Pub Date : 2018-03-07DOI: 10.1109/ROBOT.1987.1087900
C. Yap
We define the door-width of a simple polygon (a 'chair') and give an O(n2) algorithm for computing its door-width. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. We introduce the technique of constraint analysis in characterizing elementary motions. Our algorithm actually constructs a motion of the chair through a door, and thus is a 'local-expert' for planning motion through doors. Such algorithms have applications in more general motion-planning systems in robotics.
{"title":"How to move a chair through a door","authors":"C. Yap","doi":"10.1109/ROBOT.1987.1087900","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087900","url":null,"abstract":"We define the door-width of a simple polygon (a 'chair') and give an O(n2) algorithm for computing its door-width. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. We introduce the technique of constraint analysis in characterizing elementary motions. Our algorithm actually constructs a motion of the chair through a door, and thus is a 'local-expert' for planning motion through doors. Such algorithms have applications in more general motion-planning systems in robotics.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134390360","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 : 1988-03-01DOI: 10.1109/ROBOT.1987.1088035
C. Culbert, M. Boarnet, R. T. Savely
NASA is currently developing a Space Station for long term usages of space. This Space Station presents NASA with numerous problems which may be best handled by effective use of expert systems. This paper outlines some of the benefits expert systems will provide, some of the issues involved in choosing appropriate applications, and the impact expert systems will have on the design of the Space Station.
{"title":"AI applications for the space station","authors":"C. Culbert, M. Boarnet, R. T. Savely","doi":"10.1109/ROBOT.1987.1088035","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088035","url":null,"abstract":"NASA is currently developing a Space Station for long term usages of space. This Space Station presents NASA with numerous problems which may be best handled by effective use of expert systems. This paper outlines some of the benefits expert systems will provide, some of the issues involved in choosing appropriate applications, and the impact expert systems will have on the design of the Space Station.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114459605","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 : 1988-02-01DOI: 10.1109/ROBOT.1987.1087975
E. Torgerson, F. Paul
This paper details methods pertaining to the vision guided robotic control of fabric motion for performing simulated joining operations along the fabric edge. Robot motion paths are determined from visual information defining the position of the fabric edges. The function of the shape analysis and motion control algorithms is demonstrated via experimentation with an automated fabric handling system, Results of these tests show that using machine vision for planning robot motion provides an effective solution for implementing robotic fabric manipulation.
{"title":"Vision guided robotic fabric manipulation for apparel manufacturing","authors":"E. Torgerson, F. Paul","doi":"10.1109/ROBOT.1987.1087975","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087975","url":null,"abstract":"This paper details methods pertaining to the vision guided robotic control of fabric motion for performing simulated joining operations along the fabric edge. Robot motion paths are determined from visual information defining the position of the fabric edges. The function of the shape analysis and motion control algorithms is demonstrated via experimentation with an automated fabric handling system, Results of these tests show that using machine vision for planning robot motion provides an effective solution for implementing robotic fabric manipulation.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122181292","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 : 1988-01-03DOI: 10.1109/ROBOT.1987.1087953
G. Bitran, D. Tirupati
In this paper we describe models that formed the basis for a scheduling system developed and implemented at a semiconductor company manufacturing speciality epitaxial wafers. The production characteristics of speciality wafers is similar to that of a flow shop with customized orders requiring job specific processing at some stages. Based on similarities in key resource requirements we classified jobs into product groups. A detailed analysis of the capacity at various stages revealed that the epitaxial growth in the reactors was a bottleneck operation. This paper describes the models used for scheduling jobs at this stage. It should be noted that the facility is equipped with a number of reactors with varying capability. This results in restrictions on the type of jobs that can be processed on each reactor. In addition, since the number of jobs is large, scheduling at this stage is a complex problem. We model the scheduling problem by a single-stage, parallel-machine facility. Traditional approaches in scheduling typically consider a homogeneous job stream and a single objective. In contrast, we consider a facility with different product groups and propose several heuristics for two criteria: makespan and tardiness. Computational experiments were performed with realistic data to test the heuristics. The results suggest that a two phased hierarchical procedure proposed performs reasonably well under a variety of conditions for both objectives. An exception to this is the case when the due dates are dependent on the product groups and are tight. In this instance we recommend the use of two heuristics depending on the objective. Further, we classify the product mix as "homogeneous" or "heterogeneous', and suggest measures to do so. The experimental results suggest that while a simpler heuristic is adequate for homogeneous products, a more elaborate algorithm is required for the heterogeneous case. We formulate a non-linear programming problem to assign reactors to product groups to obtain homogeneous product mix. The significance of this model is due to the fact that homogeneous product set enables use of a simpler heuristic and reduces the complexity of the scheduling system. The non-linear program can be interpreted as an attempt to identify, within the facility, smaller independent shops with homogeneous product groups. We examine two variants of this model and briefly comment on their application to the design and layout of the facility. Since one of the variants is hard to solve, we present a method to obtain an approximate solution. We provide bounds on the performance of this approximate solution and demonstrate that it is asymptotically optimal.
