Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174606
Koichi Yoshida, T. Yamada, T. Yabuta
Proposes a digital control method for master-slave manipulator systems which can realize high-fidelity telemanipulation. In the discrete-time system, the time-delay of sensor signals and the zero order hold effect of command signals on actuators should be considered to make the systems stable. The authors first analyze the dynamic control method of a master-slave system in discrete-time for the stability problem, which can realize high-fidelity telemanipulation in continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for the master-slave system is proposed, and the validity of this scheme is finally confirmed by simulation.<>
{"title":"Digital control stability improvement of master-slave manipulator system","authors":"Koichi Yoshida, T. Yamada, T. Yabuta","doi":"10.1109/IROS.1991.174606","DOIUrl":"https://doi.org/10.1109/IROS.1991.174606","url":null,"abstract":"Proposes a digital control method for master-slave manipulator systems which can realize high-fidelity telemanipulation. In the discrete-time system, the time-delay of sensor signals and the zero order hold effect of command signals on actuators should be considered to make the systems stable. The authors first analyze the dynamic control method of a master-slave system in discrete-time for the stability problem, which can realize high-fidelity telemanipulation in continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for the master-slave system is proposed, and the validity of this scheme is finally confirmed by simulation.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131923519","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 : 1991-11-03DOI: 10.1109/IROS.1991.174541
Panagiotis D. Alevizos
A linear algorithm is given for the labelability problem of pictures with trihedral vertices and hidden lines. The main characteristic of the method is that it considers the faces of a given picture as Boolean variables and it constructs from the picture a Boolean formula. Based on the truth assignment of the picture's formula, a linear algorithm is developed for the labeling of the edges by the Clowes-Huffman scheme.<>
{"title":"A linear algorithm for labeling planar projections of polyhedra","authors":"Panagiotis D. Alevizos","doi":"10.1109/IROS.1991.174541","DOIUrl":"https://doi.org/10.1109/IROS.1991.174541","url":null,"abstract":"A linear algorithm is given for the labelability problem of pictures with trihedral vertices and hidden lines. The main characteristic of the method is that it considers the faces of a given picture as Boolean variables and it constructs from the picture a Boolean formula. Based on the truth assignment of the picture's formula, a linear algorithm is developed for the labeling of the edges by the Clowes-Huffman scheme.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132110685","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 : 1991-11-03DOI: 10.1109/IROS.1991.174744
E. Teoh, P. K. Chow, C. Chua
With the growing importance of the robotic manipulators in the area of industrial automation, there is an increase in demand for their position accuracy. To control such robotic systems effectively, more complex forms of control than the simple constant gain linear feedback control is required. Two adaptive control schemes, namely the adaptive PID controller and the self-tuning controller, are implemented in the system. To provide for fast control actions in the robotic system, a real-time approach is adopted. Such operation requires large computing power in a relatively short period of time. A digital signal processor (DSP) whose architecture is optimized to process sampled data at high rate is well suited to this purpose. Its architecture is designed to exploit the repetitive nature of signal processing by pipelining the data flow for extra speed. The TMS320C25 DSP chip is chosen for this purpose. From extensive experimental testing, it is shown that the position accuracy of the robotic manipulator using the given adaptive control schemes is within the 0.5 mm range.<>
{"title":"Adaptive control of a robotic manipulator using digital signal processor chips","authors":"E. Teoh, P. K. Chow, C. Chua","doi":"10.1109/IROS.1991.174744","DOIUrl":"https://doi.org/10.1109/IROS.1991.174744","url":null,"abstract":"With the growing importance of the robotic manipulators in the area of industrial automation, there is an increase in demand for their position accuracy. To control such robotic systems effectively, more complex forms of control than the simple constant gain linear feedback control is required. Two adaptive control schemes, namely the adaptive PID controller and the self-tuning controller, are implemented in the system. To provide for fast control actions in the robotic system, a real-time approach is adopted. Such operation requires large computing power in a relatively short period of time. A digital signal processor (DSP) whose architecture is optimized to process sampled data at high rate is well suited to this purpose. Its architecture is designed to exploit the repetitive nature of signal processing by pipelining the data flow for extra speed. The TMS320C25 DSP chip is chosen for this purpose. From extensive experimental testing, it is shown that the position accuracy of the robotic manipulator using the given adaptive control schemes is within the 0.5 mm range.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134327941","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 : 1991-11-03DOI: 10.1109/IROS.1991.174600
