Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087861
R. Hurley, P. Coffman, J. R. Dixon, J. G. Walacavage
This paper describes an application of physical modeling to the simulation of a prototype AGV (Automatic Guided Vehicle) material handling system. Physical modeling is the study of complex automated manufacturing and material handling systems through the use of small scale components controlled by mini and/or microcomputers. By modeling the mechanical operations of the proposed AGV material handling system, it was determined that control algorithms and AGV dispatch rules could be developed and evaluated. This paper presents a brief explanation of physical modeling as a simulation tool and addresses in detail the development of the control algorithm, dispatching rules, and a prototype physical model of a flexible machining system (FMS). It also includes quantitative results obtained in the operation and evaluation of the AGV dispatching rules.
{"title":"The use of physical model simulation to emulate an AGV material handling system","authors":"R. Hurley, P. Coffman, J. R. Dixon, J. G. Walacavage","doi":"10.1109/ROBOT.1987.1087861","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087861","url":null,"abstract":"This paper describes an application of physical modeling to the simulation of a prototype AGV (Automatic Guided Vehicle) material handling system. Physical modeling is the study of complex automated manufacturing and material handling systems through the use of small scale components controlled by mini and/or microcomputers. By modeling the mechanical operations of the proposed AGV material handling system, it was determined that control algorithms and AGV dispatch rules could be developed and evaluated. This paper presents a brief explanation of physical modeling as a simulation tool and addresses in detail the development of the control algorithm, dispatching rules, and a prototype physical model of a flexible machining system (FMS). It also includes quantitative results obtained in the operation and evaluation of the AGV dispatching rules.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"11 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":"128075283","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.1987.1087740
R. Zapata, A. Fournier, P. Dauchez
This paper deals with the problem of true cooperation of robots working on the same task. We propose a method to carry out various tasks where both robots move together a same rigid object. Firstly we develop the theorical aspect and then we present the exchange problem between two grippers and an assembly task using two arms.
{"title":"True cooperation of robots in multi-arms tasks","authors":"R. Zapata, A. Fournier, P. Dauchez","doi":"10.1109/ROBOT.1987.1087740","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087740","url":null,"abstract":"This paper deals with the problem of true cooperation of robots working on the same task. We propose a method to carry out various tasks where both robots move together a same rigid object. Firstly we develop the theorical aspect and then we present the exchange problem between two grippers and an assembly task using two arms.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"1 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":"125793446","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.1987.1087938
A. H. Soni, M. Gudavalli, W. Herndon, J. A. Sullivan
Based on the Robotic Workspace analysis and synthesis theories, an In-Vivo spinal kinematic instrument (SKI) has been designed, fabricated and tested to demonstrate its applications in evaluating surgical corrections of scoliotic spine in the operating room, This paper presents the design data of the instrument and demonstrates the application of the instrument to collect data describing the vertebral alignment of a scoliotic spine in three dimensions, before and after surgical corrections. The clinical importance of the instrument is discussed. The use of the instrument by the surgeon to compare relative efficiency of various surgical techniques involving Harrington rod, Luque rods and Dwyer apparatus etc. is emphasized.
基于机器人工作空间分析和综合理论，设计、制造和测试了一种体内脊柱运动学仪器(in - vivo spinal kinematic instrument, SKI)，以演示其在手术室评估脊柱侧凸矫正手术中的应用。本文介绍了该仪器的设计数据，并演示了该仪器在脊柱侧凸矫正手术前后的三维数据收集中的应用。讨论了该仪器在临床中的重要性。强调外科医生使用器械来比较各种手术技术的相对效率，包括哈林顿棒、卢克棒和德怀尔器等。
{"title":"Application of passive robot in spine surgery","authors":"A. H. Soni, M. Gudavalli, W. Herndon, J. A. Sullivan","doi":"10.1109/ROBOT.1987.1087938","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087938","url":null,"abstract":"Based on the Robotic Workspace analysis and synthesis theories, an In-Vivo spinal kinematic instrument (SKI) has been designed, fabricated and tested to demonstrate its applications in evaluating surgical corrections of scoliotic spine in the operating room, This paper presents the design data of the instrument and demonstrates the application of the instrument to collect data describing the vertebral alignment of a scoliotic spine in three dimensions, before and after surgical corrections. The clinical importance of the instrument is discussed. The use of the instrument by the surgeon to compare relative efficiency of various surgical techniques involving Harrington rod, Luque rods and Dwyer apparatus etc. is emphasized.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"41 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":"126684610","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.1987.1087739
J. Jarvis
A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordinate data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.