{"title":"Planning and scheduling for epitaxial wafer production facilities","authors":"G. Bitran, D. Tirupati","doi":"10.1109/ROBOT.1987.1087953","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087953","url":null,"abstract":"In this paper we describe models that formed the basis for a scheduling system developed and implemented at a semiconductor company manufacturing speciality epitaxial wafers. The production characteristics of speciality wafers is similar to that of a flow shop with customized orders requiring job specific processing at some stages. Based on similarities in key resource requirements we classified jobs into product groups. A detailed analysis of the capacity at various stages revealed that the epitaxial growth in the reactors was a bottleneck operation. This paper describes the models used for scheduling jobs at this stage. It should be noted that the facility is equipped with a number of reactors with varying capability. This results in restrictions on the type of jobs that can be processed on each reactor. In addition, since the number of jobs is large, scheduling at this stage is a complex problem. We model the scheduling problem by a single-stage, parallel-machine facility. Traditional approaches in scheduling typically consider a homogeneous job stream and a single objective. In contrast, we consider a facility with different product groups and propose several heuristics for two criteria: makespan and tardiness. Computational experiments were performed with realistic data to test the heuristics. The results suggest that a two phased hierarchical procedure proposed performs reasonably well under a variety of conditions for both objectives. An exception to this is the case when the due dates are dependent on the product groups and are tight. In this instance we recommend the use of two heuristics depending on the objective. Further, we classify the product mix as \"homogeneous\" or \"heterogeneous', and suggest measures to do so. The experimental results suggest that while a simpler heuristic is adequate for homogeneous products, a more elaborate algorithm is required for the heterogeneous case. We formulate a non-linear programming problem to assign reactors to product groups to obtain homogeneous product mix. The significance of this model is due to the fact that homogeneous product set enables use of a simpler heuristic and reduces the complexity of the scheduling system. The non-linear program can be interpreted as an attempt to identify, within the facility, smaller independent shops with homogeneous product groups. We examine two variants of this model and briefly comment on their application to the design and layout of the facility. Since one of the variants is hard to solve, we present a method to obtain an approximate solution. We provide bounds on the performance of this approximate solution and demonstrate that it is asymptotically optimal.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123991974","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 : 1987-10-01DOI: 10.1109/ROBOT.1987.1087779
R. Popplestone
The Edinburgh Designer System provides a high level of integration of knowledge about function and form for Mechanical Engineering Design. In this paper I discuss the extensions required to make this system suitable for assembly planning, showing that interface modules (eg. a seated-bearing) give rise to the basic acts of assembly, and that, with the provision of a suitable temporal formalism, the detailing of these actions can be accomplished within the Designer System framework.
{"title":"The Edinburgh designer system as a framework for robotics","authors":"R. Popplestone","doi":"10.1109/ROBOT.1987.1087779","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087779","url":null,"abstract":"The Edinburgh Designer System provides a high level of integration of knowledge about function and form for Mechanical Engineering Design. In this paper I discuss the extensions required to make this system suitable for assembly planning, showing that interface modules (eg. a seated-bearing) give rise to the basic acts of assembly, and that, with the provision of a suitable temporal formalism, the detailing of these actions can be accomplished within the Designer System framework.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133501804","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 : 1987-08-01DOI: 10.1109/ROBOT.1987.1087932
S. Eppinger, W. Seering
This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. Conclusions are drawn which give insights into the relative importance of the effects discussed.
