Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1088002
J. Trinkle, J. Abel, R. Paul
Grasping by a two-dimensional hand comprised of a palm and two hinged fingers is studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator, The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.
{"title":"Enveloping, frictionless, planar grasping","authors":"J. Trinkle, J. Abel, R. Paul","doi":"10.1109/ROBOT.1987.1088002","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088002","url":null,"abstract":"Grasping by a two-dimensional hand comprised of a palm and two hinged fingers is studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator, The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.","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":"130087237","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.1987.1087904
G. Giralt
{"title":"Task programming and motion control for autonomous mobile robots","authors":"G. Giralt","doi":"10.1109/ROBOT.1987.1087904","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087904","url":null,"abstract":"","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":"130090905","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.1987.1087921
L. Sciavicco, B. Siciliano
Redundancy represents one key towards design and synthesis of more versatile manipulators. Obstacle avoidance and limited joint range constitute two kinds of constraints which can be potentially met by a kinematically redundant manipulator. The natural scenario is the inverse kinematic problem which is certainly a crucial point for robotic manipulator analysis and control. Based on a recently proposed dynamic solution technique, the inverse kinematic problem for redundant manipulators is solved in this paper. The kinematics of the manipulator is appropriately augmented in order to include the above mentioned constraints; the result is an efficient, fast dynamic algorithm which only makes use of the direct kinematics of the manipulator. Extensive simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical jointiimit.
{"title":"A dynamic solution to the inverse kinematic problem for redundant manipulators","authors":"L. Sciavicco, B. Siciliano","doi":"10.1109/ROBOT.1987.1087921","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087921","url":null,"abstract":"Redundancy represents one key towards design and synthesis of more versatile manipulators. Obstacle avoidance and limited joint range constitute two kinds of constraints which can be potentially met by a kinematically redundant manipulator. The natural scenario is the inverse kinematic problem which is certainly a crucial point for robotic manipulator analysis and control. Based on a recently proposed dynamic solution technique, the inverse kinematic problem for redundant manipulators is solved in this paper. The kinematics of the manipulator is appropriately augmented in order to include the above mentioned constraints; the result is an efficient, fast dynamic algorithm which only makes use of the direct kinematics of the manipulator. Extensive simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical jointiimit.","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":"133275269","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.1987.1087812
D. Dornfeld, Christopher Handy
The detection of the onset of motion and slip between an end effector and workpiece has been of interest for some time and many schemes have been proposed. This paper reviews some of the background on slip detection methods and proposes use of acoustic emission signal analysis a slip detection technique. The genesis acoustic emission during slip is discussed and experimental evidence presented to the sensitivity of acoustic emission to slip between two surfaces. Preliminary tests with a robot gripper have also done to demonstrate the feasibility of acoustic emission slip detector.
{"title":"Slip detection using acoustic emission signal analysis","authors":"D. Dornfeld, Christopher Handy","doi":"10.1109/ROBOT.1987.1087812","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087812","url":null,"abstract":"The detection of the onset of motion and slip between an end effector and workpiece has been of interest for some time and many schemes have been proposed. This paper reviews some of the background on slip detection methods and proposes use of acoustic emission signal analysis a slip detection technique. The genesis acoustic emission during slip is discussed and experimental evidence presented to the sensitivity of acoustic emission to slip between two surfaces. Preliminary tests with a robot gripper have also done to demonstrate the feasibility of acoustic emission slip detector.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"64 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":"133139177","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.1987.1088039
Liang Shih, A. Frank
The work described herein is an extension of the compliant joint modelling technique applied to the simulation of a walking machine which is a multi-loop mechanism with a combination of closed and open kinematic chains. The effects of leg mass and compliance, joint clearance as well as leg contact with the ground are studied. The simulation includes tripod and wave gait patterns. Gyroscopic effects of a flywheel power plant are also investigated. Complete dynamic and kinematic simulations for the Ohio State University Adaptive Suspension Vehicle (ASV) are presented.
