Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087766
M. Uchiyama, Naotoshi Iwasawa, K. Hakomori
In this paper we discuss the control of cooperating tasks being done by two robotic arms. In order to control those tasks, we extend hybrid position/force control scheme presented thus far by various researchers for a single-arm robot. The point of the extension is formulation of kinematics and statics for a two-arm robot which is new in this paper. We define a unique system of workspace coordinates and, corresponding to the unique workspace, introduce an unique jointspace vector consisting of joint-vectors of the two arms. Using these work and joint spaces, we formulate kinematics and statics. Based upon this formulation, we successfully apply the hybrid scheme to the two-arm robot. A demonstration of the theory working on a real two-arm industrial robot and experimental data of simultaneous control of position and force proves the effectiveness of our method.
{"title":"Hybrid position/Force control for coordination of a two-arm robot","authors":"M. Uchiyama, Naotoshi Iwasawa, K. Hakomori","doi":"10.1109/ROBOT.1987.1087766","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087766","url":null,"abstract":"In this paper we discuss the control of cooperating tasks being done by two robotic arms. In order to control those tasks, we extend hybrid position/force control scheme presented thus far by various researchers for a single-arm robot. The point of the extension is formulation of kinematics and statics for a two-arm robot which is new in this paper. We define a unique system of workspace coordinates and, corresponding to the unique workspace, introduce an unique jointspace vector consisting of joint-vectors of the two arms. Using these work and joint spaces, we formulate kinematics and statics. Based upon this formulation, we successfully apply the hybrid scheme to the two-arm robot. A demonstration of the theory working on a real two-arm industrial robot and experimental data of simultaneous control of position and force proves the effectiveness of our method.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"51 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":"128585501","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.1987.1087878
R. Leachman, R. Glassey
{"title":"Preliminary design and development of a corporate level production planning system for the semiconductor industry","authors":"R. Leachman, R. Glassey","doi":"10.1109/ROBOT.1987.1087878","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087878","url":null,"abstract":"","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"31 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":"123936268","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.1987.1087890
D. Yoerger, J. Slotine
An overall concept and specific system elements for teleoperated vehicles and manipulators are presented. The approach emphasizes continuous, real-time sharing of control between both the human operator and the computer system and is intended for application to the JASON underwater vehicle now in development. As JASON will have extremely high communications bandwidth available through a fiber optic cable, the emphasis will be on aiding and extending the capabilities of the human operator. Specific elements presented include task-resolved motion specification, rule-based inverse kinematics, and robust and adaptive nonlinear tracking control.
{"title":"Supervisory control architecture for underwater teleoperation","authors":"D. Yoerger, J. Slotine","doi":"10.1109/ROBOT.1987.1087890","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087890","url":null,"abstract":"An overall concept and specific system elements for teleoperated vehicles and manipulators are presented. The approach emphasizes continuous, real-time sharing of control between both the human operator and the computer system and is intended for application to the JASON underwater vehicle now in development. As JASON will have extremely high communications bandwidth available through a fiber optic cable, the emphasis will be on aiding and extending the capabilities of the human operator. Specific elements presented include task-resolved motion specification, rule-based inverse kinematics, and robust and adaptive nonlinear tracking control.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"13 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":"123644005","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.1987.1087803
R. Mayorga, A. Wong
In this paper, a singularities avoidance method suitable for the trajectory planning of redundant and nonredundant robot manipulators is presented. This method is based on establishing proper bounds for the rate of change of the Jacobian matrix of the transformation between the joints speed and end effector Cartesian speed These bounds are computationally inexpensive and easy to deal with by their conversion into additional constraints for any optimization problem which may be formulated to obtain the local or global optimal control of the robot manipulator. Here, this approach is exemplified for the trajectory planning problem of a particular type of redundant and nonredundant robot manipulators studied under an optimal control problem formulation. For each case, this problem is treated as a minimum energy problem with given kinematics and dynamics and subject to the robot requirements, tasks, and the additional singularities avoidance constraints; resulting in a state constrained continuous optimal control which is solved numerically.
