Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525375
H. Durrant-Whyte, Edward Bell, Philip Avery
This paper describes the design of a navigation system for an autonomous guided vehicle (AGV) system able to transport ISO standard cargo containers in a port environment. The navigation system is based on the use of millimeter wave radar sensors detecting the range and bearing to a number of fixed known beacons. The central navigation algorithm is an extended Kalman filter that exploits a model of the vehicle motion and radar observations to continuously provide estimates of the vehicle location. The main contribution of the system described in this paper lies in the use of a new, and relatively sophisticated process model describing the motion of a large vehicle, and in the incorporation of this with a novel sensing system.
{"title":"The design of a radar-based navigation system for large outdoor vehicles","authors":"H. Durrant-Whyte, Edward Bell, Philip Avery","doi":"10.1109/ROBOT.1995.525375","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525375","url":null,"abstract":"This paper describes the design of a navigation system for an autonomous guided vehicle (AGV) system able to transport ISO standard cargo containers in a port environment. The navigation system is based on the use of millimeter wave radar sensors detecting the range and bearing to a number of fixed known beacons. The central navigation algorithm is an extended Kalman filter that exploits a model of the vehicle motion and radar observations to continuously provide estimates of the vehicle location. The main contribution of the system described in this paper lies in the use of a new, and relatively sophisticated process model describing the motion of a large vehicle, and in the incorporation of this with a novel sensing system.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122180707","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525264
Tomomasa Sato, T. Kameya, H. Miyazaki, Y. Hatamura
In consequence of the trend toward miniaturization, the importance of nano manipulation with precision ranging from 1 nm to 1 /spl mu/m, has become recognized. The paper describes the features of nano manipulation, emphasizes the necessity of the visual control to execute tasks in the nanometer world, and proposes an automatic nano manipulation system equipped with visual feedback function, the nano-hand-eye system. The system consists of nano manipulator, scanning electron microscope, real-time image processors and a host computer integrating hand and eye. Visually controlled nano manipulation under scanning electron microscope is first demonstrated, and the effectiveness of visual feedback is then proved by the engraving task of a thin line with uniform width of 3 /spl mu/m in desired direction.
随着微型化趋势的发展，人们已经认识到纳米操作的重要性，其精度范围从1纳米到1 /spl μ m /m。本文阐述了纳米操作的特点，强调了在纳米世界中执行任务需要视觉控制，提出了一种具有视觉反馈功能的纳米自动操作系统——纳米手眼系统。该系统由纳米机械手、扫描电子显微镜、实时图像处理器和手眼一体化主机组成。首先演示了扫描电镜下的视觉控制纳米操作，然后通过在期望方向上雕刻均匀宽度为3 /spl mu/m的细线任务来证明视觉反馈的有效性。
{"title":"Hand-eye system in nano manipulation world","authors":"Tomomasa Sato, T. Kameya, H. Miyazaki, Y. Hatamura","doi":"10.1109/ROBOT.1995.525264","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525264","url":null,"abstract":"In consequence of the trend toward miniaturization, the importance of nano manipulation with precision ranging from 1 nm to 1 /spl mu/m, has become recognized. The paper describes the features of nano manipulation, emphasizes the necessity of the visual control to execute tasks in the nanometer world, and proposes an automatic nano manipulation system equipped with visual feedback function, the nano-hand-eye system. The system consists of nano manipulator, scanning electron microscope, real-time image processors and a host computer integrating hand and eye. Visually controlled nano manipulation under scanning electron microscope is first demonstrated, and the effectiveness of visual feedback is then proved by the engraving task of a thin line with uniform width of 3 /spl mu/m in desired direction.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"375 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116626429","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525664
M. Žefran, Vijay R. Kumar
Problems in robotics and biomechanics such as trajectory planning or resolution of redundancy can be effectively solved using optimal control. Such systems are often subject to unilateral constraints. Examples include tasks involving contacts (e.g., walking, running, multifingered or multiarm manipulation), and other tasks that may not involve contacts but in which the system state or the inputs must satisfy inequality conditions (e.g., limits on actuator forces). This paper shows how problems of optimal control in robotics that involve unilateral constraints can be efficiently solved by first formulating the constrained optimal control problem as an unconstrained problem of the calculus of variations and then solving it using an integral formulation. This method has several advantages over the Pontryagin minimum principle which is traditionally employed to solve such problems. An example of two-arm manipulation with inequality constraints due to Coulomb friction is used to demonstrate the formulation of the problem and the algorithms.