{"title":"A study of gait and flywheel torque effect on legged machines using a dynamic compliant joint model","authors":"Liang Shih, A. Frank","doi":"10.1109/ROBOT.1987.1088039","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088039","url":null,"abstract":"The work described herein is an extension of the compliant joint modelling technique applied to the simulation of a walking machine which is a multi-loop mechanism with a combination of closed and open kinematic chains. The effects of leg mass and compliance, joint clearance as well as leg contact with the ground are studied. The simulation includes tripod and wave gait patterns. Gyroscopic effects of a flywheel power plant are also investigated. Complete dynamic and kinematic simulations for the Ohio State University Adaptive Suspension Vehicle (ASV) are presented.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"72 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":"115777782","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.1987.1087973
P. Luh, D. Hoitomt
A manufacturing system with one server (machine), two classes of jobs, finite buffer sizes and nonnegligible setup times is analyzed. Classes are served in a fixed order. A new cycling service discipline called "triggered" cycling is introduced as a type of exhaustive cycling where a job must be present to process before the setup for that class takes place. The state of the machine, whether in setup or in processing, is explicitly considered in the model. Utilization, mean queue length and cycle time are derived by using Markovian analysis, first under a fixed lot size environment and then with random lot sizes. With lot sizes fixed (deterministic), increasing arrival rates, setup times and service times generally increase utilization, cycle time and queue length. Sensitivity analyses indicate a minimum exists for queue length with respect to lot size. When lot sizes are random, negligible variations in cycle time result, with somewhat smaller queue length as compared to the fixed lot size case. Despite lack of a product form solution to the problem, an approximate mean value analysis yielding cycle time is developed and the results are compared to Markovian analysis. Numerical studies show robustness of the mean value analysis for utilizations under 0.7.
{"title":"Queueing analysis of manufacturing systems with setups","authors":"P. Luh, D. Hoitomt","doi":"10.1109/ROBOT.1987.1087973","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087973","url":null,"abstract":"A manufacturing system with one server (machine), two classes of jobs, finite buffer sizes and nonnegligible setup times is analyzed. Classes are served in a fixed order. A new cycling service discipline called \"triggered\" cycling is introduced as a type of exhaustive cycling where a job must be present to process before the setup for that class takes place. The state of the machine, whether in setup or in processing, is explicitly considered in the model. Utilization, mean queue length and cycle time are derived by using Markovian analysis, first under a fixed lot size environment and then with random lot sizes. With lot sizes fixed (deterministic), increasing arrival rates, setup times and service times generally increase utilization, cycle time and queue length. Sensitivity analyses indicate a minimum exists for queue length with respect to lot size. When lot sizes are random, negligible variations in cycle time result, with somewhat smaller queue length as compared to the fixed lot size case. Despite lack of a product form solution to the problem, an approximate mean value analysis yielding cycle time is developed and the results are compared to Markovian analysis. Numerical studies show robustness of the mean value analysis for utilizations under 0.7.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"130 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":"124246337","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.1987.1087769
R. Bhatt, D. Gaw, A. Meystel
A real-time system for the control of an autonomous vehicle consisting of a nested hierarchy of control modules is described. The focus is on the PILOT module which provdies the real-time guidance of the system. It is responsible for the generation and tracking of dynamically feasible trajectories which follow the generally planned path and avoid local obstacles. The PILOT operation is based on a combination of simple rules and heuristic search. The state space consists of two parts: the lower level state space which represents the model of the world as a set of relationships among the units of vehicle state variables representing steering, acceleration, and velocity, as well as positions of obstacles, and the upper level state space where the relationships among generalized objects are represented as rules. Rules provide simple elementary maneuvers, and are applied when the upper level situation is easily recognized. Otherwise the situations are handled by the lower level search. Example runs of the vehicle are simulated to demonstrate the complexity of behavior. The algorithm has also been tested on a gas powered dune buggy developed at Drexel University.
{"title":"A real-time guidance system for an autonomous vehicle","authors":"R. Bhatt, D. Gaw, A. Meystel","doi":"10.1109/ROBOT.1987.1087769","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087769","url":null,"abstract":"A real-time system for the control of an autonomous vehicle consisting of a nested hierarchy of control modules is described. The focus is on the PILOT module which provdies the real-time guidance of the system. It is responsible for the generation and tracking of dynamically feasible trajectories which follow the generally planned path and avoid local obstacles. The PILOT operation is based on a combination of simple rules and heuristic search. The state space consists of two parts: the lower level state space which represents the model of the world as a set of relationships among the units of vehicle state variables representing steering, acceleration, and velocity, as well as positions of obstacles, and the upper level state space where the relationships among generalized objects are represented as rules. Rules provide simple elementary maneuvers, and are applied when the upper level situation is easily recognized. Otherwise the situations are handled by the lower level search. Example runs of the vehicle are simulated to demonstrate the complexity of behavior. The algorithm has also been tested on a gas powered dune buggy developed at Drexel University.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"7 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":"124337254","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.1987.1087838
Shir-Kuan Lin
This paper describes the theory of Euler parameters with the concept of the basis, and uses it to handle coordinate transformations of spatial mechanical motion. A robot is selected as an illustrative example. Applying the theory of Euler parameters the kinematic and dynamic equations of robots in the earlier works can also be derived. For the orientation error functions of robots with Euler parameters, the result of this paper is a necessary mathematical background in the design of the hand Cartesian control of robots.
