Pub Date : 1990-07-03DOI: 10.1109/IROS.1990.262516
H. Arai, S. Tachi
The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In the paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degree of freedom horizontally articulated manipulator. The first axis is an active joint and the second axis is a passive joint. While the brake of the passive joint is released, the passive joint is indirectly controlled by the motion of the active joint, through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.<>
{"title":"Dynamic control of a manipulator with passive joints-position control experiments by a prototype manipulator","authors":"H. Arai, S. Tachi","doi":"10.1109/IROS.1990.262516","DOIUrl":"https://doi.org/10.1109/IROS.1990.262516","url":null,"abstract":"The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In the paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degree of freedom horizontally articulated manipulator. The first axis is an active joint and the second axis is a passive joint. While the brake of the passive joint is released, the passive joint is indirectly controlled by the motion of the active joint, through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114655502","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 : 1990-07-03DOI: 10.1109/IROS.1990.262519
S. Takashima
Dynamic modelings of a gymnast on a high bar are presented. Three types of models are developed in the paper. The first one is a single-link pendulum robot with an additional mass able to slide up and down on a straight path along the link. It can perform a giant swing. This model is developed to make a study about the mechanism of a giant swing and increasing swing amplitude. The second is the three-link model consisting of arms, trunk and legs. It can perform a skip, a giant swing and other stunts which require bent knees. The third is four-link model with bent knees. In this model the coordinates of the position of the body in sagittal plane are added so that it can perform aerial stunts and landing. For the three models computer simulations show that the control strategy to realize the high bar stunts depends mainly on the control of the position of the center of the gravity of the whole body. Except for the four-link model, physical models are constructed. The three-link gymnast robot can perform sequential stunts by the same control strategy to that of the computer simulations.<>
{"title":"Dynamic modeling of a gymnast on a high bar-computer simulation and construction of a gymnast robot","authors":"S. Takashima","doi":"10.1109/IROS.1990.262519","DOIUrl":"https://doi.org/10.1109/IROS.1990.262519","url":null,"abstract":"Dynamic modelings of a gymnast on a high bar are presented. Three types of models are developed in the paper. The first one is a single-link pendulum robot with an additional mass able to slide up and down on a straight path along the link. It can perform a giant swing. This model is developed to make a study about the mechanism of a giant swing and increasing swing amplitude. The second is the three-link model consisting of arms, trunk and legs. It can perform a skip, a giant swing and other stunts which require bent knees. The third is four-link model with bent knees. In this model the coordinates of the position of the body in sagittal plane are added so that it can perform aerial stunts and landing. For the three models computer simulations show that the control strategy to realize the high bar stunts depends mainly on the control of the position of the center of the gravity of the whole body. Except for the four-link model, physical models are constructed. The three-link gymnast robot can perform sequential stunts by the same control strategy to that of the computer simulations.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125255039","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 : 1990-07-03DOI: 10.1109/IROS.1990.262495
R. Zapata, M. Perrier
The paper addresses the motion planning problem for mobile robots evolving in ill-structured and dynamic environments. The main part of this work deals with the problem of the model-sensor cooperation, that is to maintain the world consistency when real information provided by sensors.<>
{"title":"Model-sensor fusion for mobile robots","authors":"R. Zapata, M. Perrier","doi":"10.1109/IROS.1990.262495","DOIUrl":"https://doi.org/10.1109/IROS.1990.262495","url":null,"abstract":"The paper addresses the motion planning problem for mobile robots evolving in ill-structured and dynamic environments. The main part of this work deals with the problem of the model-sensor cooperation, that is to maintain the world consistency when real information provided by sensors.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125399781","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 : 1990-07-03DOI: 10.1109/IROS.1990.262518
F. Pierrot, M. Benoit, P. Dauchez, J. Galmiche
Presents solutions for a complete modeling of the DELTA parallel robot with few arithmetic and trigonometric operations. The method is based on a good choice of the kinematic parameters for the kinematic models, and on few restricting hypotheses for the static and dynamic modes. A low cost robotic controller (the 'Chip-Burger') is also presented. A joint space and a cartesian space are implemented on it. The preliminary results presented in the paper show that a high acceleration can be reached with such solutions.<>
