Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525734
M. Ivanescu, V. Stoian
The paper presents a class of tentacle arms based on the use of flexible composite materials in conjunction with active-controllable electrorheological (ER) fluids. The model consists of a finite number of segments, each segment having a specific structure and control. The dynamic behaviour of the arm is obtained using Lagrange's principle developed for infinite-dimensional systems. This model is represented by a set of integral-differential equations. An approximate model is then derived as a set of differential equations with variable coefficients. Two cases are discussed: the sliding mode with the bang-bang control; and the direct mode in which the controller is based on the use of the direct evolution of the system on the switching line by switching the fluid viscosity. The numerical simulations are presented. A nonlinear observer is introduced to estimate the inaccessible state variable distributed on the length of the arm. The conditions which assure the convergence to zero of the errors are proved.
{"title":"A variable structure controller for a tentacle manipulator","authors":"M. Ivanescu, V. Stoian","doi":"10.1109/ROBOT.1995.525734","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525734","url":null,"abstract":"The paper presents a class of tentacle arms based on the use of flexible composite materials in conjunction with active-controllable electrorheological (ER) fluids. The model consists of a finite number of segments, each segment having a specific structure and control. The dynamic behaviour of the arm is obtained using Lagrange's principle developed for infinite-dimensional systems. This model is represented by a set of integral-differential equations. An approximate model is then derived as a set of differential equations with variable coefficients. Two cases are discussed: the sliding mode with the bang-bang control; and the direct mode in which the controller is based on the use of the direct evolution of the system on the switching line by switching the fluid viscosity. The numerical simulations are presented. A nonlinear observer is introduced to estimate the inaccessible state variable distributed on the length of the arm. The conditions which assure the convergence to zero of the errors are proved.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"68 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":"131820633","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.1995.525618
S. Sato, M. Nakano, F. Kubota, N. Sugiura, Minoru Tanaka, Toshehiko Koyama, S. Nakayama
In this paper, we propose a new teaching system, ROPSII, by which the user can teach a robot a task with a task-level language. ROPSII has three features. First, the operator can perform three-dimensional visual programming based on our object-oriented language. Due to the flexibility of the language, the operator can easily apply the system to various tasks. Second, the operator can describe the failure recovery sequence separately from the main task sequence and automatically generate a detailed command sequence with a part sending a signal from the robot to the peripheral equipment and vice versa. These procedures are easy; the operator can perform them as if giving directions to a person to do so. Third, the operator can automatically develop a collision avoidance trajectory. It's generated by the original algorithm which efficiently operates as an off-line teaching system. We will introduce our recent approaches for establishing the new teaching system and discuss the applicability of the system in this paper.
{"title":"Task-level teaching system with trajectory planning for industrial robots","authors":"S. Sato, M. Nakano, F. Kubota, N. Sugiura, Minoru Tanaka, Toshehiko Koyama, S. Nakayama","doi":"10.1109/ROBOT.1995.525618","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525618","url":null,"abstract":"In this paper, we propose a new teaching system, ROPSII, by which the user can teach a robot a task with a task-level language. ROPSII has three features. First, the operator can perform three-dimensional visual programming based on our object-oriented language. Due to the flexibility of the language, the operator can easily apply the system to various tasks. Second, the operator can describe the failure recovery sequence separately from the main task sequence and automatically generate a detailed command sequence with a part sending a signal from the robot to the peripheral equipment and vice versa. These procedures are easy; the operator can perform them as if giving directions to a person to do so. Third, the operator can automatically develop a collision avoidance trajectory. It's generated by the original algorithm which efficiently operates as an off-line teaching system. We will introduce our recent approaches for establishing the new teaching system and discuss the applicability of the system in this paper.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"42 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":"132617769","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.1995.525349
Prabhakar R. Regilla, M. Tomizuka
We deal with the control of two robot manipulators carrying an unknown object. We consider the uncertainties in mass, inertia and center of mass of the object. A dynamic model is obtained for the combined system. An adaptive scheme is proposed to track the desired motion trajectory of the object in the presence of uncertainties. A feedforward plus PI type force controller is designed for internal force control. A Lyapunov based stability analysis is conducted for the proposed scheme. In the adaptive motion control scheme for the combined system we cannot specify the individual torques of the manipulators uniquely. To obtain a set of individual torques an optimal control problem is formulated by minimizing a cost function.
