The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task-oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object. Numerical computations of these quality measures and the selection of an optimal grasp are addressed in detail. Several examples are given using these quality measures to show that they are consistent with measurements yielded by the authors' experiments on grasping. >
{"title":"Task-oriented optimal grasping by multifingered robot hands","authors":"Zexiang Li, S. Sastry","doi":"10.1109/56.769","DOIUrl":"https://doi.org/10.1109/56.769","url":null,"abstract":"The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task-oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object. Numerical computations of these quality measures and the selection of an optimal grasp are addressed in detail. Several examples are given using these quality measures to show that they are consistent with measurements yielded by the authors' experiments on grasping. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126220751","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}
Machine vision methods are presented for the analysis of solder balls in integrated circuits. The algorithms are founded on counter fitting using a multiparameter Hough transform and on polynomial-classifier-based pattern recognition. The first method is used to show the complexity of the inspection problem, especially in the presence of high-precision requirements. In this connection, it is shown that subpixel accuracy is not obtainable even under the assumption of a perfect camera system which determines the resolution necessary for the measurement of a given maximum-volume distortion. The second method is carried out by computing a large number of features on the original image after individual solder balls are segmented by a projection technique. This approach can be considered as a control-free image segmentation paradigm, since it does not rely on properly sequencing several image-analysis modules. Further experimentation with a large pool of defective solder balls is necessary to confirm the applicability of these machine vision algorithms to a real-world manufacturing inspection systems. A general image-segmentation architecture is proposed, which enables the computation of the necessary low-level image features as well as pixel classification at video-rate speed. >
{"title":"Image analysis methods for solderball inspection in integrated circuit manufacturing","authors":"W. Blanz, J. Sanz, E. B. Hinkle","doi":"10.1109/56.2076","DOIUrl":"https://doi.org/10.1109/56.2076","url":null,"abstract":"Machine vision methods are presented for the analysis of solder balls in integrated circuits. The algorithms are founded on counter fitting using a multiparameter Hough transform and on polynomial-classifier-based pattern recognition. The first method is used to show the complexity of the inspection problem, especially in the presence of high-precision requirements. In this connection, it is shown that subpixel accuracy is not obtainable even under the assumption of a perfect camera system which determines the resolution necessary for the measurement of a given maximum-volume distortion. The second method is carried out by computing a large number of features on the original image after individual solder balls are segmented by a projection technique. This approach can be considered as a control-free image segmentation paradigm, since it does not rely on properly sequencing several image-analysis modules. Further experimentation with a large pool of defective solder balls is necessary to confirm the applicability of these machine vision algorithms to a real-world manufacturing inspection systems. A general image-segmentation architecture is proposed, which enables the computation of the necessary low-level image features as well as pixel classification at video-rate speed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126877310","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 designing controllers for dynamic hybrid position/force control of robot manipulators is presented, and preliminary experimental results are given. Dynamic hybrid control is an extension of an approach proposed by M.H. Raibert and J.J. Craig (1981) to the case where the full manipulator dynamics is taken into consideration and the end-effector constraint is explicitly given by the constraint hypersurfaces. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. Formulation of the constraint by the constraint hypersurfaces plays an essential role in establishing the linearizing law. The second step is the design of position and force controllers for the linearized model using the concept of two-degrees-of-freedom servocontroller. The merit of this servocontroller is that it can take account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach. >
{"title":"Dynamic hybrid position/force control of robot manipulators-controller design and experiment","authors":"T. Yoshikawa, T. Sugie, Masaki Tanaka","doi":"10.1109/56.9307","DOIUrl":"https://doi.org/10.1109/56.9307","url":null,"abstract":"An approach to designing controllers for dynamic hybrid position/force control of robot manipulators is presented, and preliminary experimental results are given. Dynamic hybrid control is an extension of an approach proposed by M.H. Raibert and J.J. Craig (1981) to the case where the full manipulator dynamics is taken into consideration and the end-effector constraint is explicitly given by the constraint hypersurfaces. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. Formulation of the constraint by the constraint hypersurfaces plays an essential role in establishing the linearizing law. The second step is the design of position and force controllers for the linearized model using the concept of two-degrees-of-freedom servocontroller. The merit of this servocontroller is that it can take account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"301 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120969959","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.1987.1087079
G. Bekey
Participants will learn how to: Harvest their wisdom and transmit it as a legacy to future generations Examine the myths of aging and affirm the elder years Connect with one’s inner wisdom through growth techniques of psychology and spirituality Nourish ourselves physically, emotionally, mentally, socially and spiritually Look at the past as a ‘life review’ and ‘life repair’ with the wisdom of what we know now Understand that forgiveness is a gift we give ourselves Create peace of mind by doing the legal, medical, and spiritual preparation as a way of facing one’s mortality Identify ways for Elders to serve as mentors and healers in society Develop one’s own vision of self as an Elder
{"title":"Coming of age","authors":"G. Bekey","doi":"10.1109/JRA.1987.1087079","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087079","url":null,"abstract":"Participants will learn how to: Harvest their wisdom and transmit it as a legacy to future generations Examine the myths of aging and affirm the elder years Connect with one’s inner wisdom through growth techniques of psychology and spirituality Nourish ourselves physically, emotionally, mentally, socially and spiritually Look at the past as a ‘life review’ and ‘life repair’ with the wisdom of what we know now Understand that forgiveness is a gift we give ourselves Create peace of mind by doing the legal, medical, and spiritual preparation as a way of facing one’s mortality Identify ways for Elders to serve as mentors and healers in society Develop one’s own vision of self as an Elder","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"27 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":"131274091","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.1987.1087078
B. Soroka
{"title":"Advanced software in robotics","authors":"B. Soroka","doi":"10.1109/JRA.1987.1087078","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087078","url":null,"abstract":"","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"10 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":"133557335","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.1987.1087069
L. Stark, W. Kim, F. Tendick, B. Hannaford, S. Ellis, Mark Denome, Mary Duffy, Tim Hayes, Ted Jordan, M. Lawton, Tim Mills, Robert Peterson, Kathleen Sanders, M. Tyler, Steven van Dyke
An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth (AZ) and elevation (EL) were arranged to be near optimal. Quantitative comparisons were made possible utilizing control performance measures such as root mean square error (rmse). There was a distinct preference for controlling the manipulator in end-effector Cartesian space for our primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematics, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.
