A Stewart-platform-based six-degree-of-freedom parallel mechanism is presented that can be used as a general-purpose spatial manipulator arm. The system consists of an output platform which is connected to a fixed base by means of three PRPS (parameters P, R, and S denote the prismatic, revolute, and spherical joints) subchains. All prismatic joints in this mechanism are active inputs which control the platform's motion. The author provides a detailed investigation describing the mechanism and analyzing its forward and reverse position functions. A closed-form solution is presented to obtain the required inputs for a desired position and orientation of the output platform. A forward position analysis of this mechanism is formulated which can be solved numerically to determine the platform's position and orientation for a set of given inputs. The author examines the workspace and uses screw theory to identify the geometric singularities of the manipulator in order to avoid undesirable robot configurations. >
{"title":"Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism","authors":"F. Behi","doi":"10.1109/56.20442","DOIUrl":"https://doi.org/10.1109/56.20442","url":null,"abstract":"A Stewart-platform-based six-degree-of-freedom parallel mechanism is presented that can be used as a general-purpose spatial manipulator arm. The system consists of an output platform which is connected to a fixed base by means of three PRPS (parameters P, R, and S denote the prismatic, revolute, and spherical joints) subchains. All prismatic joints in this mechanism are active inputs which control the platform's motion. The author provides a detailed investigation describing the mechanism and analyzing its forward and reverse position functions. A closed-form solution is presented to obtain the required inputs for a desired position and orientation of the output platform. A forward position analysis of this mechanism is formulated which can be solved numerically to determine the platform's position and orientation for a set of given inputs. The author examines the workspace and uses screw theory to identify the geometric singularities of the manipulator in order to avoid undesirable robot configurations. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129525475","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 authors consider the automated planning of manipulation strategies for workpieces able to slide on their work surface. The aim is to generate open-loop (i.e. sensorless) strategies which succeed in aligning or grasping a workpiece, in the face of two kinds of uncertainty: (1) the initial configuration of the workpiece may have some bounded error, and (2) the details of the contact between workpiece and work surface may be unknown, precluding deterministic solution for the motion of the workpiece even were its initial configuration exactly known. Configuration maps are defined which map all configurations of a workpiece before elementary manipulative operation to all possible outcomes. Using elementary manipulative operations (represented by configuration maps) as primitives, appropriate search techniques are applied to find operations sequences which are guaranteed to succeed despite uncertainty. As a concrete example, the authors demonstrate the automated design of a class of passive parts-feeder consisting of multiple sequential fences across a conveyor belt. >
{"title":"Planning robotic manipulation strategies for workpieces that slide","authors":"M. Peshkin, A. Sanderson","doi":"10.1109/56.20437","DOIUrl":"https://doi.org/10.1109/56.20437","url":null,"abstract":"The authors consider the automated planning of manipulation strategies for workpieces able to slide on their work surface. The aim is to generate open-loop (i.e. sensorless) strategies which succeed in aligning or grasping a workpiece, in the face of two kinds of uncertainty: (1) the initial configuration of the workpiece may have some bounded error, and (2) the details of the contact between workpiece and work surface may be unknown, precluding deterministic solution for the motion of the workpiece even were its initial configuration exactly known. Configuration maps are defined which map all configurations of a workpiece before elementary manipulative operation to all possible outcomes. Using elementary manipulative operations (represented by configuration maps) as primitives, appropriate search techniques are applied to find operations sequences which are guaranteed to succeed despite uncertainty. As a concrete example, the authors demonstrate the automated design of a class of passive parts-feeder consisting of multiple sequential fences across a conveyor belt. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131657101","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 authors describe some of the important operational considerations and image processing tasks required to utilize a nonscanning structured-light range sensor in path planning for robot mobility. The efforts have concentrated on the geometric design of the projectional grid with regard to smoothing of fine-scale range texture, and the development of image processing techniques in order to extract the deformed grid from the image. Particular emphasis is placed on the issues of operating in ambient lighting, smoothing of range texture, grid pattern selection, albedo normalization, grid extraction, and coarse registration of images to the projected grid. Once the grid is extracted, its global order allows intersections to be labeled, and disparities assigned and converted to range data. This range map can then be converted to a 'topography map' to be used for planning short-range paths through the environment while avoiding obstacles. >