{"title":"Optimal control of systems with unilateral constraints","authors":"M. Žefran, Vijay R. Kumar","doi":"10.1109/ROBOT.1995.525664","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525664","url":null,"abstract":"Problems in robotics and biomechanics such as trajectory planning or resolution of redundancy can be effectively solved using optimal control. Such systems are often subject to unilateral constraints. Examples include tasks involving contacts (e.g., walking, running, multifingered or multiarm manipulation), and other tasks that may not involve contacts but in which the system state or the inputs must satisfy inequality conditions (e.g., limits on actuator forces). This paper shows how problems of optimal control in robotics that involve unilateral constraints can be efficiently solved by first formulating the constrained optimal control problem as an unconstrained problem of the calculus of variations and then solving it using an integral formulation. This method has several advantages over the Pontryagin minimum principle which is traditionally employed to solve such problems. An example of two-arm manipulation with inequality constraints due to Coulomb friction is used to demonstrate the formulation of the problem and the algorithms.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"11 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117007618","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525409
S. Vougioukas, S. Gottschlich
In robotic assembly operations the robot comes in contact with the environment and some form of compliance is typically used to prevent excessive contact forces. These contact forces provide information about the contact geometry and can be used to guide the assembly operation. Thus, compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. In this work we describe a methodology for the automated synthesis and verification of this mapping. The possible erroneous configurations of the robot are computed via Monte-Carlo simulation of the task execution. The static contact force at each erroneous contact configuration is computed and a corrective motion is computed and mapped to the force. The validity of the mapping is also checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion. Simulation and experimental results are also presented.
{"title":"Compliance synthesis for force guided assembly","authors":"S. Vougioukas, S. Gottschlich","doi":"10.1109/ROBOT.1995.525409","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525409","url":null,"abstract":"In robotic assembly operations the robot comes in contact with the environment and some form of compliance is typically used to prevent excessive contact forces. These contact forces provide information about the contact geometry and can be used to guide the assembly operation. Thus, compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. In this work we describe a methodology for the automated synthesis and verification of this mapping. The possible erroneous configurations of the robot are computed via Monte-Carlo simulation of the task execution. The static contact force at each erroneous contact configuration is computed and a corrective motion is computed and mapped to the force. The validity of the mapping is also checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion. Simulation and experimental results are also presented.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130379084","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525292
M. Trobina, A. Leonardis
Presents a reliable and robust approach to the problem of grasping arbitrarily shaped 3-D objects from a pile. The approach adheres to the paradigm of purposive vision, which says that one should only extract as much information as it is needed to perform a certain task, e.g. grasping, while a complete and precise recovery of the shape of the objects is not necessary. The authors show that planar patches obtained by the recover-and-select paradigm contain enough information to enable generating object hypotheses and to estimate grasping points for the objects. The authors present some results for objects with polyhedral as well as with curved surfaces obtained on real range images.
