Pub Date : 1987-02-01DOI: 10.1109/JRA.1987.1087068
O. Khatib
A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.
{"title":"A unified approach for motion and force control of robot manipulators: The operational space formulation","authors":"O. Khatib","doi":"10.1109/JRA.1987.1087068","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087068","url":null,"abstract":"A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133141658","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 : 1987-02-01DOI: 10.1109/JRA.1987.1087067
G. Bekey
A WORKSHOP intended to ascertain the state of the art in multifingered end effectors was held in the beautiful city of Dubrovnik, Yugoslavia, on September 8-9, 1986. The workshop was held in conjunction with the International Summer School in Artificial Intelligence, an annual event in Dubrovnik during the past several years. The workshop was organized by Prof. Rajko Tomovic from the University of Belgrade with the assistance of Prof. George A. Bekey from the University of Southern California. Participants included:
1986年9月8日至9日，在南斯拉夫美丽的杜布罗夫尼克市举行了一次旨在确定多指末端执行器技术状况的讲习班。该讲习班是与国际人工智能暑期学校联合举办的，这是过去几年在杜布罗夫尼克举办的年度活动。讲习班是由贝尔格莱德大学的Rajko Tomovic教授在南加州大学的George A. Bekey教授的协助下组织的。参与者包括:
{"title":"Report on the international workshop on multifingered robot hands","authors":"G. Bekey","doi":"10.1109/JRA.1987.1087067","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087067","url":null,"abstract":"A WORKSHOP intended to ascertain the state of the art in multifingered end effectors was held in the beautiful city of Dubrovnik, Yugoslavia, on September 8-9, 1986. The workshop was held in conjunction with the International Summer School in Artificial Intelligence, an annual event in Dubrovnik during the past several years. The workshop was organized by Prof. Rajko Tomovic from the University of Belgrade with the assistance of Prof. George A. Bekey from the University of Southern California. Participants included:","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117292680","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 : 1986-12-01DOI: 10.1109/JRA.1986.1087061
K. Kazerounian, K. C. Gupta
A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.
{"title":"Manipulator dynamics using the extended zero reference position description","authors":"K. Kazerounian, K. C. Gupta","doi":"10.1109/JRA.1986.1087061","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087061","url":null,"abstract":"A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127365565","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 : 1986-12-01DOI: 10.1109/JRA.1986.1087062
B. McInnis, Chen-Kang Liu
Methods are presented for kinematical and dynamical modeling and analysis of robots that are based upon vectorial mechanics. Basic principles for robotics are presented using classical definitions and concepts. An example of the application of the Newton-Euler equations is included.
{"title":"Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics","authors":"B. McInnis, Chen-Kang Liu","doi":"10.1109/JRA.1986.1087062","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087062","url":null,"abstract":"Methods are presented for kinematical and dynamical modeling and analysis of robots that are based upon vectorial mechanics. Basic principles for robotics are presented using classical definitions and concepts. An example of the application of the Newton-Euler equations is included.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127674278","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 : 1986-12-01DOI: 10.1109/JRA.1986.1087058
A. Hemami
As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.
{"title":"Kinematics of two-arm robots","authors":"A. Hemami","doi":"10.1109/JRA.1986.1087058","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087058","url":null,"abstract":"As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133240092","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 : 1986-12-01DOI: 10.1109/JRA.1986.1087057
W. Grimson
The need for intelligent interaction of a robot with its environment frequently requires sensing of the environment. Further, the need for rapid execution requires that the interaction between sensing and action take place using as little sensory data as possible, while still being reliable. Previous work has developed a technique for rapidly determining the feasible poses of an object from sparse, noisy, occluded sensory data. Techniques for acquiring position and surface orientation data about points on the surfaces of objects are examined with the intent of selecting sensory points that will force a unique interpretation of the pose of the object with as few data points as possible. Under some simple assumptions about the sensing geometry, we derive a technique for predicting optimal sensing positions. The technique has been implemented and tested. To fully specify the algorithm, estimates of the error in estimating the position and orientation of the object are needed. Analytic expressions for such errors in the case of one particular approach to object recognition are derived.
{"title":"Sensing strategies for disambiguating among multiple objects in known poses","authors":"W. Grimson","doi":"10.1109/JRA.1986.1087057","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087057","url":null,"abstract":"The need for intelligent interaction of a robot with its environment frequently requires sensing of the environment. Further, the need for rapid execution requires that the interaction between sensing and action take place using as little sensory data as possible, while still being reliable. Previous work has developed a technique for rapidly determining the feasible poses of an object from sparse, noisy, occluded sensory data. Techniques for acquiring position and surface orientation data about points on the surfaces of objects are examined with the intent of selecting sensory points that will force a unique interpretation of the pose of the object with as few data points as possible. Under some simple assumptions about the sensing geometry, we derive a technique for predicting optimal sensing positions. The technique has been implemented and tested. To fully specify the algorithm, estimates of the error in estimating the position and orientation of the object are needed. Analytic expressions for such errors in the case of one particular approach to object recognition are derived.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132484793","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 : 1986-11-02DOI: 10.1109/JRA.1987.1087097
L. Matthies, S. Shafer
In stereo navigation, a mobile robot estimates its position by tracking landmarks with on-board cameras. Previous systems for stereo navigation have suffered from poor accuracy, in part because they relied on scalar models of measurement error in triangulation. Using three-dimensional (3D) Gaussian distributions to model triangulation error is shown to lead to much better performance. How to compute the error model from image correspondences, estimate robot motion between frames, and update the global positions of the robot and the landmarks over time are discussed. Simulations show that, compared to scalar error models, the 3D Gaussian reduces the variance in robot position estimates and better distinguishes rotational from translational motion. A short indoor run with real images supported these conclusions and computed the final robot position to within two percent of distance and one degree of orientation. These results illustrate the importance of error modeling in stereo vision for this and other applications.
