Pub Date : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177091
M. Kowalski, P. Dutkiewicz, Marek Lawniczak, M. Michalski
This paper presents the motion strategy of a wall-climbing inspection robot SAFARI. An algorithm of the robot's leg movement is described. The movement sequence is chosen autonomously by the robot, respecting geometrical constraints of its construction. Robot behavior in emergency situations when any of the legs cannot be sealed on a movement surface is also described. Direct and inverse kinematics for the SAFARI robot are presented. Then, another approach, named vector formulation of kinematics, is presented. Finally, we describe software supervision of the robot's states, supporting an operator in monitoring of the robot's functioning.
{"title":"SAFARI inspection robot motion strategy","authors":"M. Kowalski, P. Dutkiewicz, Marek Lawniczak, M. Michalski","doi":"10.1109/ROMOCO.2002.1177091","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177091","url":null,"abstract":"This paper presents the motion strategy of a wall-climbing inspection robot SAFARI. An algorithm of the robot's leg movement is described. The movement sequence is chosen autonomously by the robot, respecting geometrical constraints of its construction. Robot behavior in emergency situations when any of the legs cannot be sealed on a movement surface is also described. Direct and inverse kinematics for the SAFARI robot are presented. Then, another approach, named vector formulation of kinematics, is presented. Finally, we describe software supervision of the robot's states, supporting an operator in monitoring of the robot's functioning.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115932055","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177081
P. Sauer, K. Kozlowski, W. Waliszewski, T. Hildebrant
This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick. In the paper, we present two simulation programs for the control of the Staubli RX60 robot which has been used as the robot assistant.
{"title":"Telerobotic simulator in minimal invasive surgery","authors":"P. Sauer, K. Kozlowski, W. Waliszewski, T. Hildebrant","doi":"10.1109/ROMOCO.2002.1177081","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177081","url":null,"abstract":"This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick. In the paper, we present two simulation programs for the control of the Staubli RX60 robot which has been used as the robot assistant.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130934442","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177118
Z. Weiss, R. Konieczny
Numerous advantages of flexible manufacturing systems (FMS) result in their more common usage. Applications of FMS allows the high machining efficiency through high flexibility, which means the possibility to change the production to a different group of parts and to change the size of a production batch in a very short time. A number of problems in the production management, process control and jobs scheduling has to be solved for a proper operation of FMS. The paper presents the software and data organization for a flexible manufacturing cell model built at the Poznan University of Technology within the Inco-Copernicus project. In the described system the robot was applied for material handling tasks.
{"title":"Software structure for a robot operated flexible manufacturing cell","authors":"Z. Weiss, R. Konieczny","doi":"10.1109/ROMOCO.2002.1177118","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177118","url":null,"abstract":"Numerous advantages of flexible manufacturing systems (FMS) result in their more common usage. Applications of FMS allows the high machining efficiency through high flexibility, which means the possibility to change the production to a different group of parts and to change the size of a production batch in a very short time. A number of problems in the production management, process control and jobs scheduling has to be solved for a proper operation of FMS. The paper presents the software and data organization for a flexible manufacturing cell model built at the Poznan University of Technology within the Inco-Copernicus project. In the described system the robot was applied for material handling tasks.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133350563","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177104
M. Baglietto, M. Paolucci, L. Scardovi, R. Zoppoli
Deals with the problem of mapping an unknown environment by a team of robots. A discrete grid map of the environment is considered in which each cell is marked as free or not dependent on the possible presence of obstacles. The multi-agent exploration is performed by a team of autonomous robots which can communicate with each other and coordinate their actions. A new information based exploration heuristic that exploits the concepts of both information-gain and frontier is proposed. Experimental results show the effectiveness of the approach.
{"title":"Information-based multi-agent exploration","authors":"M. Baglietto, M. Paolucci, L. Scardovi, R. Zoppoli","doi":"10.1109/ROMOCO.2002.1177104","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177104","url":null,"abstract":"Deals with the problem of mapping an unknown environment by a team of robots. A discrete grid map of the environment is considered in which each cell is marked as free or not dependent on the possible presence of obstacles. The multi-agent exploration is performed by a team of autonomous robots which can communicate with each other and coordinate their actions. A new information based exploration heuristic that exploits the concepts of both information-gain and frontier is proposed. Experimental results show the effectiveness of the approach.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124228608","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177112
J. Jakubiak, K. Tchoń
We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a natural strategy of solving this problem, based on adding a specific self-motion component to the motion produced by the Jacobian inverse kinematics algorithm, is applicable within the endogenous configuration space approach. The instantaneous kinematics and analytic Jacobian of the mobile manipulator are defined in the endogenous configuration space. A general Jacobian pseudo-inverse algorithm is used as a basic tool for solving the inverse kinematic problem. On an assumption that in the task space of the mobile manipulator there exists a collection of obstacle events specifying forbidden end effector positions and orientations in given time instants, we design a motion planning algorithm whose principal idea relies on generating a direction of motion in the endogenous configuration space, that repels the endogenous configuration from the closest obstacle event. The performance of the motion planning algorithm is illustrated by computer simulations.