{"title":"Understanding bandwidth limitations in robot force control","authors":"S. Eppinger, W. Seering","doi":"10.1109/ROBOT.1987.1087932","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087932","url":null,"abstract":"This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. Conclusions are drawn which give insights into the relative importance of the effects discussed.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122638943","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 : 1987-07-01DOI: 10.1109/ROBOT.1987.1087905
R. Paul
The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.
{"title":"Problems and research issues associated with the hybrid control of force and displacement","authors":"R. Paul","doi":"10.1109/ROBOT.1987.1087905","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087905","url":null,"abstract":"The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130457566","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 : 1987-06-01DOI: 10.1109/ROBOT.1987.1087783
Ü. Özgüner, S. Yurkovich, F. Al-Abbass
The control problem for a two-arm robotic system in co-ordinated motion is addressed. A hierarchical framework, employing two levels of control hierarchy, is utilized, the decentralized model reference adaptive control approach using variable structure controllers (DMRA-VSC) is applied. Within the control hierarchy, the DMRA-VSC strategy is accomplished at the lower level, where control is responsible for the servoing of each joint. These local controllers are coordinated by the high-level, central controller, whose task is to provide the local controllers with the upper bound on the dynamical interactions with other subsystems. Advantages of the DMRA-VSC approach for multiple manipulator control include the inherent robustness properties to nonlinearities and interaction effects, the decentralization structure facilitating ease in multiple manipulator system programming and implementation, and the general structure of the controller which allows further extensions.
{"title":"Decentralized variable structure control of a two-arm robotic system","authors":"Ü. Özgüner, S. Yurkovich, F. Al-Abbass","doi":"10.1109/ROBOT.1987.1087783","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087783","url":null,"abstract":"The control problem for a two-arm robotic system in co-ordinated motion is addressed. A hierarchical framework, employing two levels of control hierarchy, is utilized, the decentralized model reference adaptive control approach using variable structure controllers (DMRA-VSC) is applied. Within the control hierarchy, the DMRA-VSC strategy is accomplished at the lower level, where control is responsible for the servoing of each joint. These local controllers are coordinated by the high-level, central controller, whose task is to provide the local controllers with the upper bound on the dynamical interactions with other subsystems. Advantages of the DMRA-VSC approach for multiple manipulator control include the inherent robustness properties to nonlinearities and interaction effects, the decentralization structure facilitating ease in multiple manipulator system programming and implementation, and the general structure of the controller which allows further extensions.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124728675","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 : 1987-03-01DOI: 10.1109/ROBOT.1987.1087820
S. Arimoto, F. Miyazaki, S. Kawamura
A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.
{"title":"Cooperative motion control of multiple robot arms or fingers","authors":"S. Arimoto, F. Miyazaki, S. Kawamura","doi":"10.1109/ROBOT.1987.1087820","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087820","url":null,"abstract":"A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127128086","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 : 1987-03-01DOI: 10.1109/ROBOT.1987.1088052
Mohammad F. Dado, A. H. Soni
In this study the dynamic response of a planar 2-R robot with flexible joints is investigated. Servo stiffness and damping are modeled along with the stiffness and material damping of the drive system. The total system equations are derived and solved for three numerical examples. It is shown that the servo damping plays an important role in the dynamic behavior of the system. Future studies in this subject are discussed.
{"title":"Dynamic response analysis of 2-R robot with flexible joints","authors":"Mohammad F. Dado, A. H. Soni","doi":"10.1109/ROBOT.1987.1088052","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088052","url":null,"abstract":"In this study the dynamic response of a planar 2-R robot with flexible joints is investigated. Servo stiffness and damping are modeled along with the stiffness and material damping of the drive system. The total system equations are derived and solved for three numerical examples. It is shown that the servo damping plays an important role in the dynamic behavior of the system. Future studies in this subject are discussed.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124970494","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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