Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407471
Y. Masutani, M. Mikawa, N. Maru, F. Miyazaki
Although visual servoing is suitable for control of a mobile robot based on a single on-board camera image, wheeled vehicles have a non-holonomic property that the degree of freedom of the input is less than that of the configuration. Thus the visual servoing can not be directly applied to a camera system fixed on the vehicle. Furthermore there is no smooth and stable state feedback law for non-holonomic vehicles. To overcome these difficulties, the authors consider another situation, that the pan angle of camera is actuated and used as an input of visual servoing. The desired state is given as not a constant value but a trajectory represented in terms of image sequences of a gazed object. Based on this idea, the authors propose a method of realizing "teaching and playback" for a non-holonomic mobile robot. In the teaching mode, the robot tracks a landmark in the environment by a single on-board camera and stores its image sequences while running commanded by a human operator. In the playback mode, the robot tracks the desired trajectory with velocity commands for the vehicle and the pan angle for the camera determined from the stored and current images. The authors discuss the convergence to a desired state and moreover point out an additional feedback term, of a deviation of the pan angle works to improve the tracking performance. The effectiveness of the proposed method is shown by illustrating computer simulation results.<>
{"title":"Visual servoing for non-holonomic mobile robots","authors":"Y. Masutani, M. Mikawa, N. Maru, F. Miyazaki","doi":"10.1109/IROS.1994.407471","DOIUrl":"https://doi.org/10.1109/IROS.1994.407471","url":null,"abstract":"Although visual servoing is suitable for control of a mobile robot based on a single on-board camera image, wheeled vehicles have a non-holonomic property that the degree of freedom of the input is less than that of the configuration. Thus the visual servoing can not be directly applied to a camera system fixed on the vehicle. Furthermore there is no smooth and stable state feedback law for non-holonomic vehicles. To overcome these difficulties, the authors consider another situation, that the pan angle of camera is actuated and used as an input of visual servoing. The desired state is given as not a constant value but a trajectory represented in terms of image sequences of a gazed object. Based on this idea, the authors propose a method of realizing \"teaching and playback\" for a non-holonomic mobile robot. In the teaching mode, the robot tracks a landmark in the environment by a single on-board camera and stores its image sequences while running commanded by a human operator. In the playback mode, the robot tracks the desired trajectory with velocity commands for the vehicle and the pan angle for the camera determined from the stored and current images. The authors discuss the convergence to a desired state and moreover point out an additional feedback term, of a deviation of the pan angle works to improve the tracking performance. The effectiveness of the proposed method is shown by illustrating computer simulation results.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132873958","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 : 1994-09-12DOI: 10.1109/IROS.1994.407390
A. Nahvi, J. Hollerbach, Yangming Xu, I. Hunter
The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range.<>
{"title":"An investigation of the transmission system of a tendon driven robot hand","authors":"A. Nahvi, J. Hollerbach, Yangming Xu, I. Hunter","doi":"10.1109/IROS.1994.407390","DOIUrl":"https://doi.org/10.1109/IROS.1994.407390","url":null,"abstract":"The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130459859","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 : 1994-09-12DOI: 10.1109/IROS.1994.407500
Sukhan Lee, Sungbok Kim
This paper presents an in-depth analysis on the kinematic features of parallel manipulators, such as deficiency, singularity, and redundancy. Parallel manipulators under consideration are of a general form, with no restriction on their structure. Three orthogonal instantaneous motion spaces (IMSs) of a parallel manipulator are identified, including deficient, uncontrollable, and controllable IMSs. Based on the IMSs, the deficiency and singularity of a parallel manipulator are described and analyzed, and their remedies are devised. Three types of redundancies of a parallel manipulator are introduced, including the redundancies in serial chain, joint actuation, and parallelism. The three types of redundancies are shown to overcome the singularity of a parallel manipulator, as well as to improve either its dexterity or load capacity.<>
