Pub Date : 1987-10-01DOI: 10.1109/JRA.1987.1087124
Z. Roth, B. Mooring, B. Ravani
An overview is given of the existing work on robot calibration, and some of the basic issues are identified in calibration and improvement of robot precision. Modeling, measurement, identification, and correction issues in robot calibration are discussed, and some of the unresolved questions are identified.
{"title":"An overview of robot calibration","authors":"Z. Roth, B. Mooring, B. Ravani","doi":"10.1109/JRA.1987.1087124","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087124","url":null,"abstract":"An overview is given of the existing work on robot calibration, and some of the basic issues are identified in calibration and improvement of robot precision. Modeling, measurement, identification, and correction issues in robot calibration are discussed, and some of the unresolved questions are identified.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"39 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131687173","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.1987.1087129
O. Kaynak, Pierre Melancon, V. Rajagopalan
A recently proposed method of control, namely model algorithmic control (MAC) or, equivalently, model predictive heuristic control (MPHC) is analyzed with a view to its implementation for the position control system. The formulation of the MPHC strategy to positional servo system is presented; both the regulators and the tracking problems are studied and the simulation and experimental results obtained indicate that the MPHC results in a good performance even under the conditions of large time-varying changes in the parameters of the system.
{"title":"Model predictive heuristic control of a position servo system in robotics application","authors":"O. Kaynak, Pierre Melancon, V. Rajagopalan","doi":"10.1109/JRA.1987.1087129","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087129","url":null,"abstract":"A recently proposed method of control, namely model algorithmic control (MAC) or, equivalently, model predictive heuristic control (MPHC) is analyzed with a view to its implementation for the position control system. The formulation of the MPHC strategy to positional servo system is presented; both the regulators and the tracking problems are studied and the simulation and experimental results obtained indicate that the MPHC results in a good performance even under the conditions of large time-varying changes in the parameters of the system.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"26 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":"125123517","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.1987.1087126
C. S. Lee, P. Chang
A cost-effective coordinate rotation digital computer (CORDIC) architecture is described for the computation of inverse kinematic position solution based on a functional decomposition of the closed-form joint equations. The functional decomposition shows a limited amount of parallelism with a large amount of sequentialism in the flow of computation and data dependencies and reveals the requirement for computing a large set of elementary operations: multiplications, additions, divisions, square roots, trigonometric functions and their inverse. However, these elementary operations, in general, cannot be efficiently computed in general-purpose uniprocessor computers. The CORDIC algorithms are the natural candidates for efficiently computing these elementary operations and the interconnection of these CORDIC processors to exploit the great potential of pipelining provides a better solution for computing the inverse kinematic position solution. The functional decomposition of the inverse kinematic position solution into a set of computational tasks can be represented as a directed task graph. The inclusion of input data modifies the task graph to an acyclic data dependency graph (ADDG). The nodes of the ADDG correspond to the computational modules, each of which can be realized by a CORDIC processor. The operands or data move along the edges, each of which connects a pair of nodes. Due to different paths and computation time for each CORDIC processor, operands may arrive at multi-input modules at different arrival time, causing a longer pipelined time. Delay buffers may be inserted at various paths to achieve a balanced ADDG. The optimal buffer assignment problem is reduced to an integer linear optimization problem which can be solved easily by computers. The realization of the balanced ADDG results in a maximum pipelined CORDIC architecture with a minimum number of delay buffer stages for the computation of inverse kinematic position solution.
