Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and available techniques to build nonlinear observers generally do not apply. A procedure to construct approximate nonlinear observers is proposed that uses a recent approach to deriving observers based on geometric nonlinear control theory together with an approximation technique. The conditions under which an exact observer exists are derived. Some examples are given for which simulation tests assure a good performance even when the observer is connected to a control system. >
{"title":"A nonlinear observer for elastic robots","authors":"S. Nicosia, P. Tomei, A. Tornambè","doi":"10.1109/56.770","DOIUrl":"https://doi.org/10.1109/56.770","url":null,"abstract":"Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and available techniques to build nonlinear observers generally do not apply. A procedure to construct approximate nonlinear observers is proposed that uses a recent approach to deriving observers based on geometric nonlinear control theory together with an approximation technique. The conditions under which an exact observer exists are derived. Some examples are given for which simulation tests assure a good performance even when the observer is connected to a control system. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 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":"123706926","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 : 1987-12-01DOI: 10.1109/JRA.1987.1087135
Tsu-Tian Lee, Yuh-Feng Tsay
The discrete shift-transformation matrix of general orthogonal polynomials is introduced. The discrete shift-transformation matrix is employed to transform the difference equations, which describe the discrete dynamic robot model, into algebraic equations. Several lemmas are introduced which, together with the discrete shift-transformation matrix, solve for the joint positions and velocities of discrete dynamic robot models via discrete orthogonal polynomials approximations. The initial numerical experiment with a cylindrical coordinate robot shows the feasibility and applicability of discrete orthogonal polynomials approximations.
{"title":"Analysis of discrete dynamic robot models","authors":"Tsu-Tian Lee, Yuh-Feng Tsay","doi":"10.1109/JRA.1987.1087135","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087135","url":null,"abstract":"The discrete shift-transformation matrix of general orthogonal polynomials is introduced. The discrete shift-transformation matrix is employed to transform the difference equations, which describe the discrete dynamic robot model, into algebraic equations. Several lemmas are introduced which, together with the discrete shift-transformation matrix, solve for the joint positions and velocities of discrete dynamic robot models via discrete orthogonal polynomials approximations. The initial numerical experiment with a cylindrical coordinate robot shows the feasibility and applicability of discrete orthogonal polynomials approximations.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122034205","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 : 1987-10-01DOI: 10.1109/JRA.1987.1087114
P. Chang
A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.
{"title":"A closed-form solution for inverse kinematics of robot manipulators with redundancy","authors":"P. Chang","doi":"10.1109/JRA.1987.1087114","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087114","url":null,"abstract":"A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124806288","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087109
R. Tsai
A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time.
{"title":"A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses","authors":"R. Tsai","doi":"10.1109/JRA.1987.1087109","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087109","url":null,"abstract":"A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123542721","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087102
M. Spong, K. Khorasani, P. Kokotovic
The control problem for robot manipulators with flexible joints is considered. The results are based on a recently developed singular perturbation formulation of the manipulator equations of motion where the singular perturbation parameter µ is the inverse of the joint stiffness. For this class of systems it is known that the reduced-order model corresponding to the mechanical system under the assumption of perfect rigidity is globally linearizable via nonlinear static-state feedback, but that the full-order flexible system is not, in general, linearizable in this manner. The concept of integral manifold is utilized to represent the dynamics of the slow subsystem. The slow subsystem reduces to the rigid model as the perturbation parameter µ tends to zero. It is shown that linearizability of the rigid model implies linearizability of the flexible system restricted to the integral manifold. Based on a power series expansion of the integral manifold around µ = 0, it is shown how to approximate the feedback linearizing control to any order in µ. The result is then an approximate feedback linearization which, assuming stability of the fast variables, linearizes the system for all practical purposes.