H. Ishiguro, Masashi Yamamoto, S. Tsuji
Presents a new sensing method, an omnidirectional stereo, to observe the environment around the robot. The omnidirectional stereo realized by swiveling a camera on the robot precisely yields a 2(1/2)D panoramic representation, a high resolution omnidirectional view with range estimates, of the world around the observation point. The panoramic representation is efficient as the vision of the mobile robot. An application of the panoramic representations in global map making by the mobile robot is discussed.<>
{"title":"Panoramic representations of scenes around a point","authors":"H. Ishiguro, Masashi Yamamoto, S. Tsuji","doi":"10.1109/IROS.1991.174600","DOIUrl":"https://doi.org/10.1109/IROS.1991.174600","url":null,"abstract":"Presents a new sensing method, an omnidirectional stereo, to observe the environment around the robot. The omnidirectional stereo realized by swiveling a camera on the robot precisely yields a 2(1/2)D panoramic representation, a high resolution omnidirectional view with range estimates, of the world around the observation point. The panoramic representation is efficient as the vision of the mobile robot. An application of the panoramic representations in global map making by the mobile robot is discussed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114438586","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 : 1991-11-03DOI: 10.1109/IROS.1991.174685
J. Alander
Describes a C++ package used to analyze a class of genetic algorithms. The parameters of the best genetic algorithms have been searched by a genetic algorithm. The ultimate goal of the work is to find out if it would be possible to utilize genetic algorithm techniques in certain difficult and complex robot control problems, such as task planning, adaptation, error detection, and recovery to create a flexible robot control system. A traveling salesman type problem is used as a test and an example of applications of genetic algorithms. The sequence coding problem is solved by using link sets, which allows a pure genetic algorithm approach. This preserves a clear separation between the problem solved and the genetic algorithm itself.<>
{"title":"On finding the optimal genetic algorithms for robot control problems","authors":"J. Alander","doi":"10.1109/IROS.1991.174685","DOIUrl":"https://doi.org/10.1109/IROS.1991.174685","url":null,"abstract":"Describes a C++ package used to analyze a class of genetic algorithms. The parameters of the best genetic algorithms have been searched by a genetic algorithm. The ultimate goal of the work is to find out if it would be possible to utilize genetic algorithm techniques in certain difficult and complex robot control problems, such as task planning, adaptation, error detection, and recovery to create a flexible robot control system. A traveling salesman type problem is used as a test and an example of applications of genetic algorithms. The sequence coding problem is solved by using link sets, which allows a pure genetic algorithm approach. This preserves a clear separation between the problem solved and the genetic algorithm itself.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131526862","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 : 1991-11-03DOI: 10.1109/IROS.1991.174610
S. Kawaji, K. Kanazawa
Deals with the modeling of a flexible inverted pendulum. The mathematical model of the controlled object used is a simplified one, which is approximated by rigid links and springs. The possibility of driving a simplified model of the flexible inverted pendulum using a double inverted pendulum with an elastic joint is studied. The experimental results show that the simplified model is sufficient to describe the flexible inverted pendulum, but with some modeling and identification errors. These uncertainty will excite the vibration. An H/sub infinity / control to stabilize the flexible inverted pendulum using the simplified model is presented.<>
{"title":"Control of double inverted pendulum with elastic joint","authors":"S. Kawaji, K. Kanazawa","doi":"10.1109/IROS.1991.174610","DOIUrl":"https://doi.org/10.1109/IROS.1991.174610","url":null,"abstract":"Deals with the modeling of a flexible inverted pendulum. The mathematical model of the controlled object used is a simplified one, which is approximated by rigid links and springs. The possibility of driving a simplified model of the flexible inverted pendulum using a double inverted pendulum with an elastic joint is studied. The experimental results show that the simplified model is sufficient to describe the flexible inverted pendulum, but with some modeling and identification errors. These uncertainty will excite the vibration. An H/sub infinity / control to stabilize the flexible inverted pendulum using the simplified model is presented.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133013763","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 : 1991-11-03DOI: 10.1109/IROS.1991.174590
M. Terauchi, Koji Ito, T. Joko, T. Tsuji