{"title":"A maximum pipelined CORDIC architecture for inverse kinematic position computation","authors":"C. S. Lee, P. Chang","doi":"10.1109/JRA.1987.1087126","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087126","url":null,"abstract":"A cost-effective coordinate rotation digital computer (CORDIC) architecture is described for the computation of inverse kinematic position solution based on a functional decomposition of the closed-form joint equations. The functional decomposition shows a limited amount of parallelism with a large amount of sequentialism in the flow of computation and data dependencies and reveals the requirement for computing a large set of elementary operations: multiplications, additions, divisions, square roots, trigonometric functions and their inverse. However, these elementary operations, in general, cannot be efficiently computed in general-purpose uniprocessor computers. The CORDIC algorithms are the natural candidates for efficiently computing these elementary operations and the interconnection of these CORDIC processors to exploit the great potential of pipelining provides a better solution for computing the inverse kinematic position solution. The functional decomposition of the inverse kinematic position solution into a set of computational tasks can be represented as a directed task graph. The inclusion of input data modifies the task graph to an acyclic data dependency graph (ADDG). The nodes of the ADDG correspond to the computational modules, each of which can be realized by a CORDIC processor. The operands or data move along the edges, each of which connects a pair of nodes. Due to different paths and computation time for each CORDIC processor, operands may arrive at multi-input modules at different arrival time, causing a longer pipelined time. Delay buffers may be inserted at various paths to achieve a balanced ADDG. The optimal buffer assignment problem is reduced to an integer linear optimization problem which can be solved easily by computers. The realization of the balanced ADDG results in a maximum pipelined CORDIC architecture with a minimum number of delay buffer stages for the computation of inverse kinematic position solution.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"20 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":"121293589","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.1987.1087118
O. Egeland
A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed. The controller distributes the fast motion to the small fast manipulator and the slow gross motion to the positioning part. A position reference is generated on-line to the positioning part to avoid singularities and the loss of degrees of freedom. The task-space position vector is augmented by the generalized coordinates of the positioning part. Feedback linearization and decoupling are then applied in the augmented task space to obtain a model consisting of decoupled double integrators. These decoupled double integrators are controlled by the use of linear quadratic optimal control. In the optimal control problem the performance index is chosen so that the task-space position reference is tracked with a high bandwidth while the reference to the positioning part is tracked with a low bandwidth. The controller has been applied to a simple planar redundant manipulator and an eight-link spray painting robot in simulation experiments. These simulations showed that a high bandwidth was possible with moderate actuator torques.
{"title":"Task-space tracking with redundant manipulators","authors":"O. Egeland","doi":"10.1109/JRA.1987.1087118","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087118","url":null,"abstract":"A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed. The controller distributes the fast motion to the small fast manipulator and the slow gross motion to the positioning part. A position reference is generated on-line to the positioning part to avoid singularities and the loss of degrees of freedom. The task-space position vector is augmented by the generalized coordinates of the positioning part. Feedback linearization and decoupling are then applied in the augmented task space to obtain a model consisting of decoupled double integrators. These decoupled double integrators are controlled by the use of linear quadratic optimal control. In the optimal control problem the performance index is chosen so that the task-space position reference is tracked with a high bandwidth while the reference to the positioning part is tracked with a low bandwidth. The controller has been applied to a simple planar redundant manipulator and an eight-link spray painting robot in simulation experiments. These simulations showed that a high bandwidth was possible with moderate actuator torques.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"61 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":"125634942","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 : 1986-04-07DOI: 10.1109/JRA.1987.1087120
T. Yoshikawa
For the application of robot manipulators to complex tasks, it is often necessary to control not only the position of a manipulator but also the force exerted by the hand on an object. For this purpose, Raibert and Craig have proposed the hybrid position/force control method. In this method, however, the manipulator dynamics has not been taken into account rigorously. The dynamic hybrid control method is proposed, which takes the manipulator dynamics into consideration. Constraints on the end effector are described by a set of constraint hypersurfaces. Then the basic equations for dynamic hybrid control are derived. It is shown that if the manipulator is not in a singular configuration, the desired position and force at the end effector can be simultaneously realized. Finally, a basic structure of the dynamic hybrid control system with a servo compensator is given.