{"title":"Kinematic feature analysis of parallel manipulator systems","authors":"Sukhan Lee, Sungbok Kim","doi":"10.1109/IROS.1994.407500","DOIUrl":"https://doi.org/10.1109/IROS.1994.407500","url":null,"abstract":"This paper presents an in-depth analysis on the kinematic features of parallel manipulators, such as deficiency, singularity, and redundancy. Parallel manipulators under consideration are of a general form, with no restriction on their structure. Three orthogonal instantaneous motion spaces (IMSs) of a parallel manipulator are identified, including deficient, uncontrollable, and controllable IMSs. Based on the IMSs, the deficiency and singularity of a parallel manipulator are described and analyzed, and their remedies are devised. Three types of redundancies of a parallel manipulator are introduced, including the redundancies in serial chain, joint actuation, and parallelism. The three types of redundancies are shown to overcome the singularity of a parallel manipulator, as well as to improve either its dexterity or load capacity.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125422552","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 : 1994-09-12DOI: 10.1109/IROS.1994.407466
K. Berns, S. Cordes, W. Ilg
As presented in many papers neural networks are adequate for special control tasks because of their real-time processing capability, their fault-tolerance and their high adaptivity. The following paper aims to demonstrate how to build up a neural control architecture, consisting only of control algorithms based on neural networks. A further aspect is how to teach such control algorithms. As a testbed, a six-legged walking machine is selected. Due to the use of neural control architecture, the requirements to the hardware concept of the walking machine is described.<>
{"title":"Adaptive, neural control architecture for the walking machine LAURON","authors":"K. Berns, S. Cordes, W. Ilg","doi":"10.1109/IROS.1994.407466","DOIUrl":"https://doi.org/10.1109/IROS.1994.407466","url":null,"abstract":"As presented in many papers neural networks are adequate for special control tasks because of their real-time processing capability, their fault-tolerance and their high adaptivity. The following paper aims to demonstrate how to build up a neural control architecture, consisting only of control algorithms based on neural networks. A further aspect is how to teach such control algorithms. As a testbed, a six-legged walking machine is selected. Due to the use of neural control architecture, the requirements to the hardware concept of the walking machine is described.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125560379","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 : 1994-09-12DOI: 10.1109/IROS.1994.407382
M. Mitsuishi, T. Hori, T. Nagao
This paper describes the construction of tele-macro/micro handling/machining system with a predictive information display. Applications of the system are tele-machining, where the operator controls a remotely located machining machine, a micro-handling system, which operates on micro-scale objects under the microscope, and a micro surgery system. In the case of constructing a teleoperated handling/machining system, displaying information appropriately to the operator is essential to improve the operability of the system. The authors selected a machine tool as a tele-operated machine and, in particular, discuss the method of predictive force and sound information display.<>
{"title":"Predictive information display for tele-handling/machining system","authors":"M. Mitsuishi, T. Hori, T. Nagao","doi":"10.1109/IROS.1994.407382","DOIUrl":"https://doi.org/10.1109/IROS.1994.407382","url":null,"abstract":"This paper describes the construction of tele-macro/micro handling/machining system with a predictive information display. Applications of the system are tele-machining, where the operator controls a remotely located machining machine, a micro-handling system, which operates on micro-scale objects under the microscope, and a micro surgery system. In the case of constructing a teleoperated handling/machining system, displaying information appropriately to the operator is essential to improve the operability of the system. The authors selected a machine tool as a tele-operated machine and, in particular, discuss the method of predictive force and sound information display.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123141964","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 : 1994-09-12DOI: 10.1109/IROS.1994.407612
Koji Ito, M. Pecson, Zhiwei Luo, M. Yamakita, A. Kato, T. Aoya, Masami Ito
This paper discusses the compliance control of an ultrasonic motor powered prosthetic forearm which utilizes cutaneously measured electromyogram (EMG) signals sensed with the electrodes over the muscles as means of detecting motor commands sent by the central nervous system (CNS). Compliance control of the artificial limb was studied by implementing the bilinear model of the forearm and hand. This model emphasizes the role of the visco-elastic properties of the musculo-skeletal system of the actual limb in controlling its net configuration and movement. The flexor and extensor muscles extending over a joint influence the total joint impedance and determine the equilibrium position of the joint. Relaxing both flexor and extensor muscles makes the joint compliant to external forces, while activating both muscles increases the impedance of the joint.<>