{"title":"Motion planning in endogenous configuration space","authors":"J. Jakubiak, K. Tchoń","doi":"10.1109/ROMOCO.2002.1177112","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177112","url":null,"abstract":"We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a natural strategy of solving this problem, based on adding a specific self-motion component to the motion produced by the Jacobian inverse kinematics algorithm, is applicable within the endogenous configuration space approach. The instantaneous kinematics and analytic Jacobian of the mobile manipulator are defined in the endogenous configuration space. A general Jacobian pseudo-inverse algorithm is used as a basic tool for solving the inverse kinematic problem. On an assumption that in the task space of the mobile manipulator there exists a collection of obstacle events specifying forbidden end effector positions and orientations in given time instants, we design a motion planning algorithm whose principal idea relies on generating a direction of motion in the endogenous configuration space, that repels the endogenous configuration from the closest obstacle event. The performance of the motion planning algorithm is illustrated by computer simulations.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114462013","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177115
A. Patecki, S. Stępień
Active robot-environment interaction leans on information about state of robot in workspace and environment objects features. The information can be obtained from external sensors. Many advanced sensors are concentrated in grippers or effectors and connected to computer measurement system. In the case of electromagnetic sensors, the computer-sensor interconnection is always required. However, the utmost importance is the designing process. It bases on an accurate electromagnetic simulation to obtain easy to convert output quantities. The paper presents equations to calculate electromagnetic devices and the 3D simulation of electromagnetic sensor for robot grasp positioning. The simulation includes influences of the position on field distribution, eddy current and inductivity changes as output quantity depends on position. The solution of computer calculations is compared with measurement.
{"title":"Analysis of smart electromagnetic sensor for robot effector positioning","authors":"A. Patecki, S. Stępień","doi":"10.1109/ROMOCO.2002.1177115","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177115","url":null,"abstract":"Active robot-environment interaction leans on information about state of robot in workspace and environment objects features. The information can be obtained from external sensors. Many advanced sensors are concentrated in grippers or effectors and connected to computer measurement system. In the case of electromagnetic sensors, the computer-sensor interconnection is always required. However, the utmost importance is the designing process. It bases on an accurate electromagnetic simulation to obtain easy to convert output quantities. The paper presents equations to calculate electromagnetic devices and the 3D simulation of electromagnetic sensor for robot grasp positioning. The simulation includes influences of the position on field distribution, eddy current and inductivity changes as output quantity depends on position. The solution of computer calculations is compared with measurement.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114986173","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177146
Yingen Xiong, Freddie Quek
A 3D machine vision method used in intelligent manufacturing environments is presented. In this method, the neural network technology is used to provide effective methodologies for solving difficult computational problems in 3D recognition processes. The recognition processes can be divided into two parts. First, a 3D reconstruction. approach based on wavelet analysis is presented. The stereo matching problem is solved with a wavelet analysis. The dyadic discrete wavelet analysis is adopted in this process and a stereo matching process is realized with global optimization. A coherent hierarchical matching strategy is constructed, so that the stereo matching process can be accomplished with coarse to fine techniques. A 3D reconstruction neural network is constructed by using the BP neural network. With the results of stereo matching, the 3D shape of part can be reconstructed. Then the feature vectors of 3D parts are constructed by using the 3D moment and its invariant. An ART2 neural network is adopted for the neural network classifier, by which the 3D parts can be recognized and classified. The method was tested with both synthetic and real mechanical parts in intelligent assembly system. Results show that the method presented is effective and suitable for an intelligent assembly system.