{"title":"Adaptive control of two robot arms carrying an unknown object","authors":"Prabhakar R. Regilla, M. Tomizuka","doi":"10.1109/ROBOT.1995.525349","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525349","url":null,"abstract":"We deal with the control of two robot manipulators carrying an unknown object. We consider the uncertainties in mass, inertia and center of mass of the object. A dynamic model is obtained for the combined system. An adaptive scheme is proposed to track the desired motion trajectory of the object in the presence of uncertainties. A feedforward plus PI type force controller is designed for internal force control. A Lyapunov based stability analysis is conducted for the proposed scheme. In the adaptive motion control scheme for the combined system we cannot specify the individual torques of the manipulators uniquely. To obtain a set of individual torques an optimal control problem is formulated by minimizing a cost function.","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":"129397915","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.1995.525728
J. Lew, D. Trudnowski, M. S. Evans, David W. Bennett
Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract the structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control.
{"title":"Micro manipulator motion control to suppress macro manipulator structural vibrations","authors":"J. Lew, D. Trudnowski, M. S. Evans, David W. Bennett","doi":"10.1109/ROBOT.1995.525728","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525728","url":null,"abstract":"Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract the structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"8 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":"126557361","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.1995.525407
Jiming Liu
In this paper, we delineate several task-level operations an the context of robotic assembly, and show how these operations can be organized in the form of a task grammar. The proposed task grammar captures the intrinsic principle on how the sequence of robot operations should be ordered and how one high-level operation can be effectively decomposed into low-level operations. In order to control the process of robot task decomposition, we explicitly represent and apply qualitative heuristic knowledge about task constraints and operation applicability.
{"title":"Assembly planning based on a task grammar augmented with qualitative heuristic knowledge","authors":"Jiming Liu","doi":"10.1109/ROBOT.1995.525407","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525407","url":null,"abstract":"In this paper, we delineate several task-level operations an the context of robotic assembly, and show how these operations can be organized in the form of a task grammar. The proposed task grammar captures the intrinsic principle on how the sequence of robot operations should be ordered and how one high-level operation can be effectively decomposed into low-level operations. In order to control the process of robot task decomposition, we explicitly represent and apply qualitative heuristic knowledge about task constraints and operation applicability.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"5 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":"117316332","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.1995.526013
M. Pelletier, R. Houde, M. Boyer
{"title":"Autonomous Phase Changeover Using Model-Based Vision and Obstacle Avoidance","authors":"M. Pelletier, R. Houde, M. Boyer","doi":"10.1109/ROBOT.1995.526013","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.526013","url":null,"abstract":"","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"7 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":"132892248","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.1995.525645
R. Alami, Frédéric Robert, F. Ingrand, Sho'ji Suzuki
This paper presents an approach we have recently developed for multi-robot cooperation. It is based on a paradigm where robots incrementally merge their plans into a set of already coordinated plans. This is done through exchange of information about their current state and their future actions. This leads to a generic framework which can be applied to a variety of tasks and applications. The paradigm, called plan-merging paradigm, is presented and illustrated through its application to planning, execution and control of a large fleet of a autonomous mobile robots for load transport tasks in a structured environment.
{"title":"Multi-robot cooperation through incremental plan-merging","authors":"R. Alami, Frédéric Robert, F. Ingrand, Sho'ji Suzuki","doi":"10.1109/ROBOT.1995.525645","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525645","url":null,"abstract":"This paper presents an approach we have recently developed for multi-robot cooperation. It is based on a paradigm where robots incrementally merge their plans into a set of already coordinated plans. This is done through exchange of information about their current state and their future actions. This leads to a generic framework which can be applied to a variety of tasks and applications. The paradigm, called plan-merging paradigm, is presented and illustrated through its application to planning, execution and control of a large fleet of a autonomous mobile robots for load transport tasks in a structured environment.","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":"133374986","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.1995.525523
Y. Narahari, L. Khan
Inspection stations are now an integral part of any manufacturing system and help track product quality and process performance. In this paper the authors consider re-entrant manufacturing systems (such as semiconductor fabrication facilities) with inspections at various stages of processing. At the end of each inspection, three possibilities are assumed, namely accept, reject, or rework at some previous stage. The authors propose re-entrant lines with probabilistic routing as models for such systems and present an efficient analytical technique based on mean value analysis to predict mean cycle times and throughput rates. The method can be used to compare different ways of locating inspection stations, from a cycle time and throughput viewpoint.
