Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525703
M. Asano, T. Matsuoka, H. Okamoto, S. Mitsuishi, T. Matsui
A pin type actuator for a micro mechanical system was previously proposed by the authors. According to their work, it is composed of a piezoelectric bimorph plate and a contact pin to generate the driving force in X-Y direction with the vibrational mode control. The micro mobile machine, composed of these actuators, is capable of high speed movement in forward backward, rotational and spiral modes in the narrow pipe. The two dimensional analytical study for the actuator is done by means of FEM with a comparison of experimental results. It is proved that the optimum driving condition is given at the specific resonant mode depending on the pin vibration.
{"title":"Study for micro mobile machine with piezoelectric driving force actuator","authors":"M. Asano, T. Matsuoka, H. Okamoto, S. Mitsuishi, T. Matsui","doi":"10.1109/ROBOT.1995.525703","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525703","url":null,"abstract":"A pin type actuator for a micro mechanical system was previously proposed by the authors. According to their work, it is composed of a piezoelectric bimorph plate and a contact pin to generate the driving force in X-Y direction with the vibrational mode control. The micro mobile machine, composed of these actuators, is capable of high speed movement in forward backward, rotational and spiral modes in the narrow pipe. The two dimensional analytical study for the actuator is done by means of FEM with a comparison of experimental results. It is proved that the optimum driving condition is given at the specific resonant mode depending on the pin vibration.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"84 12 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":"124294178","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.1995.525456
Anand Swaminathan, K. Barber
This paper presents an approach to the assembly sequence planning problem based on a "plan reuse" philosophy, called the Assembly Planner using Experience (APE). Assembly planning research in the past has attempted to completely plan each problem from scratch. This research shows that stored cases of basic assembly configurations can be applied to a given assembly problem. It is observed that the number of such basic assembly configurations is quite small. Constraints affecting the assembly are also explicitly handled.
{"title":"APE: an experience-based assembly sequence planner for mechanical assemblies","authors":"Anand Swaminathan, K. Barber","doi":"10.1109/ROBOT.1995.525456","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525456","url":null,"abstract":"This paper presents an approach to the assembly sequence planning problem based on a \"plan reuse\" philosophy, called the Assembly Planner using Experience (APE). Assembly planning research in the past has attempted to completely plan each problem from scratch. This research shows that stored cases of basic assembly configurations can be applied to a given assembly problem. It is observed that the number of such basic assembly configurations is quite small. Constraints affecting the assembly are also explicitly handled.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"33 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":"124309483","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.1995.525454
P. Backes, G. Tharp, B. Bon, S. Hayati, Linh Phan
The development of a ground control station for Earth based control of the dexterous orbital servicing system (DOSS) is described. The DOSS flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure (MPESS) in a Space Shuttle payload bay and may execute tasks from the MPESS or while held by the SSRMS manipulator. The DOSS demonstrates the ability to perform dexterous robotic operations both from an on-board control station and from an Earth-based control station. The initial prototype ground control station for DOSS is described.
{"title":"Ground control station development for the dexterous orbital servicing system","authors":"P. Backes, G. Tharp, B. Bon, S. Hayati, Linh Phan","doi":"10.1109/ROBOT.1995.525454","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525454","url":null,"abstract":"The development of a ground control station for Earth based control of the dexterous orbital servicing system (DOSS) is described. The DOSS flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure (MPESS) in a Space Shuttle payload bay and may execute tasks from the MPESS or while held by the SSRMS manipulator. The DOSS demonstrates the ability to perform dexterous robotic operations both from an on-board control station and from an Earth-based control station. The initial prototype ground control station for DOSS is described.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"14 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":"124464412","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.1995.525689
T. Sobh, T. Henderson, F. Zana
In this work we address the problem of tolerance representation and analysis across the domains of industrial inspection using sensed data, CAD design, and manufacturing. Instead of using geometric primitives in CAD models to define and represent tolerances, we propose the use of stronger methods that are completely based on the manufacturing knowledge for the objects to be inspected. We guide our sensing strategies based on the manufacturing process plans for the parts that are to be inspected and define, compute, and analyze the tolerances of the parts based on the uncertainty in the sensed data along the different toolpaths of the sensed part. We believe that our new approach is the best way to unify tolerances across sensing, CAD, and CAM, as it captures the manufacturing knowledge of the parts to be inspected, as opposed to just CAD geometric representations.
