinger decoupling solver (RIFDS) and resolved interjoint decoupling solver (RIJDS). For this, we first investigate how many fingers are necessary to successfully implement stiffness characteristics in the operational space. RIFDS is then proposed to decompose the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without interfinger coupling, and RIJDS is also proposed to decompose the compliance characteristic in the fingertip space without interjoint coupling. It is found in the process of RIFDS that some nondiagonal stiffness elements specified in the operational space cannot be planned arbitrarily, due to grasping geometry. Similar to independent finger control, RIJDS aims at independent joint control. This scheme facilitates the joint servo control. To show the effectiveness of the proposed compliance control method, some experimental results are illustrated for a compliant task by using two- and three-fingered hands, which consist of five-bar finger mechanisms. It is concluded that grasping geometry and finger structure are crucial to successfully performing multifingered hands operations.
{"title":"Independent finger and independent joint-based compliance control of multifingered robot hands","authors":"Byoung-Ho Kim, B. Yi, Sang-Rok Oh, I. Suh","doi":"10.1109/TRA.2003.808846","DOIUrl":"https://doi.org/10.1109/TRA.2003.808846","url":null,"abstract":"In this paper, a modified two-step compliance control method for robot hands is proposed: resolved interfinger decoupling solver (RIFDS) and resolved interjoint decoupling solver (RIJDS). For this, we first investigate how many fingers are necessary to successfully implement stiffness characteristics in the operational space. RIFDS is then proposed to decompose the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without interfinger coupling, and RIJDS is also proposed to decompose the compliance characteristic in the fingertip space without interjoint coupling. It is found in the process of RIFDS that some nondiagonal stiffness elements specified in the operational space cannot be planned arbitrarily, due to grasping geometry. Similar to independent finger control, RIJDS aims at independent joint control. This scheme facilitates the joint servo control. To show the effectiveness of the proposed compliance control method, some experimental results are illustrated for a compliant task by using two- and three-fingered hands, which consist of five-bar finger mechanisms. It is concluded that grasping geometry and finger structure are crucial to successfully performing multifingered hands operations.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122947826","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：