{"title":"An integral manifold approach to the feedback control of flexible joint robots","authors":"M. Spong, K. Khorasani, P. Kokotovic","doi":"10.1109/JRA.1987.1087102","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087102","url":null,"abstract":"The control problem for robot manipulators with flexible joints is considered. The results are based on a recently developed singular perturbation formulation of the manipulator equations of motion where the singular perturbation parameter µ is the inverse of the joint stiffness. For this class of systems it is known that the reduced-order model corresponding to the mechanical system under the assumption of perfect rigidity is globally linearizable via nonlinear static-state feedback, but that the full-order flexible system is not, in general, linearizable in this manner. The concept of integral manifold is utilized to represent the dynamics of the slow subsystem. The slow subsystem reduces to the rigid model as the perturbation parameter µ tends to zero. It is shown that linearizability of the rigid model implies linearizability of the flexible system restricted to the integral manifold. Based on a power series expansion of the integral manifold around µ = 0, it is shown how to approximate the feedback linearizing control to any order in µ. The result is then an approximate feedback linearization which, assuming stability of the fast variables, linearizes the system for all practical purposes.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130193793","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087106
S. S. Leung, M. Shanblatt
The desire to add more intelligent functionality and enhanced real-time Control capability to robotic systems places a heavy demand on computational resources. Nascent application-specific VLSI technology offers an unprecedented opportunity to relieve this computational burden by implementing specific robotic functions directly in hardware. A VLSI architecture, designed to compute the direct kinematic solution (DKS) on a single chip, is described. The DKS chip features fixed-point calculation and on-chip generation of trigonometric functions. The calculation achieves the resolution required for most industrial applications. Innovative modifications of the conventional adder control and the form of the homogeneous transformation matrix have improved throughput. Simulation results indicate that speed improvements of several orders of magnitude in the kinematic computation are achievable with application-specific integrated circuit technology, compared to microprocessor implementation.
{"title":"Real-time DKS on a single chip","authors":"S. S. Leung, M. Shanblatt","doi":"10.1109/JRA.1987.1087106","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087106","url":null,"abstract":"The desire to add more intelligent functionality and enhanced real-time Control capability to robotic systems places a heavy demand on computational resources. Nascent application-specific VLSI technology offers an unprecedented opportunity to relieve this computational burden by implementing specific robotic functions directly in hardware. A VLSI architecture, designed to compute the direct kinematic solution (DKS) on a single chip, is described. The DKS chip features fixed-point calculation and on-chip generation of trigonometric functions. The calculation achieves the resolution required for most industrial applications. Innovative modifications of the conventional adder control and the form of the homogeneous transformation matrix have improved throughput. Simulation results indicate that speed improvements of several orders of magnitude in the kinematic computation are achievable with application-specific integrated circuit technology, compared to microprocessor implementation.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"18 20","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120971701","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087112
B. Benhabib, R. G. Fenton, A. Goldenberg
Various definitions of task-space tolerances, using geometric pseudoenvelopes, are introduced, and new approaches to "direct" and "inverse" joint-error analysis of robots are formulated. These error analyses lead to the development of a "feasible joint-tolerance domain" concept for use in computer-aided design of robots.
{"title":"Computer-aided joint error analysis of robots","authors":"B. Benhabib, R. G. Fenton, A. Goldenberg","doi":"10.1109/JRA.1987.1087112","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087112","url":null,"abstract":"Various definitions of task-space tolerances, using geometric pseudoenvelopes, are introduced, and new approaches to \"direct\" and \"inverse\" joint-error analysis of robots are formulated. These error analyses lead to the development of a \"feasible joint-tolerance domain\" concept for use in computer-aided design of robots.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132483084","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087105
A. Tannenbaum, Y. Yomdin
Some modern techniques are applied from real semialgebraic geometry to the robotic manipulator problem. In particular, using the notion of "metric entropy," the complexity of maneuvering the manipulator from state to state is discussed.