{"title":"Microsurveying: Towards robot accuracy","authors":"J. Jarvis","doi":"10.1109/ROBOT.1987.1087739","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087739","url":null,"abstract":"A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordinate data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"17 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":"124908997","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.1987.1087833
M. Sampei, K. Furuta
In this paper, we propose an alternative method for designing a robot controller in Cartasian coordinates using a time scale transformation. We will show how a suitable choice of the time scale allows us to control the robot in the neighborhood of singular points without reducing the performance outside the neighborhoods of these points. The resultant controlled system has slow poles in the area of poor manipulative ability and fast poles in that of good manipulative ability.
{"title":"Robot control in the neighborhood of singular points","authors":"M. Sampei, K. Furuta","doi":"10.1109/ROBOT.1987.1087833","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087833","url":null,"abstract":"In this paper, we propose an alternative method for designing a robot controller in Cartasian coordinates using a time scale transformation. We will show how a suitable choice of the time scale allows us to control the robot in the neighborhood of singular points without reducing the performance outside the neighborhoods of these points. The resultant controlled system has slow poles in the area of poor manipulative ability and fast poles in that of good manipulative ability.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"2 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":"124436513","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.1987.1087768
D. Yeung, G. Bekey
In this paper the motion planning problem for multiple mobile robots is addressed. Conventional methods of planning the motion for a single moving object are based on the assumption of a static environment, and so they cannot be used here because each of the robots is in a dynamic environment consisting of other moving robots. Centralized approaches to the multiple moving objects problem were shown to be intractable. In order to find a practical solution for the problem, it is necessary to reduce the complexity of it by decomposing the problem and introducing various heuristic techniques. We are proposing here a decentralized approach which is based on the decomposition of the problem into two subproblems: the global path planning problem and the local path replanning problem. This approach is based on a framework of problem solving using a group of intelligent agents.
{"title":"A decentralized approach to the motion planning problem for multiple mobile robots","authors":"D. Yeung, G. Bekey","doi":"10.1109/ROBOT.1987.1087768","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087768","url":null,"abstract":"In this paper the motion planning problem for multiple mobile robots is addressed. Conventional methods of planning the motion for a single moving object are based on the assumption of a static environment, and so they cannot be used here because each of the robots is in a dynamic environment consisting of other moving robots. Centralized approaches to the multiple moving objects problem were shown to be intractable. In order to find a practical solution for the problem, it is necessary to reduce the complexity of it by decomposing the problem and introducing various heuristic techniques. We are proposing here a decentralized approach which is based on the decomposition of the problem into two subproblems: the global path planning problem and the local path replanning problem. This approach is based on a framework of problem solving using a group of intelligent agents.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"44 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":"121743017","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.1987.1087796
P. Gottschalk, J. L. Turney, T. Mudge
An important task in computer vision is the recognition of partially visible two-dimensional objects in a gray scale image. Recent works addressing this problem have attempted to match spatially local features from the image to features generated by models of the objects. However, many algorithms are less efficient than is possible. This is due primarily to insufficient attention being paid to the issues of reducing the data in features and feature matching. In this paper we discuss an algorithm that addresses both of these problems. Our algorithm uses the local shape of contour segments near critical points, represented in slope angle-arclength space (θ-s space), as the fundamental feature vectors. These fundamental feature vectors are further processed by projecting them onto a subspace of θ-s space that is obtained by applying the Karhunen-Loève expansion to all critical points in the model set to obtain the final feature vectors. This allows the data needed to store the features to be reduced, while retaining nearly all their recognitive information. The resultant set of feature vectors from the image are matched to the model set using multidimensional range queries to a database of model feature vectors. The database is implemented using an efficient data-structure called a k-d tree. The entire recognition procedure for one image has complexity O(IlogI + IlogN), where I is the number of features in the image, and N is the number of model features. Experimental results showing our algorithm's performance on a number of test images are presented.