{"title":"Structured light patterns for robot mobility","authors":"J. L. Moigne, A. Waxman","doi":"10.1109/56.20439","DOIUrl":"https://doi.org/10.1109/56.20439","url":null,"abstract":"The authors describe some of the important operational considerations and image processing tasks required to utilize a nonscanning structured-light range sensor in path planning for robot mobility. The efforts have concentrated on the geometric design of the projectional grid with regard to smoothing of fine-scale range texture, and the development of image processing techniques in order to extract the deformed grid from the image. Particular emphasis is placed on the issues of operating in ambient lighting, smoothing of range texture, grid pattern selection, albedo normalization, grid extraction, and coarse registration of images to the projected grid. Once the grid is extracted, its global order allows intersections to be labeled, and disparities assigned and converted to range data. This range map can then be converted to a 'topography map' to be used for planning short-range paths through the environment while avoiding obstacles. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114930508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed. >
{"title":"Dynamic modeling and control by utilizing an imaginary robot model","authors":"You-Liang Gu, N. Loh","doi":"10.1109/56.20438","DOIUrl":"https://doi.org/10.1109/56.20438","url":null,"abstract":"A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126454953","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}
An approach to decomposition of manufacturing systems known as the group technology (GT) is surveyed. GT makes it possible to cluster machines into machine cells and parts into part families. There are two basic methods used for solving the GT problem: classification and modeling. Two variations of the classification method, visual and coding, are briefly discussed. The matrix and mathematical programming formulations of the GT problem are presented along with algorithms for solving them. >
{"title":"Decomposition of manufacturing systems","authors":"A. Kusiak, W. Chow","doi":"10.1109/56.20430","DOIUrl":"https://doi.org/10.1109/56.20430","url":null,"abstract":"An approach to decomposition of manufacturing systems known as the group technology (GT) is surveyed. GT makes it possible to cluster machines into machine cells and parts into part families. There are two basic methods used for solving the GT problem: classification and modeling. Two variations of the classification method, visual and coding, are briefly discussed. The matrix and mathematical programming formulations of the GT problem are presented along with algorithms for solving them. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132515191","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}
An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation is performed in the domain of an iterative sequence of operations with the time frozen. A sufficient condition for the convergence of the proposed algorithm is given. It is also shown that the proposed learning controller can be applied to the continuous path control of robot manipulators. It is noted that the proposed algorithm works reasonably well only for the case of small perturbations with respect to a nominal trajectory. >
{"title":"An iterative learning control method with application to robot manipulators","authors":"Sang-Rok Oh, Z. Bien, I. Suh","doi":"10.1109/56.20435","DOIUrl":"https://doi.org/10.1109/56.20435","url":null,"abstract":"An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation is performed in the domain of an iterative sequence of operations with the time frozen. A sufficient condition for the convergence of the proposed algorithm is given. It is also shown that the proposed learning controller can be applied to the continuous path control of robot manipulators. It is noted that the proposed algorithm works reasonably well only for the case of small perturbations with respect to a nominal trajectory. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"334 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133288053","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}
An efficient self-tuning control design method for redundant robotic manipulators is presented. With the nominal torques compensating the nonlinear interactions among the joints, the complex nonlinear dynamic equations are linearized and a linear input-output perturbation difference model is developed. Based on which two self-tuning control schemes are proposed in joint and Cartesian spaces. The controller parameters are estimated by the recursive least squares identification algorithm, and the modification torques are generated by minimizing a generalized cost function. Some typical simulation results are presented to demonstrate the effectiveness of these self-tuning control schemes. >
