A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual collisions of cylindrical-type robots, called PLAMAT and SYDAMUC, respectively. In addition to examples for each subsystem, an assembly problem is solved as an example for the total plan-generation system, and the usefulness of the system is confirmed. >
{"title":"Multirobot plan generation in a continuous domain: planning by use of plan graph and avoiding collisions among robots","authors":"T. Nagata, K. Honda, Yoshiaki Teramoto","doi":"10.1109/56.766","DOIUrl":"https://doi.org/10.1109/56.766","url":null,"abstract":"A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual collisions of cylindrical-type robots, called PLAMAT and SYDAMUC, respectively. In addition to examples for each subsystem, an assembly problem is solved as an example for the total plan-generation system, and the usefulness of the system is confirmed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121944900","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 theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W/sub 1/(4), where W/sub 1/(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained. >
{"title":"The dexterous workspace of simple manipulators","authors":"Z. Lia, C. Menq","doi":"10.1109/56.778","DOIUrl":"https://doi.org/10.1109/56.778","url":null,"abstract":"A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W/sub 1/(4), where W/sub 1/(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124227280","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}
Intelligent real-time control of a flexible manufacturing system (FMS) is a complicated task. The scheduling of machines and routing of jobs are nonpolynomial problems that have to be solved fast and accurately to obtain the advantages of an FMS. Such control is done hierarchically: part routing is considered in the cell level and the equipment control strategy is reviewed in the workstation level. Two methods of controlling an FMS are described, one for each level. The one that controls the workstation equipment utilizes a decision tables in which the system states are correlated to the decision variables. The method that routes parts between the machines in the cell uses a knowledge base that stores facts about the facility and recognizes evidence to generate a decision. Both methods are presented, along with results from simulation experiments. >
{"title":"Control methodology for FMS","authors":"D. Ben-Arieh, C. L. Moodie, C. Chu","doi":"10.1109/56.771","DOIUrl":"https://doi.org/10.1109/56.771","url":null,"abstract":"Intelligent real-time control of a flexible manufacturing system (FMS) is a complicated task. The scheduling of machines and routing of jobs are nonpolynomial problems that have to be solved fast and accurately to obtain the advantages of an FMS. Such control is done hierarchically: part routing is considered in the cell level and the equipment control strategy is reviewed in the workstation level. Two methods of controlling an FMS are described, one for each level. The one that controls the workstation equipment utilizes a decision tables in which the system states are correlated to the decision variables. The method that routes parts between the machines in the cell uses a knowledge base that stores facts about the facility and recognizes evidence to generate a decision. Both methods are presented, along with results from simulation experiments. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134537926","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 dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations. >
{"title":"Coordination of two planar robots in lifting","authors":"K. Laroussi, H. Hemami, R. Goddard","doi":"10.1109/56.774","DOIUrl":"https://doi.org/10.1109/56.774","url":null,"abstract":"The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116413893","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 acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed. >
{"title":"The acceleration radius: a global performance measure for robotic manipulators","authors":"T. Graettinger, B. Krogh","doi":"10.1109/56.772","DOIUrl":"https://doi.org/10.1109/56.772","url":null,"abstract":"The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122116262","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}
Many recently developed control schemes for robotic manipulators require as inputs the desired position, velocity, and in some cases, acceleration of each joint of the manipulator. However, it is most natural to specify the desired trajectory of the end effector in Cartesian coordinates. Thus it is desirable to have a command generator which has as input a desired Cartesian trajectory, and as output a vector of joint positions, velocities, and accelerations that correspond to the demanded trajectory. Such a command generator is presented in the form of a nonlinear feedback system that has the advantage of being related to a linear system. The linear system can be used to compute precise bounds on the performance of the nonlinear system. Simulation results for a nonspherical wrist manipulator are given. >