{"title":"Grasping arbitrarily shaped 3-D objects from a pile","authors":"M. Trobina, A. Leonardis","doi":"10.1109/ROBOT.1995.525292","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525292","url":null,"abstract":"Presents a reliable and robust approach to the problem of grasping arbitrarily shaped 3-D objects from a pile. The approach adheres to the paradigm of purposive vision, which says that one should only extract as much information as it is needed to perform a certain task, e.g. grasping, while a complete and precise recovery of the shape of the objects is not necessary. The authors show that planar patches obtained by the recover-and-select paradigm contain enough information to enable generating object hypotheses and to estimate grasping points for the objects. The authors present some results for objects with polyhedral as well as with curved surfaces obtained on real range images.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130612995","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525762
D. Lane, M. Dunnigan, A. Quinn, P. Knightbridge, A. Clegg
Current trends in offshore oil and gas exploration and production are to introduce increased automation technology to replace human intervention using divers. This is driven both by the desire to reduce cost, and by practical considerations working at increasing depths down to 1000 meters. Unmanned underwater vehicle and manipulator systems play a crucial role in carrying out installation, inspection, maintenance and repair of platforms, well-heads, pipelines and subsea completion systems. In support of this, work is progressing in the Ocean Systems Laboratory at Heriot-Watt on integrated robotic systems implementing Supervisory Control of Remotely Operated Vehicle (ROV)/Manipulator systems for practical tasks such as automated connector insertions and Non Destructive Test inspection of welds. The systems involve use of hybrid position/force control of hydraulic arms coupled to control of the ROV, with associated Motion Planning, Task Planning and World Modelling of the environment. Sensing involves fusion and interpretation of data from high frequency sonar, laser striping and video sensors. The video shows footage of a recently developed Supervisory Control system employing Task Planning, World Modelling, Motion Planning and Hybrid Position/Force Control using a Slings by TA-9 hydraulic underwater manipulator. The tasks executed are trajectory following, guarded moves, grasping, and automatic mating of a subsea connector. ACKNOWLEDGEMENT This work was funded as the project Advanced Control of Manipulators in the 1992-94 managed program me Technology For Unmanned Underwater Vehicles by a UK government-industry consortium comprising: Marine Technology Directorate Ltd., agents of the UK Engineering & Physical Sciences Research Council, Mobil North Sea Ltd., Simrad Osprey Ltd, Health and Safety Executive Offshore Safety Division, Rockwater Ltd., Shell UK Exploration and Production, Defense Research Agency Maritime Division, Dept of Energy Offshore Supplies Office and Lockheed Aeronautical Systems Co. Their financial support and constructive criticism is gratefully acknowledged. Underwater Vehicle 2 Control Tests on ROBY, An Unmanned Underwater Vehicle Riccardo Bono, Massimo Caccia and Gianmarco Veruggio Consiglio Nazionale delle Ricerche, Istituto per 1’Automazione Navale Via De Marini, 6 16149 Genova, ITALY E-mail: max@ian.ge.cnr.it (Massimo Caccia)
目前海上油气勘探和生产的趋势是引入更多的自动化技术，以取代使用潜水员的人工干预。这既是为了降低成本，也是为了将作业深度增加到1000米。无人潜航器和机械手系统在平台、井口、管道和海底完井系统的安装、检查、维护和维修中发挥着至关重要的作用。为了支持这一点，Heriot-Watt大学海洋系统实验室正在进行集成机器人系统的研究，该系统可实现远程操作车辆(ROV)/机械手系统的监督控制，用于自动连接器插入和焊缝无损检测等实际任务。该系统包括使用液压臂的混合位置/力控制耦合到ROV的控制，以及相关的运动规划、任务规划和环境建模。传感包括融合和解释来自高频声纳、激光条纹和视频传感器的数据。该视频显示了最近开发的监督控制系统的镜头，该系统采用任务规划、世界建模、运动规划和混合位置/力控制，使用TA-9液压水下机械手。执行的任务包括轨迹跟踪、保护移动、抓取和海底连接器的自动配合。这项工作由英国政府-工业联盟资助，作为1992-94年无人水下航行器技术管理计划中的操纵器高级控制项目，包括:海洋技术理事会有限公司、英国工程与物理科学研究委员会、美孚北海有限公司、Simrad Osprey有限公司、健康与安全执行海上安全部门、Rockwater有限公司、壳牌英国勘探与生产公司、国防研究局海事部门、能源部海上供应办公室和洛克希德航空系统公司的代理。感谢他们的财政支持和建设性的批评。Riccardo Bono, Massimo Caccia和Gianmarco Veruggio Consiglio Nazionale delle Ricerche, instituto per 1'Automazione Navale Via De Marini, 6 16149 Genova, ITALY E-mail: max@ian.ge.cnr.it (Massimo Caccia)