{"title":"Modeling re-entrant manufacturing systems with inspections","authors":"Y. Narahari, L. Khan","doi":"10.1109/ROBOT.1995.525523","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525523","url":null,"abstract":"Inspection stations are now an integral part of any manufacturing system and help track product quality and process performance. In this paper the authors consider re-entrant manufacturing systems (such as semiconductor fabrication facilities) with inspections at various stages of processing. At the end of each inspection, three possibilities are assumed, namely accept, reject, or rework at some previous stage. The authors propose re-entrant lines with probabilistic routing as models for such systems and present an efficient analytical technique based on mean value analysis to predict mean cycle times and throughput rates. The method can be used to compare different ways of locating inspection stations, from a cycle time and throughput viewpoint.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"42 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":"133484700","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.1995.525281
Rajeev Sharma, S. Hutchinson
The authors (1994) derived a quantitative measure of the ability of a camera setup to observe the changes in image features due to relative motion. This measure of motion perceptibility has many applications in evaluating a robot hand/eye setup with respect to the ease of achieving vision-based control, and steering away from singular-configurations. Motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. In this paper the authors demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control. These problems include optimal camera placement, active camera trajectory planning, robot trajectory planning, and feature selection for visual servo control. The authors consider the general formulation of each of these problems, and several others, in terms of the motion perceptibility/manipulability measure and illustrate the solution for particular hand/eye configurations.
{"title":"Optimizing hand/eye configuration for visual-servo systems","authors":"Rajeev Sharma, S. Hutchinson","doi":"10.1109/ROBOT.1995.525281","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525281","url":null,"abstract":"The authors (1994) derived a quantitative measure of the ability of a camera setup to observe the changes in image features due to relative motion. This measure of motion perceptibility has many applications in evaluating a robot hand/eye setup with respect to the ease of achieving vision-based control, and steering away from singular-configurations. Motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. In this paper the authors demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control. These problems include optimal camera placement, active camera trajectory planning, robot trajectory planning, and feature selection for visual servo control. The authors consider the general formulation of each of these problems, and several others, in terms of the motion perceptibility/manipulability measure and illustrate the solution for particular hand/eye configurations.","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":"133540284","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.1995.525391
F. Hsu, L. Fu
The major problems of hybrid force/position control arise from uncertainty of the robot manipulators and unknown parameters of the task environment. In this paper, a new design method of the hybrid force/position control of the robot manipulators is proposed to solve these problems. The control objective is to track the desired force and position trajectories simultaneously regardless of the unknown parameters of the task environment and the existence of the manipulator dynamics, represented as a fuzzy rule-base. The algorithm embedded in the proposed architecture can automatically update the fuzzy rules and, consequently, guarantee the global stability and drive the tracking errors to a neighborhood of zero. The present work is applied to the control of a five degree-of-freedom (DOF) articulated robot manipulator. Simulation results show that the proposed control architecture is featured in fast convergence.
{"title":"A new design of adaptive fuzzy hybrid force/position controller for robot manipulators","authors":"F. Hsu, L. Fu","doi":"10.1109/ROBOT.1995.525391","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525391","url":null,"abstract":"The major problems of hybrid force/position control arise from uncertainty of the robot manipulators and unknown parameters of the task environment. In this paper, a new design method of the hybrid force/position control of the robot manipulators is proposed to solve these problems. The control objective is to track the desired force and position trajectories simultaneously regardless of the unknown parameters of the task environment and the existence of the manipulator dynamics, represented as a fuzzy rule-base. The algorithm embedded in the proposed architecture can automatically update the fuzzy rules and, consequently, guarantee the global stability and drive the tracking errors to a neighborhood of zero. The present work is applied to the control of a five degree-of-freedom (DOF) articulated robot manipulator. Simulation results show that the proposed control architecture is featured in fast convergence.","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":"133592132","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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