{"title":"Coordinate transformations with euler parameters as a quaternion--An alternative approach to kinematics and dynamics of manipulators","authors":"Shir-Kuan Lin","doi":"10.1109/ROBOT.1987.1087838","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087838","url":null,"abstract":"This paper describes the theory of Euler parameters with the concept of the basis, and uses it to handle coordinate transformations of spatial mechanical motion. A robot is selected as an illustrative example. Applying the theory of Euler parameters the kinematic and dynamic equations of robots in the earlier works can also be derived. For the orientation error functions of robots with Euler parameters, the result of this paper is a necessary mathematical background in the design of the hand Cartesian control of robots.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"45 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":"114397955","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.1987.1087780
H. Bremer
A manipulator with beamlike flexible arms is considered. Efficient applicability of methods, which are briefly reviewed, is an important problem in the mathematical description of such systems. Furthermore, care must be taken in nonlinear deflection formulation.
{"title":"On the dynamics of flexible manipulators","authors":"H. Bremer","doi":"10.1109/ROBOT.1987.1087780","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087780","url":null,"abstract":"A manipulator with beamlike flexible arms is considered. Efficient applicability of methods, which are briefly reviewed, is an important problem in the mathematical description of such systems. Furthermore, care must be taken in nonlinear deflection formulation.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"45 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":"114832285","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.1987.1088027
J. Ish-Shalom
Traditionally the translation of a given task into robot actuator commands involves three translation steps: (i) Task level planning; given the task find the manipulated object's required motion. (ii) Robot motion planning; given the manipulated object's required motion find the desired robot arm trajectory. (iii) Robot controller; given the desired robot arm trajectory find the robot actuator commands. Furthermore, the robot controller is fixed and internal and is typically not modified in accordance with the expected interaction between the robot arm and the objects it is manipulating. Thus the fixed robot controller is a major handicap which limits the possible robot interactions and performance during such interactions. In this paper we suggest that the objectives of the robot controller be "elevated" from attaining robot arm level objectives to attaining task level objectives. Consistent with this view, the following new three step Funnel algorithm is suggested for the translation of a given task into robot actuator commands: (i) Partition the task into a sequence of local sub-tasks and local regions. (ii) Synthesize a feedback control law to achieve each sub-task locally. (iii) Apply the local feedback control law to obtain the required actuator commands. It is expected that using this funnel approach both the robot system performance and functionality can be improved.
{"title":"The funnel algorithm and task level robot control","authors":"J. Ish-Shalom","doi":"10.1109/ROBOT.1987.1088027","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088027","url":null,"abstract":"Traditionally the translation of a given task into robot actuator commands involves three translation steps: (i) Task level planning; given the task find the manipulated object's required motion. (ii) Robot motion planning; given the manipulated object's required motion find the desired robot arm trajectory. (iii) Robot controller; given the desired robot arm trajectory find the robot actuator commands. Furthermore, the robot controller is fixed and internal and is typically not modified in accordance with the expected interaction between the robot arm and the objects it is manipulating. Thus the fixed robot controller is a major handicap which limits the possible robot interactions and performance during such interactions. In this paper we suggest that the objectives of the robot controller be \"elevated\" from attaining robot arm level objectives to attaining task level objectives. Consistent with this view, the following new three step Funnel algorithm is suggested for the translation of a given task into robot actuator commands: (i) Partition the task into a sequence of local sub-tasks and local regions. (ii) Synthesize a feedback control law to achieve each sub-task locally. (iii) Apply the local feedback control law to obtain the required actuator commands. It is expected that using this funnel approach both the robot system performance and functionality can be improved.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"139 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":"114536492","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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