{"title":"Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force","authors":"T. Yoshikawa","doi":"10.1109/JRA.1987.1087120","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087120","url":null,"abstract":"For the application of robot manipulators to complex tasks, it is often necessary to control not only the position of a manipulator but also the force exerted by the hand on an object. For this purpose, Raibert and Craig have proposed the hybrid position/force control method. In this method, however, the manipulator dynamics has not been taken into account rigorously. The dynamic hybrid control method is proposed, which takes the manipulator dynamics into consideration. Constraints on the end effector are described by a set of constraint hypersurfaces. Then the basic equations for dynamic hybrid control are derived. It is shown that if the manipulator is not in a singular configuration, the desired position and force at the end effector can be simultaneously realized. Finally, a basic structure of the dynamic hybrid control system with a servo compensator is given.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125434246","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 : 1986-04-01DOI: 10.1109/JRA.1987.1087144
Jigien Chen, L. Chao
Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provides users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the computed and the actual positions can be significant. Error sources that contribute to these differences for robots with rotary joints are examined. The effects of these errors are parameterized and measurement data are fitted to obtain the values of these parameters. It is concluded that with sufficient but not exhaustive detail in the error modeling the differences can be reduced significantly from 5.9-mm mean error with nominal model down to 0.28-mm mean error after error compensation.
{"title":"Positioning error analysis for robot manipulators with all rotary joints","authors":"Jigien Chen, L. Chao","doi":"10.1109/JRA.1987.1087144","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087144","url":null,"abstract":"Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provides users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the computed and the actual positions can be significant. Error sources that contribute to these differences for robots with rotary joints are examined. The effects of these errors are parameterized and measurement data are fitted to obtain the values of these parameters. It is concluded that with sufficient but not exhaustive detail in the error modeling the differences can be reduced significantly from 5.9-mm mean error with nominal model down to 0.28-mm mean error after error compensation.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134053799","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 : 1986-03-01DOI: 10.1109/JRA.1986.1087038
S. Gruber
The reviewer calls "Robot Hands and the Mechanics of Manipulation" a preliminary exploration of the mechanics of dexterous manipulation. It isb ased almost entirely on the Ph.D. dissertations of the two authors. That of Dr. Salisbury is dated 1982, while the date of Dr. Mason's dissertation was not evident. (prehension) is the important part of Mason¿s thesis. The book is not intended as a text for a University course and would fa11 far short of being an aid to designing a robot hand. It is a presentation of fundamentals of the mechanics of manipulation, which is certainly an immature science. It exemplifies the problem that an individual faces on entering the robotics area: there are either the texts that describe the capabilities and expectations of robotic automation and are written for managers or there are the texts such as this that develop the basic science and are written for researchers. This is a clear indication of the immaturity of the subject. A note of comment about the editing is ino rder. The M.I.T. Press, as publisher, states that the format was intended to reduce the time between the editorial process and the final publication. However, the introduction was written in 1984, the most recent reference cited was dated August 1983 (in a paper contained in the appendix to Section I) and the book publication date is 1985. There is not much further evidence of the rush to publish in that few errors were found. One error is that while reference 11 was cited on page 16, it could not be found in the list of references, and another is that the top figure on page 21 does not show the twist t6.
{"title":"Robot hands and the mechanics of manipulation (T. Mason and J.K. Salisbury, Jr. (Cambridge, MA: M.I.T., 1985) [Book Reviews]","authors":"S. Gruber","doi":"10.1109/JRA.1986.1087038","DOIUrl":"https://doi.org/10.1109/JRA.1986.1087038","url":null,"abstract":"The reviewer calls \"Robot Hands and the Mechanics of Manipulation\" a preliminary exploration of the mechanics of dexterous manipulation. It isb ased almost entirely on the Ph.D. dissertations of the two authors. That of Dr. Salisbury is dated 1982, while the date of Dr. Mason's dissertation was not evident. (prehension) is the important part of Mason¿s thesis. The book is not intended as a text for a University course and would fa11 far short of being an aid to designing a robot hand. It is a presentation of fundamentals of the mechanics of manipulation, which is certainly an immature science. It exemplifies the problem that an individual faces on entering the robotics area: there are either the texts that describe the capabilities and expectations of robotic automation and are written for managers or there are the texts such as this that develop the basic science and are written for researchers. This is a clear indication of the immaturity of the subject. A note of comment about the editing is ino rder. The M.I.T. Press, as publisher, states that the format was intended to reduce the time between the editorial process and the final publication. However, the introduction was written in 1984, the most recent reference cited was dated August 1983 (in a paper contained in the appendix to Section I) and the book publication date is 1985. There is not much further evidence of the rush to publish in that few errors were found. One error is that while reference 11 was cited on page 16, it could not be found in the list of references, and another is that the top figure on page 21 does not show the twist t6.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122039119","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 : 1900-01-01DOI: 10.1109/JRA.1987.1087140
J. Wander, D. Tesar
It is essential for the robust control of a dynamic system to employ a characterization of its inertia content in the control formulation. One such characterization is described for the nonlinear time-varying system of a robotic manipulator in the form of pipelined modeling software which is implemented on a medium-sized array processor to run in real time. The time-varying inertia content of the manipulator is expressed in terms of kinematic influence coefficients which are represented by explicit functions of only the generalized coordinates. Properties of these influence coefficients are employed to reduce the computation effort necessary to generate the modeling coefficients. To efficiently pipeline this algorithm, the structure inherent in the problem is exploited to allow extensive use of data-dependent addressing which is employed to compute multiple "small" operations within a single pipeline. The resulting software consists of two portions-- an off-line portion generates integer offset vectors to direct the addressing of the on-line portion in computing the modeling coefficients. The real-time algorithm is fourth-order in the number of links requiring 7.5 ms on a modest-sized array processor to compute the modeling coefficients of a general six-link manipulator.