{"title":"A joint-space command generator for Cartesian control of robotic manipulators","authors":"R. Vaccaro, S. D. Hill","doi":"10.1109/56.773","DOIUrl":"https://doi.org/10.1109/56.773","url":null,"abstract":"Many recently developed control schemes for robotic manipulators require as inputs the desired position, velocity, and in some cases, acceleration of each joint of the manipulator. However, it is most natural to specify the desired trajectory of the end effector in Cartesian coordinates. Thus it is desirable to have a command generator which has as input a desired Cartesian trajectory, and as output a vector of joint positions, velocities, and accelerations that correspond to the demanded trajectory. Such a command generator is presented in the form of a nonlinear feedback system that has the advantage of being related to a linear system. The linear system can be used to compute precise bounds on the performance of the nonlinear system. Simulation results for a nonspherical wrist manipulator are given. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125828960","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 technique is applied to robot manipulators, using an inherently nonlinear analysis of the learning procedure. In particularly, a 'high-gain feedback' point of view is utilized to prove the possibility of setting up uniform upper bounds to the trajectory errors occurring at each trial. The subsequent analysis of convergence shows that apart from minor conditions, the existence of a finite (but not necessarily narrow) bound on the trajectory deviations can substantially suffice to guarantee the zeroing of the errors after a sufficient number of trials. This in turn leaves open the possibility of obtained the exact tracking of the desired motion, even in the presence of moderate values assigned to the feedback gains. >
{"title":"On the iterative learning control theory for robotic manipulators","authors":"P. Bondi, G. Casalino, L. Gambardella","doi":"10.1109/56.767","DOIUrl":"https://doi.org/10.1109/56.767","url":null,"abstract":"An iterative learning technique is applied to robot manipulators, using an inherently nonlinear analysis of the learning procedure. In particularly, a 'high-gain feedback' point of view is utilized to prove the possibility of setting up uniform upper bounds to the trajectory errors occurring at each trial. The subsequent analysis of convergence shows that apart from minor conditions, the existence of a finite (but not necessarily narrow) bound on the trajectory deviations can substantially suffice to guarantee the zeroing of the errors after a sufficient number of trials. This in turn leaves open the possibility of obtained the exact tracking of the desired motion, even in the presence of moderate values assigned to the feedback gains. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115319042","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 agile stereo camera system designed for flexible image acquisition under a wide variety of viewing conditions and scenes is presented. A host processor sends commands to three microprocessors controlling, through 11 servomotors, the position and optical parameters of the camera, and the scene illumination. The weaknesses of the system are acknowledged and future improvements are outlined. >
{"title":"An agile stereo camera system for flexible image acquisition","authors":"E. Krotkov, Filip Fuma, John Summers","doi":"10.1109/56.782","DOIUrl":"https://doi.org/10.1109/56.782","url":null,"abstract":"An agile stereo camera system designed for flexible image acquisition under a wide variety of viewing conditions and scenes is presented. A host processor sends commands to three microprocessors controlling, through 11 servomotors, the position and optical parameters of the camera, and the scene illumination. The weaknesses of the system are acknowledged and future improvements are outlined. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122471435","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}
Arnold J. Lobbezoo, P. Bruijn, M. Davies, W. Dunford, P. Lawrence, H. R. V. N. Lemke
A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system. >
{"title":"Robot control using adaptive transformations","authors":"Arnold J. Lobbezoo, P. Bruijn, M. Davies, W. Dunford, P. Lawrence, H. R. V. N. Lemke","doi":"10.1109/56.781","DOIUrl":"https://doi.org/10.1109/56.781","url":null,"abstract":"A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128012568","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}
Algebraic algorithms are presented for generating the boundary of configuration space obstacles arising from the motion of a sphere among obstacles. The boundaries of the obstacles are given by patches of algebraic surfaces. Algorithms are given for both implicit and parametric surface patches. Both convex and nonconvex obstacles are considered. In the case of convex obstacles, the topology of convolution faces is the same as the adjacency graph of faces, edges, and vertices of the obstacle. Further, there are no redundancies in the convolution faces. Redundancies on the convolution can occur in the case of nonconvex obstacles. It is possible to detect these redundancies from the the intersections and self-intersections of convolution faces. Simple solids are also considered. >
{"title":"Generation of configuration space obstacles: the case of a moving sphere","authors":"C. Bajaj, Myung-Soo Kim","doi":"10.1109/56.777","DOIUrl":"https://doi.org/10.1109/56.777","url":null,"abstract":"Algebraic algorithms are presented for generating the boundary of configuration space obstacles arising from the motion of a sphere among obstacles. The boundaries of the obstacles are given by patches of algebraic surfaces. Algorithms are given for both implicit and parametric surface patches. Both convex and nonconvex obstacles are considered. In the case of convex obstacles, the topology of convolution faces is the same as the adjacency graph of faces, edges, and vertices of the obstacle. Further, there are no redundancies in the convolution faces. Redundancies on the convolution can occur in the case of nonconvex obstacles. It is possible to detect these redundancies from the the intersections and self-intersections of convolution faces. Simple solids are also considered. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"524 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116198802","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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