{"title":"Telerobotics: Display, control, and communication problems","authors":"L. Stark, W. Kim, F. Tendick, B. Hannaford, S. Ellis, Mark Denome, Mary Duffy, Tim Hayes, Ted Jordan, M. Lawton, Tim Mills, Robert Peterson, Kathleen Sanders, M. Tyler, Steven van Dyke","doi":"10.1109/JRA.1987.1087069","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087069","url":null,"abstract":"An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth (AZ) and elevation (EL) were arranged to be near optimal. Quantitative comparisons were made possible utilizing control performance measures such as root mean square error (rmse). There was a distinct preference for controlling the manipulator in end-effector Cartesian space for our primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematics, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"46 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":"126817385","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.1987.1087075
H. Mergler
Spend your few moment to read a book even only few pages. Reading book is not obligation and force for everybody. When you don't want to read, you can get punishment from the publisher. Read a book becomes a choice of your different characteristics. Many people with reading habit will always be enjoyable to read, or on the contrary. For some reasons, this robot technology tends to be the representative book in this website.
{"title":"Robot technology","authors":"H. Mergler","doi":"10.1109/JRA.1987.1087075","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087075","url":null,"abstract":"Spend your few moment to read a book even only few pages. Reading book is not obligation and force for everybody. When you don't want to read, you can get punishment from the publisher. Read a book becomes a choice of your different characteristics. Many people with reading habit will always be enjoyable to read, or on the contrary. For some reasons, this robot technology tends to be the representative book in this website.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"161 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":"116161170","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.1987.1087074
F. E. Sistler
-From the prehistoric times of the hunter/gatherers until the present, man has been the sole source of intelligence in his food production system. The combined factors of increased international competition in the agricultural sector, advances in computer technology, and the rapidly decreasing costs of new technology have now brought us to the time when the widespread application of intelligent machines in agriculture is imminent. Thus practical agricultural robots now seem possible. Agricultural robots and intelligent machines will increase and become commonplace in the developed countries during the next decade. The status of intelligent machines and robotics in agriculture as it stands at present is reviewed; i.e., where it is going and some of the obstacles that must be overcome.
{"title":"Robotics and intelligent machines in agriculture","authors":"F. E. Sistler","doi":"10.1109/JRA.1987.1087074","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087074","url":null,"abstract":"-From the prehistoric times of the hunter/gatherers until the present, man has been the sole source of intelligence in his food production system. The combined factors of increased international competition in the agricultural sector, advances in computer technology, and the rapidly decreasing costs of new technology have now brought us to the time when the widespread application of intelligent machines in agriculture is imminent. Thus practical agricultural robots now seem possible. Agricultural robots and intelligent machines will increase and become commonplace in the developed countries during the next decade. The status of intelligent machines and robotics in agriculture as it stands at present is reviewed; i.e., where it is going and some of the obstacles that must be overcome.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"147 2 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":"128846482","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.1987.1087073
A. Bejczy
{"title":"The 1986 IEEE international conference on robotics and automation-In retrospect","authors":"A. Bejczy","doi":"10.1109/JRA.1987.1087073","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087073","url":null,"abstract":"","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"16 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":"134287757","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.1987.1087076
K. Drake, E. McVey, R. Inigo
Experimental results are presented that support theory published in the literature concerning the use of a navigation line for the guidance of mobile robots. A method for the determination of a robot's position is developed. A specialized edge operator, which aids in the segmentation of a navigation line from an image of a robot's environment, is given. Use of this specialized edge operator in conjunction with the Hough transform is also presented. These methods are used to verify the analytical results given previously. Comparisons are made between experimental data and expected results as a function of various system parameters. Real-time implementation of these methods is considered.
{"title":"Experimental position and ranging results for a mobile robot","authors":"K. Drake, E. McVey, R. Inigo","doi":"10.1109/JRA.1987.1087076","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087076","url":null,"abstract":"Experimental results are presented that support theory published in the literature concerning the use of a navigation line for the guidance of mobile robots. A method for the determination of a robot's position is developed. A specialized edge operator, which aids in the segmentation of a navigation line from an image of a robot's environment, is given. Use of this specialized edge operator in conjunction with the Hough transform is also presented. These methods are used to verify the analytical results given previously. Comparisons are made between experimental data and expected results as a function of various system parameters. Real-time implementation of these methods is considered.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"68 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":"126483669","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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