{"title":"High speed control of a parallel robot","authors":"F. Pierrot, M. Benoit, P. Dauchez, J. Galmiche","doi":"10.1109/IROS.1990.262518","DOIUrl":"https://doi.org/10.1109/IROS.1990.262518","url":null,"abstract":"Presents solutions for a complete modeling of the DELTA parallel robot with few arithmetic and trigonometric operations. The method is based on a good choice of the kinematic parameters for the kinematic models, and on few restricting hypotheses for the static and dynamic modes. A low cost robotic controller (the 'Chip-Burger') is also presented. A joint space and a cartesian space are implemented on it. The preliminary results presented in the paper show that a high acceleration can be reached with such solutions.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122678124","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 : 1990-07-03DOI: 10.1109/IROS.1990.262387
S. Toyama, S. Hatae
A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic solutions of dynamics and kinematics, which enables a designer to obtain the insight and the qualitative understanding of the kinematics and dynamics models, and develop the optimal computer codes for a numerical calculation. This CAD system will be a useful tool for designing an optimal robotic manipulator.<>
{"title":"SYMTOM: an algebraic robotic manipulator modelling program","authors":"S. Toyama, S. Hatae","doi":"10.1109/IROS.1990.262387","DOIUrl":"https://doi.org/10.1109/IROS.1990.262387","url":null,"abstract":"A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic solutions of dynamics and kinematics, which enables a designer to obtain the insight and the qualitative understanding of the kinematics and dynamics models, and develop the optimal computer codes for a numerical calculation. This CAD system will be a useful tool for designing an optimal robotic manipulator.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129018668","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 : 1990-07-03DOI: 10.1109/IROS.1990.262437
B. Shepherd
The off-line simulation of robot tasks will play an increasingly important role in the development of robot applications, particularly as they diversify into more complex and unstructured domains. In these domains the availability of good sensory information becomes vital to the success of the task, off-line simulation must therefore simulate not only the robot movements but also the sensory information on which these movements are based. One of the most powerful sensory mechanisms available to a robot is vision but little has been done so far to incorporate visual sensory simulation into robot simulation. This paper describes a method for generating accurate visual sensory information during the simulation of a robot task and shows how this can enable the complete simulation of the task, particularly the connection between sensing and action.<>
{"title":"Simulation of visual sensory information in an advanced robot programming environment","authors":"B. Shepherd","doi":"10.1109/IROS.1990.262437","DOIUrl":"https://doi.org/10.1109/IROS.1990.262437","url":null,"abstract":"The off-line simulation of robot tasks will play an increasingly important role in the development of robot applications, particularly as they diversify into more complex and unstructured domains. In these domains the availability of good sensory information becomes vital to the success of the task, off-line simulation must therefore simulate not only the robot movements but also the sensory information on which these movements are based. One of the most powerful sensory mechanisms available to a robot is vision but little has been done so far to incorporate visual sensory simulation into robot simulation. This paper describes a method for generating accurate visual sensory information during the simulation of a robot task and shows how this can enable the complete simulation of the task, particularly the connection between sensing and action.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130338731","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 : 1990-07-03DOI: 10.1109/IROS.1990.262439
L. Carrioli, M. Diani
Presents an algorithm for individuating the shortest path in a 3D space in which the obstacles are described by means of range data. Such an algorithm runs on 2D hardware which is normally used for image processing tasks avoiding the development of expensive 3D hardware. This is possible because the procedure is split in two different 2D processes. Main advantages of the technique are: no pre-processing of the data coming from the sensors is needed, the algorithm works directly on them; and the computation complexity is linear with the length of the path.<>
{"title":"A 2/sup 1///sub 2/-D algorithm for the shortest path search running on 2-D hardware","authors":"L. Carrioli, M. Diani","doi":"10.1109/IROS.1990.262439","DOIUrl":"https://doi.org/10.1109/IROS.1990.262439","url":null,"abstract":"Presents an algorithm for individuating the shortest path in a 3D space in which the obstacles are described by means of range data. Such an algorithm runs on 2D hardware which is normally used for image processing tasks avoiding the development of expensive 3D hardware. This is possible because the procedure is split in two different 2D processes. Main advantages of the technique are: no pre-processing of the data coming from the sensors is needed, the algorithm works directly on them; and the computation complexity is linear with the length of the path.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126962310","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 : 1990-07-03DOI: 10.1109/IROS.1990.262375