{"title":"A Supervisory Control System for the Automation of Subsea Tasks","authors":"D. Lane, M. Dunnigan, A. Quinn, P. Knightbridge, A. Clegg","doi":"10.1109/ROBOT.1995.525762","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525762","url":null,"abstract":"Current trends in offshore oil and gas exploration and production are to introduce increased automation technology to replace human intervention using divers. This is driven both by the desire to reduce cost, and by practical considerations working at increasing depths down to 1000 meters. Unmanned underwater vehicle and manipulator systems play a crucial role in carrying out installation, inspection, maintenance and repair of platforms, well-heads, pipelines and subsea completion systems. In support of this, work is progressing in the Ocean Systems Laboratory at Heriot-Watt on integrated robotic systems implementing Supervisory Control of Remotely Operated Vehicle (ROV)/Manipulator systems for practical tasks such as automated connector insertions and Non Destructive Test inspection of welds. The systems involve use of hybrid position/force control of hydraulic arms coupled to control of the ROV, with associated Motion Planning, Task Planning and World Modelling of the environment. Sensing involves fusion and interpretation of data from high frequency sonar, laser striping and video sensors. The video shows footage of a recently developed Supervisory Control system employing Task Planning, World Modelling, Motion Planning and Hybrid Position/Force Control using a Slings by TA-9 hydraulic underwater manipulator. The tasks executed are trajectory following, guarded moves, grasping, and automatic mating of a subsea connector. ACKNOWLEDGEMENT This work was funded as the project Advanced Control of Manipulators in the 1992-94 managed program me Technology For Unmanned Underwater Vehicles by a UK government-industry consortium comprising: Marine Technology Directorate Ltd., agents of the UK Engineering & Physical Sciences Research Council, Mobil North Sea Ltd., Simrad Osprey Ltd, Health and Safety Executive Offshore Safety Division, Rockwater Ltd., Shell UK Exploration and Production, Defense Research Agency Maritime Division, Dept of Energy Offshore Supplies Office and Lockheed Aeronautical Systems Co. Their financial support and constructive criticism is gratefully acknowledged. Underwater Vehicle 2 Control Tests on ROBY, An Unmanned Underwater Vehicle Riccardo Bono, Massimo Caccia and Gianmarco Veruggio Consiglio Nazionale delle Ricerche, Istituto per 1’Automazione Navale Via De Marini, 6 16149 Genova, ITALY E-mail: max@ian.ge.cnr.it (Massimo Caccia)","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130653901","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525494
L. Baron, J. Angeles
Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example.
{"title":"The isotropic decoupling of the direct kinematics of parallel manipulators under sensor redundancy","authors":"L. Baron, J. Angeles","doi":"10.1109/ROBOT.1995.525494","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525494","url":null,"abstract":"Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130680703","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525656
Jiyoon Chung, H. Yang
We describe a tracker that provides real-time visual feedback using on-board low-cost processors. The proposed tracker is based on the two stage visual tracking method (TSVTM) which consists of a real-time kernel, image saver, database, and vision module. The real-time kernel based on the earliest-deadline-first scheduling policy provides the capability of processing tasks with time constraints within the deadline. Image saver takes the responsibility for keeping all the incoming images until they can be processed. The database keeps both the estimated and the predictive location, velocity, intensity, etc. of each region that makes up the target. The vision module consists of two modules: the first stage vision module (FSVM), and the second-stage vision module (SSVM). The FSVM processes the whole image to initially recognize targets using the sophisticated vision algorithms while the SSVM can easily find and track them using the focus-of-attention strategy based on Kalman filter since the SSVM knows the approximated location and useful features of the targets. Combining the above four mechanisms effectively, TSVTM can track targets every one-thirtieth of a second.
