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.1991.174656
T. Fukuda, M. Fujiyoshi, K. Kosuge, F. Arai
A new mechanism of an electrostatic micromanipulator which has 6 DOF is proposed. Its main features are summarized as follows. First, it can be constructed in a very compact form, since the actuator system is fabricated and assembled through the photoetching process. Second, it can move along three axes (6 DOF) and rotate around each axis, and has high resolution with no backlash. In the experiments, a movable range of 3.15 micron and a rotatable angle of 1.1*10/sup -2/ degree are attained with an applied voltage of 350 V. A simulation result for dynamics to estimate the motion of the micromanipulator is shown.<>
{"title":"Electrostatic micromanipulator with 6 DOF","authors":"T. Fukuda, M. Fujiyoshi, K. Kosuge, F. Arai","doi":"10.1109/IROS.1991.174656","DOIUrl":"https://doi.org/10.1109/IROS.1991.174656","url":null,"abstract":"A new mechanism of an electrostatic micromanipulator which has 6 DOF is proposed. Its main features are summarized as follows. First, it can be constructed in a very compact form, since the actuator system is fabricated and assembled through the photoetching process. Second, it can move along three axes (6 DOF) and rotate around each axis, and has high resolution with no backlash. In the experiments, a movable range of 3.15 micron and a rotatable angle of 1.1*10/sup -2/ degree are attained with an applied voltage of 350 V. A simulation result for dynamics to estimate the motion of the micromanipulator is shown.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"462 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113998112","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.1991.174600
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.1991.174524
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}
Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174536
C. Mirolo, E. Pagello
Starting from their (1989) past work on geometric modelling, the authors discuss various techniques for the robot motion planning problem and suggest further work in this field. The efficiency of any approach to motion planning is strongly related to the ability of getting relevant information from a small subset of the geometric items. Considering a restricted portion of the configuration space around the current configuration of the introduces some local issues. So, a spatial reasoning system is defined by the interactions between local focusing and a global view of the planning process.<>
{"title":"Local geometric issues for spatial reasoning in robot motion planning","authors":"C. Mirolo, E. Pagello","doi":"10.1109/IROS.1991.174536","DOIUrl":"https://doi.org/10.1109/IROS.1991.174536","url":null,"abstract":"Starting from their (1989) past work on geometric modelling, the authors discuss various techniques for the robot motion planning problem and suggest further work in this field. The efficiency of any approach to motion planning is strongly related to the ability of getting relevant information from a small subset of the geometric items. Considering a restricted portion of the configuration space around the current configuration of the introduces some local issues. So, a spatial reasoning system is defined by the interactions between local focusing and a global view of the planning process.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"13 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":"124448110","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.1991.174607
I. Rudas, G. Mester
The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined.<>
{"title":"Industrial robot control in case of uncertain dynamical parameters","authors":"I. Rudas, G. Mester","doi":"10.1109/IROS.1991.174607","DOIUrl":"https://doi.org/10.1109/IROS.1991.174607","url":null,"abstract":"The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"246 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":"124704583","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.1991.174442
F. Cheng, Tsing-Hua Chen, York-Yih Sun
The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of inverse kinematics are also considered. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the compact-inverse method is introduced. The compact-inverse method applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.<>
{"title":"Inverse kinematic solutions for redundant manipulators using compact formulation","authors":"F. Cheng, Tsing-Hua Chen, York-Yih Sun","doi":"10.1109/IROS.1991.174442","DOIUrl":"https://doi.org/10.1109/IROS.1991.174442","url":null,"abstract":"The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of inverse kinematics are also considered. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the compact-inverse method is introduced. The compact-inverse method applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"21 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":"130262303","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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