{"title":"A singularities avoidance method for the trajectory planning of redundant and nonredundant robot manipulators","authors":"R. Mayorga, A. Wong","doi":"10.1109/ROBOT.1987.1087803","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087803","url":null,"abstract":"In this paper, a singularities avoidance method suitable for the trajectory planning of redundant and nonredundant robot manipulators is presented. This method is based on establishing proper bounds for the rate of change of the Jacobian matrix of the transformation between the joints speed and end effector Cartesian speed These bounds are computationally inexpensive and easy to deal with by their conversion into additional constraints for any optimization problem which may be formulated to obtain the local or global optimal control of the robot manipulator. Here, this approach is exemplified for the trajectory planning problem of a particular type of redundant and nonredundant robot manipulators studied under an optimal control problem formulation. For each case, this problem is treated as a minimum energy problem with given kinematics and dynamics and subject to the robot requirements, tasks, and the additional singularities avoidance constraints; resulting in a state constrained continuous optimal control which is solved numerically.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"55 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120867480","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.1987.1087929
J. Crowley
A Composite Surface Model is a structure in which streams of information from diverse sensory sources are integrated into a unified model of the immediate environment. The composite surface model then serves as the basis for planning and executing actions, for learning about objects, and for interpreting the world in terms of known objects. This paper reviews current progress in developing a composite surface model using geometric information. Principles for composite modeling are described, and the role of the composite model in a task oriented robotic system is presented. A set of geometric primitives for surfaces patches, contours and vertices are then defined. A family of interface functions are presented which permit the composite surface model to be used by other processes within a task-oriented robotic system. The use of these interface functions is illustrated by a procedure for the task of finding an object.
{"title":"Using the composite surface model for perceptual tasks","authors":"J. Crowley","doi":"10.1109/ROBOT.1987.1087929","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087929","url":null,"abstract":"A Composite Surface Model is a structure in which streams of information from diverse sensory sources are integrated into a unified model of the immediate environment. The composite surface model then serves as the basis for planning and executing actions, for learning about objects, and for interpreting the world in terms of known objects. This paper reviews current progress in developing a composite surface model using geometric information. Principles for composite modeling are described, and the role of the composite model in a task oriented robotic system is presented. A set of geometric primitives for surfaces patches, contours and vertices are then defined. A family of interface functions are presented which permit the composite surface model to be used by other processes within a task-oriented robotic system. The use of these interface functions is illustrated by a procedure for the task of finding an object.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"112 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":"124130214","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.1987.1087869
J. Slotine, Weiping Li
Earlier work (Slotine and Li, 1986) demonstrates that using state feedback to directly modify a manipulator's energy function, rather than its fully expanded dynamics, represents a powerful approach to robot control, and, in particular, yields a simple globally convergent adaptive algorithm for trajectory control problems. An important practical feature of the algorithm is that is does not require measurements or estimates of the manipulator's joint accelerations. This paper rewrites the approach in term of end-effector dynamics, extends it to hybrid motion/force control, and discusses adaptive strategies involving mobile environments, such as the external motion control of an unknown passive mechanism.
{"title":"Adaptive strategies in constrained manipulation","authors":"J. Slotine, Weiping Li","doi":"10.1109/ROBOT.1987.1087869","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087869","url":null,"abstract":"Earlier work (Slotine and Li, 1986) demonstrates that using state feedback to directly modify a manipulator's energy function, rather than its fully expanded dynamics, represents a powerful approach to robot control, and, in particular, yields a simple globally convergent adaptive algorithm for trajectory control problems. An important practical feature of the algorithm is that is does not require measurements or estimates of the manipulator's joint accelerations. This paper rewrites the approach in term of end-effector dynamics, extends it to hybrid motion/force control, and discusses adaptive strategies involving mobile environments, such as the external motion control of an unknown passive mechanism.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"40 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":"126473914","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.1987.1087937
Nitin Nayak, D. Thompson, A. Ray, A. Vavreck
The paper presents the concept of a real-time seam tracking system for welding automation and the initial design for building a prototype. The ARTIST - Adaptive Real-Time Intelligent Seam Tracker - uses a robot-held, laser based vision system for automation of arc welding processes, and is currently under development at the Applied Research Laboratory of The Pennsylvania State University. The design of ARTIST builds upon the concept of a zero-pass technique where 3D information of the seam geometry is collected and processed for real time guidance and control of the welding torch trailing behind the laser-based vision sensor. This zero-pass concept eliminates the need for pre-programming of the weld path and thus potentially enhances the welding cycle time for small batches. The ARTIST is designed to support multipass arc welding and to handle any tack welds which are encountered during the seam welding operation.
