The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the 'real world'. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated. >
{"title":"Dynamic multi-sensor data fusion system for intelligent robots","authors":"R. Luo, Meng-Hsien Lin, R. Scherp","doi":"10.1109/56.802","DOIUrl":"https://doi.org/10.1109/56.802","url":null,"abstract":"The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the 'real world'. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"51 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":"126616039","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 problem of terrain model acquisition by a roving point placed in an unknown terrain populated by stationary polyhedral obstacles in two/three dimensions. The motivation for this problem is that after the terrain model is completely acquired, navigation from a source point to a destination point can be achieved along the collision-free paths. This can be done without the usage of sensors by applying the existing techniques for the find-path problem. In the paper, the point robot autonomous machine (PRAM) is used as a simplified abstract model for real-life roving robots. An algorithm is presented that enables PRAM to autonomously acquire the model of an unexplored obstacle terrain composed of an unknown number of polyhedral obstacles in two/three dimensions. In this method, PRAM undertakes a systematic exploration of the obstacle terrain with its sensor that detects all the edges and vertices visible from the present location, and builds the complete obstacle terrain model. >
{"title":"On terrain acquisition by a point robot amidst polyhedral obstacles","authors":"N. Rao, S. Iyengar, B. Oommen, R. Kashyap","doi":"10.1109/56.812","DOIUrl":"https://doi.org/10.1109/56.812","url":null,"abstract":"The authors consider the problem of terrain model acquisition by a roving point placed in an unknown terrain populated by stationary polyhedral obstacles in two/three dimensions. The motivation for this problem is that after the terrain model is completely acquired, navigation from a source point to a destination point can be achieved along the collision-free paths. This can be done without the usage of sensors by applying the existing techniques for the find-path problem. In the paper, the point robot autonomous machine (PRAM) is used as a simplified abstract model for real-life roving robots. An algorithm is presented that enables PRAM to autonomously acquire the model of an unexplored obstacle terrain composed of an unknown number of polyhedral obstacles in two/three dimensions. In this method, PRAM undertakes a systematic exploration of the obstacle terrain with its sensor that detects all the edges and vertices visible from the present location, and builds the complete obstacle terrain model. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"13 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":"128345670","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}
Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm which only makes use of the direct kinematics of the manipulator. Simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical joint limit. >
{"title":"A solution algorithm to the inverse kinematic problem for redundant manipulators","authors":"L. Sciavicco, B. Siciliano","doi":"10.1109/56.804","DOIUrl":"https://doi.org/10.1109/56.804","url":null,"abstract":"Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm which only makes use of the direct kinematics of the manipulator. Simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical joint limit. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"55 6 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":"134027160","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}
Euler parameters, a form of normalized quaternions, are used to model the hand-orientation errors in resolved-rate and resolved-acceleration control of manipulators. The quaternion formulation simplifies the stability analysis of the orientation error dynamics. Two types of quaternion feedback have been considered. The first type uses only the vector portion of the quaternion error, while the second is based on a Euler rotation representation. The quaternion vector approach leads to a linear feedback control law for which the global asymptotic convergence of the orientation error is readily established. The Euler rotation approach also results in asymptotic error convergence in the large except for a singularity where the hand orientation differs from its desired orientation by a rotation of 180 degrees . >
{"title":"Closed-loop manipulator control using quaternion feedback","authors":"J. Yuan","doi":"10.1109/56.809","DOIUrl":"https://doi.org/10.1109/56.809","url":null,"abstract":"Euler parameters, a form of normalized quaternions, are used to model the hand-orientation errors in resolved-rate and resolved-acceleration control of manipulators. The quaternion formulation simplifies the stability analysis of the orientation error dynamics. Two types of quaternion feedback have been considered. The first type uses only the vector portion of the quaternion error, while the second is based on a Euler rotation representation. The quaternion vector approach leads to a linear feedback control law for which the global asymptotic convergence of the orientation error is readily established. The Euler rotation approach also results in asymptotic error convergence in the large except for a singularity where the hand orientation differs from its desired orientation by a rotation of 180 degrees . >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 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":"115355041","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}
Some operational details of the zero reference position method are presented in the context of deriving kinematic equations for a robot with a nonspherical continuous roll wrist. >