{"title":"Two-dimensional partially visible object recognition using efficient multidimensional range queries","authors":"P. Gottschalk, J. L. Turney, T. Mudge","doi":"10.1109/ROBOT.1987.1087796","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087796","url":null,"abstract":"An important task in computer vision is the recognition of partially visible two-dimensional objects in a gray scale image. Recent works addressing this problem have attempted to match spatially local features from the image to features generated by models of the objects. However, many algorithms are less efficient than is possible. This is due primarily to insufficient attention being paid to the issues of reducing the data in features and feature matching. In this paper we discuss an algorithm that addresses both of these problems. Our algorithm uses the local shape of contour segments near critical points, represented in slope angle-arclength space (θ-s space), as the fundamental feature vectors. These fundamental feature vectors are further processed by projecting them onto a subspace of θ-s space that is obtained by applying the Karhunen-Loève expansion to all critical points in the model set to obtain the final feature vectors. This allows the data needed to store the features to be reduced, while retaining nearly all their recognitive information. The resultant set of feature vectors from the image are matched to the model set using multidimensional range queries to a database of model feature vectors. The database is implemented using an efficient data-structure called a k-d tree. The entire recognition procedure for one image has complexity O(IlogI + IlogN), where I is the number of features in the image, and N is the number of model features. Experimental results showing our algorithm's performance on a number of test images are presented.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"39 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":"131404922","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.1987.1087931
S. C. Tang, Ching-Cheng Wang
Actual trajectories of robot manipulators usually differ from the planned trajectories partially because of the effects of link deflections and joint compliance. This paper presents an efficient computation scheme to calculate the actual positions and orientations of the end-effectors of manipulators consisting of straight thin-walled hollow links and revolute joints, of which most contemporary robots are made up. Local principal coordinate frames are defined for deflection analysis. Displacements are computed using formulae derived from classical beam theory. For compliance analysis, the robot joints are considered as torsional springs, where the first order approximation is applied. A hypothetical two-link robot is used to demonstrate the techniques. Results are verified by analytical solutions, and the differences are less than 1% of the deflections.
{"title":"Computation of the effects of link deflections and joint compliance on robot positioning","authors":"S. C. Tang, Ching-Cheng Wang","doi":"10.1109/ROBOT.1987.1087931","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087931","url":null,"abstract":"Actual trajectories of robot manipulators usually differ from the planned trajectories partially because of the effects of link deflections and joint compliance. This paper presents an efficient computation scheme to calculate the actual positions and orientations of the end-effectors of manipulators consisting of straight thin-walled hollow links and revolute joints, of which most contemporary robots are made up. Local principal coordinate frames are defined for deflection analysis. Displacements are computed using formulae derived from classical beam theory. For compliance analysis, the robot joints are considered as torsional springs, where the first order approximation is applied. A hypothetical two-link robot is used to demonstrate the techniques. Results are verified by analytical solutions, and the differences are less than 1% of the deflections.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"22 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":"131504818","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.1987.1087988
G. Bruno, M. Morisio
Production scheduling on a flexible manufacturing system is a mixed continuous combinatorial optimization problem. Closed queueing network analysis is the technique we used to solve the continuous problem. Around it a rule based module has been established to heuristically solve the combinatorial problem. Two schedulers have been implemented, considering shorter or longer intervals of time, both based on the new solution paradigm for production scheduling.
{"title":"The role of rule based programming for production scheduling","authors":"G. Bruno, M. Morisio","doi":"10.1109/ROBOT.1987.1087988","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087988","url":null,"abstract":"Production scheduling on a flexible manufacturing system is a mixed continuous combinatorial optimization problem. Closed queueing network analysis is the technique we used to solve the continuous problem. Around it a rule based module has been established to heuristically solve the combinatorial problem. Two schedulers have been implemented, considering shorter or longer intervals of time, both based on the new solution paradigm for production scheduling.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"4 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":"130412217","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.1987.1088008
V.-D. Nguyen
This paper presents fast and simple algorithms for directly constructing stable grasps in 3D. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. The paper develops a simple geometric relation between the stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp also depends on whether the points of contact stick, or slide without friction on the edges of the object.
{"title":"Constructing stable grasps in 3D","authors":"V.-D. Nguyen","doi":"10.1109/ROBOT.1987.1088008","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088008","url":null,"abstract":"This paper presents fast and simple algorithms for directly constructing stable grasps in 3D. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. The paper develops a simple geometric relation between the stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp also depends on whether the points of contact stick, or slide without friction on the edges of the object.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"4 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":"130557583","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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