{"title":"Multivariable self-tuning control of redundant manipulators","authors":"Mei-Hua Liu, Wen-Sen Chang, Liang-Qi Zhang","doi":"10.1109/56.20434","DOIUrl":"https://doi.org/10.1109/56.20434","url":null,"abstract":"An efficient self-tuning control design method for redundant robotic manipulators is presented. With the nominal torques compensating the nonlinear interactions among the joints, the complex nonlinear dynamic equations are linearized and a linear input-output perturbation difference model is developed. Based on which two self-tuning control schemes are proposed in joint and Cartesian spaces. The controller parameters are estimated by the recursive least squares identification algorithm, and the modification torques are generated by minimizing a generalized cost function. Some typical simulation results are presented to demonstrate the effectiveness of these self-tuning control schemes. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132681626","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 author addresses the control of traffic when there are large numbers of automatic guided vehicles (AGVs) in a factory. Several possible policies for managing AGVs to minimize the impact of traffic jams were analyzed. In a grid-iron network of roads, it is shown that traffic contention can have a large effect on the collective performance of AGVs. It is shown that a particular traffic policy permits the AGVs to be autonomous and independent while avoiding deadlocks. This policy is shown to be close to optimal, even for large numbers of vehicles. It is also shown under what conditions it is beneficial to modify the factory to have highways and superhighways. >
{"title":"Traffic control of multiple robot vehicles","authors":"D. Grossman","doi":"10.1109/56.20433","DOIUrl":"https://doi.org/10.1109/56.20433","url":null,"abstract":"The author addresses the control of traffic when there are large numbers of automatic guided vehicles (AGVs) in a factory. Several possible policies for managing AGVs to minimize the impact of traffic jams were analyzed. In a grid-iron network of roads, it is shown that traffic contention can have a large effect on the collective performance of AGVs. It is shown that a particular traffic policy permits the AGVs to be autonomous and independent while avoiding deadlocks. This policy is shown to be close to optimal, even for large numbers of vehicles. It is also shown under what conditions it is beneficial to modify the factory to have highways and superhighways. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126880585","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}
Most of the planning models for automated manufacturing systems are based on the assumption that for each part there is only one process plan available. A more realistic point of view is taken that for each part a number of different process plans are generated, each of which may require specific types of tools and auxiliary devices such as fixtures, grippers, and feeders. A model for the selection of a set of process plans with the minimum corresponding manufacturing cost and minimal number of tools and auxiliary devices is formulated. The developed model for m parts is equivalent to the problem of finding the maximum clique in an m-partite graph with the minimum corresponding cost. Heuristic algorithms and numerical results are discussed. >
{"title":"Selection of process plans in automated manufacturing systems","authors":"A. Kusiak, G. Finke","doi":"10.1109/56.803","DOIUrl":"https://doi.org/10.1109/56.803","url":null,"abstract":"Most of the planning models for automated manufacturing systems are based on the assumption that for each part there is only one process plan available. A more realistic point of view is taken that for each part a number of different process plans are generated, each of which may require specific types of tools and auxiliary devices such as fixtures, grippers, and feeders. A model for the selection of a set of process plans with the minimum corresponding manufacturing cost and minimal number of tools and auxiliary devices is formulated. The developed model for m parts is equivalent to the problem of finding the maximum clique in an m-partite graph with the minimum corresponding cost. Heuristic algorithms and numerical results are discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129175459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A path planning technique is presented which produces time-optimal manipulator motions in a workspace containing obstacles. The full nonlinear equations of motion are used in conjunction with the actuator limitations to produce optimal trajectories. The Cartesian path of the manipulator is represented with B-spline polynomials, and the shape of this path is varied in a manner that minimizes the traversal time. Obstacle avoidance constraints are included in the problem through the use of distance functions. In addition to computing the optimal path, the time-optimal open-loop joint forces and corresponding joint displacements are obtained as functions of time. The examples presented show a reduction in the time required for typical motions. >
{"title":"Optimal robot plant planning using the minimum-time criterion","authors":"J. Bobrow","doi":"10.1109/56.811","DOIUrl":"https://doi.org/10.1109/56.811","url":null,"abstract":"A path planning technique is presented which produces time-optimal manipulator motions in a workspace containing obstacles. The full nonlinear equations of motion are used in conjunction with the actuator limitations to produce optimal trajectories. The Cartesian path of the manipulator is represented with B-spline polynomials, and the shape of this path is varied in a manner that minimizes the traversal time. Obstacle avoidance constraints are included in the problem through the use of distance functions. In addition to computing the optimal path, the time-optimal open-loop joint forces and corresponding joint displacements are obtained as functions of time. The examples presented show a reduction in the time required for typical motions. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125126337","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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