F. Pin, J. Culioli
An important characteristic of practical mobile manipulators, i.e. manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This paper is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration of the system during task commutations when changes occur in both task requirements and task constraints. Optimization criteria for obstacle avoidance, manipulability, least torque norm and maximum actuator torque are first discussed. Emphasis is then placed on optimization methods for problems involving multi-requirements and multicriteria optimization. Sample results of the methods for a system including a three-link manipulator mounted on a mobile platform are presented and discussed.<>
{"title":"Multi-criteria position and configuration optimization for redundant platform/manipulator systems","authors":"F. Pin, J. Culioli","doi":"10.1109/IROS.1990.262375","DOIUrl":"https://doi.org/10.1109/IROS.1990.262375","url":null,"abstract":"An important characteristic of practical mobile manipulators, i.e. manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This paper is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration of the system during task commutations when changes occur in both task requirements and task constraints. Optimization criteria for obstacle avoidance, manipulability, least torque norm and maximum actuator torque are first discussed. Emphasis is then placed on optimization methods for problems involving multi-requirements and multicriteria optimization. Sample results of the methods for a system including a three-link manipulator mounted on a mobile platform are presented and discussed.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116313409","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 : 1990-07-03DOI: 10.1109/IROS.1990.262405
S. Kawamura, M. Nakagawa
Points out the importance of memory-based schemes for motion control of robots. In memory-based control schemes, all values concerning robot motion are stored in memory of digital computers instead of modeling the robot motion and the environment around the robot. The authors propose a memory-based control scheme which is suitable for locomotion of robots in unknown environment. At the first step of the proposed control scheme, a robot recognizes the unknown environment through test motions which mean actual movement of the robot. As a result, the robot has knowledge of the motion environment as a kind of map in the memory of digital computers. At the second step, by using path planning techniques in the environment maps obtained by the test motions, the robot forms a motion pattern which can realize effective locomotion. The effectiveness of the proposed memory-based control scheme is demonstrated through two experimental results in which robots move in the water and on the ground.<>
{"title":"Memory-based control for recognition of motion environment and planning of effective locomotion","authors":"S. Kawamura, M. Nakagawa","doi":"10.1109/IROS.1990.262405","DOIUrl":"https://doi.org/10.1109/IROS.1990.262405","url":null,"abstract":"Points out the importance of memory-based schemes for motion control of robots. In memory-based control schemes, all values concerning robot motion are stored in memory of digital computers instead of modeling the robot motion and the environment around the robot. The authors propose a memory-based control scheme which is suitable for locomotion of robots in unknown environment. At the first step of the proposed control scheme, a robot recognizes the unknown environment through test motions which mean actual movement of the robot. As a result, the robot has knowledge of the motion environment as a kind of map in the memory of digital computers. At the second step, by using path planning techniques in the environment maps obtained by the test motions, the robot forms a motion pattern which can realize effective locomotion. The effectiveness of the proposed memory-based control scheme is demonstrated through two experimental results in which robots move in the water and on the ground.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123992704","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 : 1990-07-03DOI: 10.1109/IROS.1990.262470
K. Homma, Tatsuya Nakamura, T. Arai, H. Adachi
Proposes a spatial image model which expresses the physical characteristics of an object whose shape may vary. This model consists of a mass of particles to represent the shape of the object and a set of production rules to predict the change of the object's shape. Models to represent gas, liquid and soil are described. A three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor.<>
{"title":"Spatial image model for manipulation of shape variable objects and application to excavation","authors":"K. Homma, Tatsuya Nakamura, T. Arai, H. Adachi","doi":"10.1109/IROS.1990.262470","DOIUrl":"https://doi.org/10.1109/IROS.1990.262470","url":null,"abstract":"Proposes a spatial image model which expresses the physical characteristics of an object whose shape may vary. This model consists of a mass of particles to represent the shape of the object and a set of production rules to predict the change of the object's shape. Models to represent gas, liquid and soil are described. A three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126342630","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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