{"title":"A unifying framework for tolerance analysis in sensing, design, and manufacturing","authors":"T. Sobh, T. Henderson, F. Zana","doi":"10.1109/ROBOT.1995.525689","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525689","url":null,"abstract":"In this work we address the problem of tolerance representation and analysis across the domains of industrial inspection using sensed data, CAD design, and manufacturing. Instead of using geometric primitives in CAD models to define and represent tolerances, we propose the use of stronger methods that are completely based on the manufacturing knowledge for the objects to be inspected. We guide our sensing strategies based on the manufacturing process plans for the parts that are to be inspected and define, compute, and analyze the tolerances of the parts based on the uncertainty in the sensed data along the different toolpaths of the sensed part. We believe that our new approach is the best way to unify tolerances across sensing, CAD, and CAM, as it captures the manufacturing knowledge of the parts to be inspected, as opposed to just CAD geometric representations.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"20 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":"124081914","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.1995.525280
R. Pissard-Gibollet, P. Rives
Discusses both theoretical and implementation issues of a vision based control approach applied to a mobile robot. After a brief presentation of the visual servoing framework used, the authors point out some key problems associated to its application in the case of nonholonomic mobile robots. To overcome these problems, the authors propose to use a hand-eye system mounted on the mobile robot in order to introduce redundancy with respect to the task. The second part of the paper presents the authors' first results obtained on their experimental testbed.
{"title":"Applying visual servoing techniques to control a mobile hand-eye system","authors":"R. Pissard-Gibollet, P. Rives","doi":"10.1109/ROBOT.1995.525280","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525280","url":null,"abstract":"Discusses both theoretical and implementation issues of a vision based control approach applied to a mobile robot. After a brief presentation of the visual servoing framework used, the authors point out some key problems associated to its application in the case of nonholonomic mobile robots. To overcome these problems, the authors propose to use a hand-eye system mounted on the mobile robot in order to introduce redundancy with respect to the task. The second part of the paper presents the authors' first results obtained on their experimental testbed.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"28 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":"127715169","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.1995.526020
L. Whitcomb, S. Arimoto, T. Naniwa, F. Ozaki
This paper reports comparative experiments with a provably correct model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface. The experiments show the new adaptive model-based offers performance superior to that of its non-model-based counterpart over a wide variety of operating conditions.
{"title":"Experiments in adaptive model-based force control","authors":"L. Whitcomb, S. Arimoto, T. Naniwa, F. Ozaki","doi":"10.1109/ROBOT.1995.526020","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.526020","url":null,"abstract":"This paper reports comparative experiments with a provably correct model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface. The experiments show the new adaptive model-based offers performance superior to that of its non-model-based counterpart over a wide variety of operating conditions.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"61 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":"126268900","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.1995.525535
Robert R. Y. Zhen, A. Goldenberg
In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.
{"title":"An adaptive approach to constrained robot motion control","authors":"Robert R. Y. Zhen, A. Goldenberg","doi":"10.1109/ROBOT.1995.525535","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525535","url":null,"abstract":"In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"476 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":"115872734","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.1995.525592
Y. Yamada, S. Nagamatsu, Yoshimasa Sato
Numerous issues remain to be solved in improving the efficiency of the complex assembly processes existing in the automobile chassis and drive train system assembling plants due to their being labor intensive and their reliance on the dexterity of human operators. Equally important, factors such as labor shortages and reduced work hours are expected to become more of an issue in the coming years. It is extremely important, therefore, to address the qualitative and quantitative issues of labor in the design and manufacturing aspects of the assembly line, as well as the issue of the assembly operators themselves. To address these issues, we have developed and put into practical use a multi-arm type assembly robot capable of handling complex and both-hands assembly operations. In this paper, we present its development concept, performance, and examples of actual applications.