{"title":"Conceptual development of an adaptive real-time seam tracker for welding automation","authors":"Nitin Nayak, D. Thompson, A. Ray, A. Vavreck","doi":"10.1109/ROBOT.1987.1087937","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087937","url":null,"abstract":"The paper presents the concept of a real-time seam tracking system for welding automation and the initial design for building a prototype. The ARTIST - Adaptive Real-Time Intelligent Seam Tracker - uses a robot-held, laser based vision system for automation of arc welding processes, and is currently under development at the Applied Research Laboratory of The Pennsylvania State University. The design of ARTIST builds upon the concept of a zero-pass technique where 3D information of the seam geometry is collected and processed for real time guidance and control of the welding torch trailing behind the laser-based vision sensor. This zero-pass concept eliminates the need for pre-programming of the weld path and thus potentially enhances the welding cycle time for small batches. The ARTIST is designed to support multipass arc welding and to handle any tack welds which are encountered during the seam welding operation.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"6 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":"127961986","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.1987.1087773
D. Crockett, A. Desrochers, F. DiCesare, T. Ward
An application-independent manufacturing workstation controller is described for a general purpose computer which uses Petri nets to describe the sequencing informaiton. Several additions are made to Petri nets to allow the modeling of hierarchical systems, conflict decisions, and system actions. An application is composed of a description of the Petri net model of the system using a declarative language, and action-causing procedures written in the 'C' programming language. The Petri net determines when an action is to be done. An application is documented for a machining workstation centered around a Cincinnati Milacron SVC Machining Center.
{"title":"Implementation of a Petri net controller for a machining workstation","authors":"D. Crockett, A. Desrochers, F. DiCesare, T. Ward","doi":"10.1109/ROBOT.1987.1087773","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087773","url":null,"abstract":"An application-independent manufacturing workstation controller is described for a general purpose computer which uses Petri nets to describe the sequencing informaiton. Several additions are made to Petri nets to allow the modeling of hierarchical systems, conflict decisions, and system actions. An application is composed of a description of the Petri net model of the system using a declarative language, and action-causing procedures written in the 'C' programming language. The Petri net determines when an action is to be done. An application is documented for a machining workstation centered around a Cincinnati Milacron SVC Machining Center.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"9 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":"125615849","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.1987.1088040
H. Moribe, M. Nakano, T. Kuno, J. Hasegawa
A special purpose image preprocessor for the visual system of assembly robots has been developed. The main function unit is composed of look-up tables to utilize the advantage of semiconductor memory for large scale integration, high speed and low price. More than one units may be operated in parallel since it is designed on the standard IEEE 796 bus. The operation time of the preprocessor in line segment extraction is usually 200 ms per 500 segments, though it differs according to the complexity of scene image. The gray-scale visual system supported by the model-based analysis program using the extracted line segments recognizes partially visible or overlapping industrial workpieces, and detects these locations and orientations. In recognition test using plastic workpieces, the recognition time was about 9 seconds for five pieces. In most of conventional model-based vision systems, the feature extraction time was extremely longer than that of the model-based analysis. The image preprocessor we have developed reduces the time ratio of feature extraction and model-based analysis to about 1/10.
{"title":"Image preprocessor of model-based vision system for assembly robots","authors":"H. Moribe, M. Nakano, T. Kuno, J. Hasegawa","doi":"10.1109/ROBOT.1987.1088040","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088040","url":null,"abstract":"A special purpose image preprocessor for the visual system of assembly robots has been developed. The main function unit is composed of look-up tables to utilize the advantage of semiconductor memory for large scale integration, high speed and low price. More than one units may be operated in parallel since it is designed on the standard IEEE 796 bus. The operation time of the preprocessor in line segment extraction is usually 200 ms per 500 segments, though it differs according to the complexity of scene image. The gray-scale visual system supported by the model-based analysis program using the extracted line segments recognizes partially visible or overlapping industrial workpieces, and detects these locations and orientations. In recognition test using plastic workpieces, the recognition time was about 9 seconds for five pieces. In most of conventional model-based vision systems, the feature extraction time was extremely longer than that of the model-based analysis. The image preprocessor we have developed reduces the time ratio of feature extraction and model-based analysis to about 1/10.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"131 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":"115898040","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.1987.1087829
B. Espiau, P. Rives
This paper presents a scheme allowing to estimate parameters which describe geometrical structures in a 3D scene by only using informations issued from a sequence of images provided by a mobile vision sensor with known motion. We first recall the basic used models : points and lines, and then relate their perspective projection in the image plane to the camera motion. Some techniques of recursive filtering are used into the sequence of images to incrementaly build the 3D scene all along the displacement of the camera. Some experimental results in the field of robotics are given.
{"title":"Closed-loop recursive estimation of 3D features for a mobile vision system","authors":"B. Espiau, P. Rives","doi":"10.1109/ROBOT.1987.1087829","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087829","url":null,"abstract":"This paper presents a scheme allowing to estimate parameters which describe geometrical structures in a 3D scene by only using informations issued from a sequence of images provided by a mobile vision sensor with known motion. We first recall the basic used models : points and lines, and then relate their perspective projection in the image plane to the camera motion. Some techniques of recursive filtering are used into the sequence of images to incrementaly build the 3D scene all along the displacement of the camera. Some experimental results in the field of robotics are given.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"33 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":"115933915","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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