{"title":"Compliance control of an EMG-controlled prosthetic forearm using ultrasonic motors","authors":"Koji Ito, M. Pecson, Zhiwei Luo, M. Yamakita, A. Kato, T. Aoya, Masami Ito","doi":"10.1109/IROS.1994.407612","DOIUrl":"https://doi.org/10.1109/IROS.1994.407612","url":null,"abstract":"This paper discusses the compliance control of an ultrasonic motor powered prosthetic forearm which utilizes cutaneously measured electromyogram (EMG) signals sensed with the electrodes over the muscles as means of detecting motor commands sent by the central nervous system (CNS). Compliance control of the artificial limb was studied by implementing the bilinear model of the forearm and hand. This model emphasizes the role of the visco-elastic properties of the musculo-skeletal system of the actual limb in controlling its net configuration and movement. The flexor and extensor muscles extending over a joint influence the total joint impedance and determine the equilibrium position of the joint. Relaxing both flexor and extensor muscles makes the joint compliant to external forces, while activating both muscles increases the impedance of the joint.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123105382","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 : 1994-09-12DOI: 10.1109/IROS.1994.407367
Yoshifumi Tanaka, A. Yamada
This paper deals with the development of a field furrow mobile robot which moves so as to maintain the environment in which vegetables are planted. The robot is provided with two clinometers for detecting the inclination angle of the robot, linear actuator which controls the robot posture on the pitch axis, two DC servo motors which effects turning motion. Control of the inclination angle of the pitch axis is effected, then new active sensing of the inclination angle on the roll axis for turning motion is performed, and movement with turning motion is effected in a row spacing using roll angle data. Availability of the robot system was proved by experiments.<>
{"title":"Development of field furrow mobile robot (moving system on path for maintain environment)","authors":"Yoshifumi Tanaka, A. Yamada","doi":"10.1109/IROS.1994.407367","DOIUrl":"https://doi.org/10.1109/IROS.1994.407367","url":null,"abstract":"This paper deals with the development of a field furrow mobile robot which moves so as to maintain the environment in which vegetables are planted. The robot is provided with two clinometers for detecting the inclination angle of the robot, linear actuator which controls the robot posture on the pitch axis, two DC servo motors which effects turning motion. Control of the inclination angle of the pitch axis is effected, then new active sensing of the inclination angle on the roll axis for turning motion is performed, and movement with turning motion is effected in a row spacing using roll angle data. Availability of the robot system was proved by experiments.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122327521","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 : 1994-09-12DOI: 10.1109/IROS.1994.407580
M. Schmid
An object recognition system for autonomous vehicle guidance applications is presented for interpreting monocular image sequences of motorway scenes in real time. The image sequences are taken by a camera mounted behind the windscreen of a test vehicle (VaMoRs) moving relative to the environment on a motorway. The approach described is based on an integrated spatio-temporal 4-D model for object tracking and relative state estimation and on knowledge based methods for feature matching and hypotheses testing. The recognition task is solved by combining a fast obstacle detection and classification algorithm using only 2-D image information with a module for 3-D object tracking. The vehicles are internally represented as 3-D polygonal models. They may be even recognized in the case of partial occlusion. The classification algorithm processes three different object classes: trucks or buses, vans and hatchback passenger cars. Within these classes the most relevant shape parameters are automatically adjusted during runtime. Up to two independently moving objects in the perceived scene can be processed simultaneously in real time, that means a cycle time of 200 ms. The system implemented on a transputer cluster has been tested by using noise corrupted measurements of synthetic and real images of German motorways.<>