{"title":"Development of multi-arm robots for automobile assembly","authors":"Y. Yamada, S. Nagamatsu, Yoshimasa Sato","doi":"10.1109/ROBOT.1995.525592","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525592","url":null,"abstract":"Numerous issues remain to be solved in improving the efficiency of the complex assembly processes existing in the automobile chassis and drive train system assembling plants due to their being labor intensive and their reliance on the dexterity of human operators. Equally important, factors such as labor shortages and reduced work hours are expected to become more of an issue in the coming years. It is extremely important, therefore, to address the qualitative and quantitative issues of labor in the design and manufacturing aspects of the assembly line, as well as the issue of the assembly operators themselves. To address these issues, we have developed and put into practical use a multi-arm type assembly robot capable of handling complex and both-hands assembly operations. In this paper, we present its development concept, performance, and examples of actual applications.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"21 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":"132538011","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.1995.525411
D. Pack, HoSeok Kang
Two major approaches exist for devising gait control for a legged machine: 1) finding a sequence of leg and body movements of a robot on the basis of kinematic and possibly dynamic considerations assuming all foot placements are valid; and 2) selecting leg and body movements first on the basis of feasibility of foot placements and then accepting those that also satisfy kinematic and possibly dynamic constraints. Consider now the problem of a legged robot pursuing a quarry. With the first approach, the robot will be limited to operating over a relatively flat terrain. If the terrain is uneven, however, the robot will have no choice but to take recourse to the second approach even though it is computationally more demanding. The work done so far in the second approach is limited by either the constraint that the overall direction of ambulation of the robot is known in advance, or by the constraint that the foot placements are limited to the points of a grid superimposed on the topographic map of the terrain. In this paper, the authors discuss how a free gait can be generated for following a quarry without invoking such constraints.
{"title":"An omnidirectional gait control using a graph search method for a quadruped walking robot","authors":"D. Pack, HoSeok Kang","doi":"10.1109/ROBOT.1995.525411","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525411","url":null,"abstract":"Two major approaches exist for devising gait control for a legged machine: 1) finding a sequence of leg and body movements of a robot on the basis of kinematic and possibly dynamic considerations assuming all foot placements are valid; and 2) selecting leg and body movements first on the basis of feasibility of foot placements and then accepting those that also satisfy kinematic and possibly dynamic constraints. Consider now the problem of a legged robot pursuing a quarry. With the first approach, the robot will be limited to operating over a relatively flat terrain. If the terrain is uneven, however, the robot will have no choice but to take recourse to the second approach even though it is computationally more demanding. The work done so far in the second approach is limited by either the constraint that the overall direction of ambulation of the robot is known in advance, or by the constraint that the foot placements are limited to the points of a grid superimposed on the topographic map of the terrain. In this paper, the authors discuss how a free gait can be generated for following a quarry without invoking such constraints.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"113 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":"134253799","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.1995.525272
K. Lynch, M. T. Mason
This paper addresses the question "Can the object be pushed from here to there?" The authors characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, the authors find a set of pushing directions that keep the object fixed to the pusher and they use these pushing directions to find sensorless plans to reposition the object among obstacles.
{"title":"Controllability of pushing","authors":"K. Lynch, M. T. Mason","doi":"10.1109/ROBOT.1995.525272","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525272","url":null,"abstract":"This paper addresses the question \"Can the object be pushed from here to there?\" The authors characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, the authors find a set of pushing directions that keep the object fixed to the pusher and they use these pushing directions to find sensorless plans to reposition the object among obstacles.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"39 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":"131558402","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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