{"title":"Error modeling in stereo navigation","authors":"L. Matthies, S. Shafer","doi":"10.1109/JRA.1987.1087097","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087097","url":null,"abstract":"In stereo navigation, a mobile robot estimates its position by tracking landmarks with on-board cameras. Previous systems for stereo navigation have suffered from poor accuracy, in part because they relied on scalar models of measurement error in triangulation. Using three-dimensional (3D) Gaussian distributions to model triangulation error is shown to lead to much better performance. How to compute the error model from image correspondences, estimate robot motion between frames, and update the global positions of the robot and the landmarks over time are discussed. Simulations show that, compared to scalar error models, the 3D Gaussian reduces the variance in robot position estimates and better distinguishes rotational from translational motion. A short indoor run with real images supported these conclusions and computed the final robot position to within two percent of distance and one degree of orientation. These results illustrate the importance of error modeling in stereo vision for this and other applications.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122383625","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 : 1986-09-01DOI: 10.1109/JRA.1986.1087053
A. Requicha, Stephen C. Chan
Tolerancing and surface finish data are essential for automatically planning the manufacture, inspection, and robotic assembly of mechanical components. A scheme for representing surface features in a solid modeler based on constructive solid geometry (CSG) and for associating tolerances and other attributes with such features. It shows conclusively that commonly-held beliefs on CSG's inability to deal with surface features and tolerances are unfounded. The scheme has been implemented in the PADL-2 modeling system and is being used to support research on high-level languages for programming numerically controlled (NC) machine tools.
{"title":"Representation of geometric features, tolerances, and attributes in solid modelers based on constructive geometry","authors":"A. Requicha, Stephen C. Chan","doi":"10.1109/JRA.1986.1087053","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087053","url":null,"abstract":"Tolerancing and surface finish data are essential for automatically planning the manufacture, inspection, and robotic assembly of mechanical components. A scheme for representing surface features in a solid modeler based on constructive solid geometry (CSG) and for associating tolerances and other attributes with such features. It shows conclusively that commonly-held beliefs on CSG's inability to deal with surface features and tolerances are unfounded. The scheme has been implemented in the PADL-2 modeling system and is being used to support research on high-level languages for programming numerically controlled (NC) machine tools.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125615426","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 : 1986-09-01DOI: 10.1109/JRA.1986.1087051
S. Kambhampati, L. Davis
The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed.
{"title":"Multiresolution path planning for mobile robots","authors":"S. Kambhampati, L. Davis","doi":"10.1109/JRA.1986.1087051","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087051","url":null,"abstract":"The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133488665","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 : 1986-09-01DOI: 10.1109/JRA.1986.1087054
W. K. Veitschegger, Chi-haur Wu
The positioning accuracy problem of robot manipulators has long been one of the principal concerns of robot design and control. In a previous work, a linear model that described the robot positioning accuracy due to kinematic errors was developed. However, the previous work considered only the small errors by ignoring the higher order terms and did not address the special case of two consecutive parallel joints. In this work a more detailed model is given that applies to consecutive parallel joints and includes the second-order terms. By comparing the results of the linear model and the second-order model, the accuracy of the linear model can be evaluated for a given manipulator and range of input kinematic errors. The error envelopes obtained using the linear model and the developed second order model for the Puma 560 are plotted and compared for various sets of input kinematic errors. A comparison of the computation complexity for the two models is also given.
{"title":"Robot accuracy analysis based on kinematics","authors":"W. K. Veitschegger, Chi-haur Wu","doi":"10.1109/JRA.1986.1087054","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087054","url":null,"abstract":"The positioning accuracy problem of robot manipulators has long been one of the principal concerns of robot design and control. In a previous work, a linear model that described the robot positioning accuracy due to kinematic errors was developed. However, the previous work considered only the small errors by ignoring the higher order terms and did not address the special case of two consecutive parallel joints. In this work a more detailed model is given that applies to consecutive parallel joints and includes the second-order terms. By comparing the results of the linear model and the second-order model, the accuracy of the linear model can be evaluated for a given manipulator and range of input kinematic errors. The error envelopes obtained using the linear model and the developed second order model for the Puma 560 are plotted and compared for various sets of input kinematic errors. A comparison of the computation complexity for the two models is also given.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115429266","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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