{"title":"Fast and effective multiple moving targets tracking method for mobile robots","authors":"Jiyoon Chung, H. Yang","doi":"10.1109/ROBOT.1995.525656","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525656","url":null,"abstract":"We describe a tracker that provides real-time visual feedback using on-board low-cost processors. The proposed tracker is based on the two stage visual tracking method (TSVTM) which consists of a real-time kernel, image saver, database, and vision module. The real-time kernel based on the earliest-deadline-first scheduling policy provides the capability of processing tasks with time constraints within the deadline. Image saver takes the responsibility for keeping all the incoming images until they can be processed. The database keeps both the estimated and the predictive location, velocity, intensity, etc. of each region that makes up the target. The vision module consists of two modules: the first stage vision module (FSVM), and the second-stage vision module (SSVM). The FSVM processes the whole image to initially recognize targets using the sophisticated vision algorithms while the SSVM can easily find and track them using the focus-of-attention strategy based on Kalman filter since the SSVM knows the approximated location and useful features of the targets. Combining the above four mechanisms effectively, TSVTM can track targets every one-thirtieth of a second.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116282572","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525447
Jung-Hua Yang, Feng‐Li Lian, L. Fu
Because the control DOF (Degree of Freedom) is much less than the motion DOF when a flexible manipulator is commanded to track a desired trajectory, many control strategies that succeed in conventional rigid-robot control cannot be directly applied to solve the flexible robot control problem. In this work, an adaptive variable structure scheme has been proposed to solve such a problem. The full nonlinear dynamics of the whole system are all taken into account for the control design. To alleviate the chattering phenomenon commonly seen in variable structure type of control, a saturation type adaptive scheme has also been proposed. For verification of the effectiveness of the proposed controller, a two-link flexible manipulator is built up and the promise of the controller is experimentally demonstrated.
{"title":"Adaptive robust control for flexible manipulators","authors":"Jung-Hua Yang, Feng‐Li Lian, L. Fu","doi":"10.1109/ROBOT.1995.525447","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525447","url":null,"abstract":"Because the control DOF (Degree of Freedom) is much less than the motion DOF when a flexible manipulator is commanded to track a desired trajectory, many control strategies that succeed in conventional rigid-robot control cannot be directly applied to solve the flexible robot control problem. In this work, an adaptive variable structure scheme has been proposed to solve such a problem. The full nonlinear dynamics of the whole system are all taken into account for the control design. To alleviate the chattering phenomenon commonly seen in variable structure type of control, a saturation type adaptive scheme has also been proposed. For verification of the effectiveness of the proposed controller, a two-link flexible manipulator is built up and the promise of the controller is experimentally demonstrated.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116497052","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525504
M. Inui, M. Miura, F. Kimura
A new algorithm for positioning two nonnominal parts in an assembly is proposed. Part positions are determined by optimizing a certain objective function within the feasible configuration space in which the parts do not collide. This algorithm is applicable to 2D polygon models of machine parts, for example sections of polyhedron parts in an assembly. Since manufacturing variations in part geometries are relatively small in comparison with the nominal geometry, the requisite translations and rotations for positioning the parts are small. Based on this characteristic of the part positioning problem, "bounding polygon" and "bounded polygon" based algorithm is developed for hierarchically approximating the configuration space. The efficient search of the optimum solution of the objective function is realized by using the hierarchical structure of the space. The algorithm is implemented and examples are shown.
{"title":"Relative positioning of assembled parts with small geometric deviations by using hierarchically approximated configuration space","authors":"M. Inui, M. Miura, F. Kimura","doi":"10.1109/ROBOT.1995.525504","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525504","url":null,"abstract":"A new algorithm for positioning two nonnominal parts in an assembly is proposed. Part positions are determined by optimizing a certain objective function within the feasible configuration space in which the parts do not collide. This algorithm is applicable to 2D polygon models of machine parts, for example sections of polyhedron parts in an assembly. Since manufacturing variations in part geometries are relatively small in comparison with the nominal geometry, the requisite translations and rotations for positioning the parts are small. Based on this characteristic of the part positioning problem, \"bounding polygon\" and \"bounded polygon\" based algorithm is developed for hierarchically approximating the configuration space. The efficient search of the optimum solution of the objective function is realized by using the hierarchical structure of the space. The algorithm is implemented and examples are shown.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121446299","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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