通过推导具有非球面连续滚动腕关节的机器人的运动方程，给出了零参考位置法的一些操作细节。>
{"title":"Kinematics of a robot with continuous roll wrist","authors":"K. C. Gupta","doi":"10.1109/56.810","DOIUrl":"https://doi.org/10.1109/56.810","url":null,"abstract":"Some operational details of the zero reference position method are presented in the context of deriving kinematic equations for a robot with a nonspherical continuous roll wrist. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"26 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":"127793342","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}
Presented is a description of the development process undertaken in the design, construction, implementation, and evaluation of an automated screwdriver. The screwdriver, which was developed for use with an IBM 7565 Industrial Robot, was fed screws automatically, and had provisions for error sensing and recovery. The initial design parameters, along with a chronological discussion of the design and development, are presented and discussed. >
{"title":"Development of an automated screwdriver for use with industrial robots","authors":"G. Peterson, B. Niznik, L. M. Chan","doi":"10.1109/56.805","DOIUrl":"https://doi.org/10.1109/56.805","url":null,"abstract":"Presented is a description of the development process undertaken in the design, construction, implementation, and evaluation of an automated screwdriver. The screwdriver, which was developed for use with an IBM 7565 Industrial Robot, was fed screws automatically, and had provisions for error sensing and recovery. The initial design parameters, along with a chronological discussion of the design and development, are presented and discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"15 6 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":"131304902","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}
Trajectory planning of robot motions for continuous-path operations is formulated in configuration space, resorting to the intrinsic properties of the path traced by point of the end effector. It is shown that, by referring the orientation of the end effector to a unique orthogonal frame defined at every point of the aforementioned path, a systematic procedure for trajectory planning in configuration space is derived. The computations required to determine the angular velocity and angular acceleration of the path frame reduce to computing the Darboux vector of the path and its time derivative. >
{"title":"Trajectory planning in robotic continuous-path applications","authors":"J. Angeles, A. Rojas, C. López-Cajún","doi":"10.1109/56.801","DOIUrl":"https://doi.org/10.1109/56.801","url":null,"abstract":"Trajectory planning of robot motions for continuous-path operations is formulated in configuration space, resorting to the intrinsic properties of the path traced by point of the end effector. It is shown that, by referring the orientation of the end effector to a unique orthogonal frame defined at every point of the aforementioned path, a systematic procedure for trajectory planning in configuration space is derived. The computations required to determine the angular velocity and angular acceleration of the path frame reduce to computing the Darboux vector of the path and its time derivative. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"83 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":"131799821","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 designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed. >
{"title":"Cooperative control of two arms in the transport of an inertial load in zero gravity","authors":"C. Carignan, D. Akin","doi":"10.1109/56.806","DOIUrl":"https://doi.org/10.1109/56.806","url":null,"abstract":"In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"2013 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":"127320361","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}
Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain. >
{"title":"On the stability properties of hexapod tripod gait","authors":"Tsu-Tian Lee, C. Liao, T. K. Chen","doi":"10.1109/56.808","DOIUrl":"https://doi.org/10.1109/56.808","url":null,"abstract":"Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"48 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":"122152242","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 visual navigation system for autonomous land vehicles has been designed at the Computer Vision Laboratory of the University of Maryland. This system includes several modules, among them a 'knowledge-based reasoning module' that is described. This module utilizes domain-dependent knowledge (in this case, 'road knowledge') to analyze and label the visual features extracted from the imagery by the image processing module. Knowledge and general hypotheses are given. The reasoning module itself is described and results are presented. Some conclusions and future extensions are proposed. >
{"title":"Domain-dependent reasoning for visual navigation of roadways","authors":"J. L. Moigne","doi":"10.1109/56.807","DOIUrl":"https://doi.org/10.1109/56.807","url":null,"abstract":"A visual navigation system for autonomous land vehicles has been designed at the Computer Vision Laboratory of the University of Maryland. This system includes several modules, among them a 'knowledge-based reasoning module' that is described. This module utilizes domain-dependent knowledge (in this case, 'road knowledge') to analyze and label the visual features extracted from the imagery by the image processing module. Knowledge and general hypotheses are given. The reasoning module itself is described and results are presented. Some conclusions and future extensions are proposed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 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":"131696252","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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