{"title":"Machine vision for 3D mechanical part recognition in intelligent manufacturing environments","authors":"Yingen Xiong, Freddie Quek","doi":"10.1109/ROMOCO.2002.1177146","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177146","url":null,"abstract":"A 3D machine vision method used in intelligent manufacturing environments is presented. In this method, the neural network technology is used to provide effective methodologies for solving difficult computational problems in 3D recognition processes. The recognition processes can be divided into two parts. First, a 3D reconstruction. approach based on wavelet analysis is presented. The stereo matching problem is solved with a wavelet analysis. The dyadic discrete wavelet analysis is adopted in this process and a stereo matching process is realized with global optimization. A coherent hierarchical matching strategy is constructed, so that the stereo matching process can be accomplished with coarse to fine techniques. A 3D reconstruction neural network is constructed by using the BP neural network. With the results of stereo matching, the 3D shape of part can be reconstructed. Then the feature vectors of 3D parts are constructed by using the 3D moment and its invariant. An ART2 neural network is adopted for the neural network classifier, by which the 3D parts can be recognized and classified. The method was tested with both synthetic and real mechanical parts in intelligent assembly system. Results show that the method presented is effective and suitable for an intelligent assembly system.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129467414","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177144
J. L. Pedreño-Molina, A. Guerrero-González, J. López-Coronado
Most of the control algorithms for robotic reaching and grasping tasks, from visual and motor perception systems, are based on feedback systems. They assume a limitation for the performance of remote reaching applications and for the robustness of the system. In this paper, a very robust learning-based model for visual-motor coordination is presented. This architecture is based on how the human system projects the sensorial stimulus onto motor joints and how it sends motor commands to each arm in open-loop mode, starting from the initial, visual and proprioceptive information. The self-organization characteristics of this model allow one to obtain good results on robustness, flexibility and adaptability in both simulation and real robotic platforms. Coordination of the information from different spatial representations is based on the vector associative maps algorithms, developed in CNS (Boston University). Indeed, compatibility requirements and system adaptation capability give a solution for the control of redundant systems.
{"title":"Adaptive reaching model for visual-motor mapping applied to redundant robotic arms","authors":"J. L. Pedreño-Molina, A. Guerrero-González, J. López-Coronado","doi":"10.1109/ROMOCO.2002.1177144","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177144","url":null,"abstract":"Most of the control algorithms for robotic reaching and grasping tasks, from visual and motor perception systems, are based on feedback systems. They assume a limitation for the performance of remote reaching applications and for the robustness of the system. In this paper, a very robust learning-based model for visual-motor coordination is presented. This architecture is based on how the human system projects the sensorial stimulus onto motor joints and how it sends motor commands to each arm in open-loop mode, starting from the initial, visual and proprioceptive information. The self-organization characteristics of this model allow one to obtain good results on robustness, flexibility and adaptability in both simulation and real robotic platforms. Coordination of the information from different spatial representations is based on the vector associative maps algorithms, developed in CNS (Boston University). Indeed, compatibility requirements and system adaptation capability give a solution for the control of redundant systems.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121066044","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177121
R. Fierro, A.K. Das
We present a four layer architecture for coordinating a team of mobile robots equipped with range sensors and wireless network cards, and the task of navigating to a desired location in a desired formation. We develop graph-based algorithms for discovery, and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to establish its neighbors and, when necessary, one or more leaders. Cooperative control is the task of achieving a desired formation shape and maintaining it. In addition, we integrate a modular adaptive controller into our framework to explicitly deal with the unknown dynamics of the vehicles information. Numerical simulations illustrate the application of these ideas and demonstrate the scalability of the proposed architecture for a large group of robots.
{"title":"A modular architecture for formation control","authors":"R. Fierro, A.K. Das","doi":"10.1109/ROMOCO.2002.1177121","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177121","url":null,"abstract":"We present a four layer architecture for coordinating a team of mobile robots equipped with range sensors and wireless network cards, and the task of navigating to a desired location in a desired formation. We develop graph-based algorithms for discovery, and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to establish its neighbors and, when necessary, one or more leaders. Cooperative control is the task of achieving a desired formation shape and maintaining it. In addition, we integrate a modular adaptive controller into our framework to explicitly deal with the unknown dynamics of the vehicles information. Numerical simulations illustrate the application of these ideas and demonstrate the scalability of the proposed architecture for a large group of robots.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121214217","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177132
A. Zuyev
The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.
{"title":"Controllability analysis of a rotating body with flexible beams","authors":"A. Zuyev","doi":"10.1109/ROMOCO.2002.1177132","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177132","url":null,"abstract":"The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128565781","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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