Proposes a new conventional method to reconstruct 3D motion of rigid polyhedral objects from a sequence of monocular images. In general the problem is ill-posed, therefore additional information is required to recover depth. The authors utilize line correspondence between sequential images and existence of parallel line segments in the scene. The relation between the coordinates of points can be described only by a rotation matrix, if it is formulated relatively. Then if there exists a pair of parallel line segments, the matrix can be solved by using linear equations. After that the translation vector is computed. It is necessary that there exists at least one pair of parallel line segments in the scene in order to obtain motion parameters. They also propose the method to extract pairs of parallel line segments in the image. Finally some experimental results for simulated data are demonstrated.<>
{"title":"Motion estimation of a block-shaped rigid object for robot vision","authors":"M. Terauchi, Koji Ito, T. Joko, T. Tsuji","doi":"10.1109/IROS.1991.174590","DOIUrl":"https://doi.org/10.1109/IROS.1991.174590","url":null,"abstract":"Proposes a new conventional method to reconstruct 3D motion of rigid polyhedral objects from a sequence of monocular images. In general the problem is ill-posed, therefore additional information is required to recover depth. The authors utilize line correspondence between sequential images and existence of parallel line segments in the scene. The relation between the coordinates of points can be described only by a rotation matrix, if it is formulated relatively. Then if there exists a pair of parallel line segments, the matrix can be solved by using linear equations. After that the translation vector is computed. It is necessary that there exists at least one pair of parallel line segments in the scene in order to obtain motion parameters. They also propose the method to extract pairs of parallel line segments in the image. Finally some experimental results for simulated data are demonstrated.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133556029","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 : 1991-11-03DOI: 10.1109/IROS.1991.174564
R. Luo, Min-Hsiung Lin, C. K. Shih
A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.<>
{"title":"Design and implementation of a multidegree of freedom intelligent robot hand","authors":"R. Luo, Min-Hsiung Lin, C. K. Shih","doi":"10.1109/IROS.1991.174564","DOIUrl":"https://doi.org/10.1109/IROS.1991.174564","url":null,"abstract":"A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117035981","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 : 1991-11-03DOI: 10.1109/IROS.1991.174750
A. Rovetta, X. Wen
Deals with the robot grasping manipulation by using fuzzy logic control system. The basic fuzzy control method for grasping is presented. The study of the grasped object, the grasping manipulation in a known environment and in an unknown environment are discussed. In the unknown environment the fuzzy control system shows intelligence that absorbs the human's operating experiences and thinking methods.<>
{"title":"Fuzzy logic in robot grasping control","authors":"A. Rovetta, X. Wen","doi":"10.1109/IROS.1991.174750","DOIUrl":"https://doi.org/10.1109/IROS.1991.174750","url":null,"abstract":"Deals with the robot grasping manipulation by using fuzzy logic control system. The basic fuzzy control method for grasping is presented. The study of the grasped object, the grasping manipulation in a known environment and in an unknown environment are discussed. In the unknown environment the fuzzy control system shows intelligence that absorbs the human's operating experiences and thinking methods.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115499952","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 : 1991-11-03DOI: 10.1109/IROS.1991.174524
Y. Yanagihara, T. Kita
In some tasks such as bin-picking, robots are required to pick up one part from among a number of piled-up scattered parts. To perform such tasks, the recognition of parts using a vision system is indispensable. The paper proposes approaches to reduce the processing load on vision systems and to detect accidents using a force/torque sensor in real time. For the former approach, the concepts of parts isolation factor and robot manipulability at the grasping position are introduced to formulate a parts-picking strategy for executing the task while maintaining the initial environment. The picking operation is executed in order of highest isolation factor and manipulability. An accident recovery method in which force and torque are monitored during operation is also presented.<>
{"title":"Parts picking in disordered environment","authors":"Y. Yanagihara, T. Kita","doi":"10.1109/IROS.1991.174524","DOIUrl":"https://doi.org/10.1109/IROS.1991.174524","url":null,"abstract":"In some tasks such as bin-picking, robots are required to pick up one part from among a number of piled-up scattered parts. To perform such tasks, the recognition of parts using a vision system is indispensable. The paper proposes approaches to reduce the processing load on vision systems and to detect accidents using a force/torque sensor in real time. For the former approach, the concepts of parts isolation factor and robot manipulability at the grasping position are introduced to formulate a parts-picking strategy for executing the task while maintaining the initial environment. The picking operation is executed in order of highest isolation factor and manipulability. An accident recovery method in which force and torque are monitored during operation is also presented.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114859409","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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