{"title":"Robotic manipulators and the geometry of real semialgebraic sets","authors":"A. Tannenbaum, Y. Yomdin","doi":"10.1109/JRA.1987.1087105","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087105","url":null,"abstract":"Some modern techniques are applied from real semialgebraic geometry to the robotic manipulator problem. In particular, using the notion of \"metric entropy,\" the complexity of maneuvering the manipulator from state to state is discussed.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123226659","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 : 1987-08-01DOI: 10.1109/JRA.1987.1087104
M. Magee, M. Nathan
A robotic vision system is being developed which uses three-dimensional laser range data to sense its environment. The recognition subsystem incorporates topological as well as geometric information to identify viewed objects. Theorem-proving techniques are used to produce symbolic pattern matches. The major contributions of the recognition subsystem are 1) the use of viewpoint independent descriptors as the basis for representing known object models and 2) the use of theorem proving techniques to hypothesize object identities and recognize the viewed object as an instance of the appropriate viewpoint independent model descriptor. The representation scheme permits describing objects at a variety of topological and geometric levels. Furthermore, the use of viewpoint independent descriptors facilitates object recognition from a single arbitrary view despite missing information or the inclusion of viewpoint dependent artifacts. The theorem-proving approach establishes a symbolic correspondence between viewpoint independent features in the (recognized) model and features in the observed data. The recognition process uses a three-phase approach. First, hypotheses are generated which correspond to model descriptors that are likely to match the data. Evidence is applied to viable hypotheses to produce a partial match. The partial match is then used to constrain the full recognition process which leads to object identification. This strategy has been found to constrain strongly the search space of possible matches and leads to large reductions in recognition times. Results of the recognition process on synthetic and actual laser range data are presented for several objects. The system is shown to operate with robustness and alacrity.
{"title":"A viewpoint independent modeling approach to object recognition","authors":"M. Magee, M. Nathan","doi":"10.1109/JRA.1987.1087104","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087104","url":null,"abstract":"A robotic vision system is being developed which uses three-dimensional laser range data to sense its environment. The recognition subsystem incorporates topological as well as geometric information to identify viewed objects. Theorem-proving techniques are used to produce symbolic pattern matches. The major contributions of the recognition subsystem are 1) the use of viewpoint independent descriptors as the basis for representing known object models and 2) the use of theorem proving techniques to hypothesize object identities and recognize the viewed object as an instance of the appropriate viewpoint independent model descriptor. The representation scheme permits describing objects at a variety of topological and geometric levels. Furthermore, the use of viewpoint independent descriptors facilitates object recognition from a single arbitrary view despite missing information or the inclusion of viewpoint dependent artifacts. The theorem-proving approach establishes a symbolic correspondence between viewpoint independent features in the (recognized) model and features in the observed data. The recognition process uses a three-phase approach. First, hypotheses are generated which correspond to model descriptors that are likely to match the data. Evidence is applied to viable hypotheses to produce a partial match. The partial match is then used to constrain the full recognition process which leads to object identification. This strategy has been found to constrain strongly the search space of possible matches and leads to large reductions in recognition times. Results of the recognition process on synthetic and actual laser range data are presented for several objects. The system is shown to operate with robustness and alacrity.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125560123","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 : 1987-06-01DOI: 10.1109/JRA.1987.1087094
V. Lumelsky
An approach of dynamic path planning (DPP) was introduced elsewhere, and nonheuristic algorithms were described for planning collision-free paths for a point automaton moving in an environment filled with unknown obstacles of arbitrary shape. The DPP approach was further extended to a planar robot arm with revolute joints; in this case, every point of the robot body is subject to collision. Under the accepted model, the robot, using information about its immediate surroundings provided by the sensory feedback, continuously (dynamically) generates its path. Various kinematic configurations of planar arms with revolute and sliding joints are analyzed in this paper from the standpoint of applying the same strategy. It is shown that, depending on the arm kinematics, specific modifications must be introduced in the path planning algorithm to preserve convergence. The approach presents an attractive method for robot motion planning in unstructured environments with uncertainty.
{"title":"Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles","authors":"V. Lumelsky","doi":"10.1109/JRA.1987.1087094","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087094","url":null,"abstract":"An approach of dynamic path planning (DPP) was introduced elsewhere, and nonheuristic algorithms were described for planning collision-free paths for a point automaton moving in an environment filled with unknown obstacles of arbitrary shape. The DPP approach was further extended to a planar robot arm with revolute joints; in this case, every point of the robot body is subject to collision. Under the accepted model, the robot, using information about its immediate surroundings provided by the sensory feedback, continuously (dynamically) generates its path. Various kinematic configurations of planar arms with revolute and sliding joints are analyzed in this paper from the standpoint of applying the same strategy. It is shown that, depending on the arm kinematics, specific modifications must be introduced in the path planning algorithm to preserve convergence. The approach presents an attractive method for robot motion planning in unstructured environments with uncertainty.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132928906","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}