{"title":"An approach to model-based 3-D recognition of vehicles in real time by machine vision","authors":"M. Schmid","doi":"10.1109/IROS.1994.407580","DOIUrl":"https://doi.org/10.1109/IROS.1994.407580","url":null,"abstract":"An object recognition system for autonomous vehicle guidance applications is presented for interpreting monocular image sequences of motorway scenes in real time. The image sequences are taken by a camera mounted behind the windscreen of a test vehicle (VaMoRs) moving relative to the environment on a motorway. The approach described is based on an integrated spatio-temporal 4-D model for object tracking and relative state estimation and on knowledge based methods for feature matching and hypotheses testing. The recognition task is solved by combining a fast obstacle detection and classification algorithm using only 2-D image information with a module for 3-D object tracking. The vehicles are internally represented as 3-D polygonal models. They may be even recognized in the case of partial occlusion. The classification algorithm processes three different object classes: trucks or buses, vans and hatchback passenger cars. Within these classes the most relevant shape parameters are automatically adjusted during runtime. Up to two independently moving objects in the perceived scene can be processed simultaneously in real time, that means a cycle time of 200 ms. The system implemented on a transputer cluster has been tested by using noise corrupted measurements of synthetic and real images of German motorways.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"83 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120888259","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 : 1994-09-12DOI: 10.1109/IROS.1994.407403
J. Rocha, C. Ramos
This paper deals with task and execution planning for manufacturing systems. We describe a system named TPMS (task planning for manufacturing systems). The final goal of this system is to automatically generate programs or sets of commands for robots, AGV's, numerical control machines and other components of the system without the need of spending much time programming the flexible manufacturing system (FMS) components. The sequence of operations to be handled by the manufacturing system depends on the constraints for the task. Three types of constraints are defined and explained: processing constraints, feasibility constraints and geometric constraints. The symbolic plan for the task is represented in the form of a precedence graph. High level operations can be converted into programs or sets of instructions to control the manufacturing system's equipment. The main contributions of TPMS are the following. To put together symbolic planning and execution planning; it is being developed to work for complete manufacturing systems (and not for controlling only one robot); different industrial operations (assembly, welding, drilling, ...) can be considered at the same time.<>
{"title":"Task planning for flexible and agile manufacturing systems","authors":"J. Rocha, C. Ramos","doi":"10.1109/IROS.1994.407403","DOIUrl":"https://doi.org/10.1109/IROS.1994.407403","url":null,"abstract":"This paper deals with task and execution planning for manufacturing systems. We describe a system named TPMS (task planning for manufacturing systems). The final goal of this system is to automatically generate programs or sets of commands for robots, AGV's, numerical control machines and other components of the system without the need of spending much time programming the flexible manufacturing system (FMS) components. The sequence of operations to be handled by the manufacturing system depends on the constraints for the task. Three types of constraints are defined and explained: processing constraints, feasibility constraints and geometric constraints. The symbolic plan for the task is represented in the form of a precedence graph. High level operations can be converted into programs or sets of instructions to control the manufacturing system's equipment. The main contributions of TPMS are the following. To put together symbolic planning and execution planning; it is being developed to work for complete manufacturing systems (and not for controlling only one robot); different industrial operations (assembly, welding, drilling, ...) can be considered at the same time.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116592372","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 : 1994-09-12DOI: 10.1109/IROS.1994.407495
H. Tam, Y. Hung, S. Tso
A robust hybrid control method for robot manipulators is proposed which integrates an H/sup /spl infin// controller and an adaptive controller. The H/sup /spl infin// controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.<>
{"title":"Robust control of robot manipulators using hybrid H/sup /spl infin///adaptive controller","authors":"H. Tam, Y. Hung, S. Tso","doi":"10.1109/IROS.1994.407495","DOIUrl":"https://doi.org/10.1109/IROS.1994.407495","url":null,"abstract":"A robust hybrid control method for robot manipulators is proposed which integrates an H/sup /spl infin// controller and an adaptive controller. The H/sup /spl infin// controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114259095","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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