{"title":"Pipelined computation of manipulator modeling matrices","authors":"J. Wander, D. Tesar","doi":"10.1109/JRA.1987.1087140","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087140","url":null,"abstract":"It is essential for the robust control of a dynamic system to employ a characterization of its inertia content in the control formulation. One such characterization is described for the nonlinear time-varying system of a robotic manipulator in the form of pipelined modeling software which is implemented on a medium-sized array processor to run in real time. The time-varying inertia content of the manipulator is expressed in terms of kinematic influence coefficients which are represented by explicit functions of only the generalized coordinates. Properties of these influence coefficients are employed to reduce the computation effort necessary to generate the modeling coefficients. To efficiently pipeline this algorithm, the structure inherent in the problem is exploited to allow extensive use of data-dependent addressing which is employed to compute multiple \"small\" operations within a single pipeline. The resulting software consists of two portions-- an off-line portion generates integer offset vectors to direct the addressing of the on-line portion in computing the modeling coefficients. The real-time algorithm is fourth-order in the number of links requiring 7.5 ms on a modest-sized array processor to compute the modeling coefficients of a general six-link manipulator.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"1929 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128724629","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 : 1900-01-01DOI: 10.1109/JRA.1987.1087136
Yeon Kim, J. Aggarwal
The motion of a three-dimensional object is determined from a sequence of stereo images by extracting three-dimensional features, establishing correspondences between these features, and finally, computing the rigid motion parameters. Three-dimensional features are extracted from the depth map of a scene. A two-pass relaxation method is developed for matching features extracted from successive depth maps. In each iteration, geometrical relationships between a feature and its neighbors in one map are compared to those between a candidate in the other map and its neighbors to update the matching probability of the candidate. The comparison of the geometrical relationship is based on the principle of conservation of distance and angle between features during rigid motion. The use of three-dimensional features allows one to find the rotation and translation components of motion separately via solving linear equations. Experimental results using several sets of real data are presented to illustrate results and difficulties.
{"title":"Determining object motion in a sequence of stereo images","authors":"Yeon Kim, J. Aggarwal","doi":"10.1109/JRA.1987.1087136","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087136","url":null,"abstract":"The motion of a three-dimensional object is determined from a sequence of stereo images by extracting three-dimensional features, establishing correspondences between these features, and finally, computing the rigid motion parameters. Three-dimensional features are extracted from the depth map of a scene. A two-pass relaxation method is developed for matching features extracted from successive depth maps. In each iteration, geometrical relationships between a feature and its neighbors in one map are compared to those between a candidate in the other map and its neighbors to update the matching probability of the candidate. The comparison of the geometrical relationship is based on the principle of conservation of distance and angle between features during rigid motion. The use of three-dimensional features allows one to find the rotation and translation components of motion separately via solving linear equations. Experimental results using several sets of real data are presented to illustrate results and difficulties.","PeriodicalId":404512,"journal":{"name":"IEEE Journal on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132330468","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：