Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087785
K. Youcef-Toumi, Dong Li
The surface following by a robot arm is investigated in this paper. The goal is to present control strategies so that the arm can follow a surface at a given speed with desired contact force. First, a discussion on the use of direct-drive manipulators with decoupled and invariant dynamics is given. These are shown to be suitable for such force control applications. In this case, the controller design in either joint space or end effector space would involve nonlinearities due to kinematics only. This would reduce the computation burden and allows for high performance since the kinematic parameters can be estimated with better accuracies than dynamic parameters. Second, to have a better understanding of some fundamental characteristics of force control, such as the effects of actuator dynamics, environment/sensor stiffness on the performance, experiments were done using a one degree-of-freedom direct-drive arm. The use of a high gain inner velocity loop is shown to give the force control good command following and disturbance rejection characteristics. The direct-drive manipulator shows a superior performance over conventional systems as a result of fast actuator dynamics, low friction and no mechanical backlash. The experiments are conducted to investigate the force speed of response and steady state behavior, impact control and surface following performance.
{"title":"Force control of direct-drive manipulators for surface following","authors":"K. Youcef-Toumi, Dong Li","doi":"10.1109/ROBOT.1987.1087785","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087785","url":null,"abstract":"The surface following by a robot arm is investigated in this paper. The goal is to present control strategies so that the arm can follow a surface at a given speed with desired contact force. First, a discussion on the use of direct-drive manipulators with decoupled and invariant dynamics is given. These are shown to be suitable for such force control applications. In this case, the controller design in either joint space or end effector space would involve nonlinearities due to kinematics only. This would reduce the computation burden and allows for high performance since the kinematic parameters can be estimated with better accuracies than dynamic parameters. Second, to have a better understanding of some fundamental characteristics of force control, such as the effects of actuator dynamics, environment/sensor stiffness on the performance, experiments were done using a one degree-of-freedom direct-drive arm. The use of a high gain inner velocity loop is shown to give the force control good command following and disturbance rejection characteristics. The direct-drive manipulator shows a superior performance over conventional systems as a result of fast actuator dynamics, low friction and no mechanical backlash. The experiments are conducted to investigate the force speed of response and steady state behavior, impact control and surface following performance.","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":"114683624","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.1987.1088049
D. Kuan, U. Sharma
This paper describes a model-based geometric reasoning module for autonomous road following. Vision-guided road following requires extracting road boundaries from images in real-time to guide the navigation of autonomous vehicles on roadway. The detected road region boundary is error-prone due to imperfect image segmentation. To achieve robust system performance, a geometric reasoning module that uses spatial and temporal constraints to perform model-based reasoning is required. Local geometric supports for each road edge segment are collected and recorded and global consistency checking is performed to obtain a consistent interpretation of the raw data. Cases involving incomplete sensor data, on curved roads where only one side of the road is visible, and incorrect segmentation due to shadows, road patches, or unusual road conditions, can usually be detected and corrected. This reasoning module has been integrated into a road following system which is capable of supporting autonomous road following at 19 km/hr.
{"title":"Model based geometric reasoning for autonomous road following","authors":"D. Kuan, U. Sharma","doi":"10.1109/ROBOT.1987.1088049","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088049","url":null,"abstract":"This paper describes a model-based geometric reasoning module for autonomous road following. Vision-guided road following requires extracting road boundaries from images in real-time to guide the navigation of autonomous vehicles on roadway. The detected road region boundary is error-prone due to imperfect image segmentation. To achieve robust system performance, a geometric reasoning module that uses spatial and temporal constraints to perform model-based reasoning is required. Local geometric supports for each road edge segment are collected and recorded and global consistency checking is performed to obtain a consistent interpretation of the raw data. Cases involving incomplete sensor data, on curved roads where only one side of the road is visible, and incorrect segmentation due to shadows, road patches, or unusual road conditions, can usually be detected and corrected. This reasoning module has been integrated into a road following system which is capable of supporting autonomous road following at 19 km/hr.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"37 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":"116406976","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.1987.1088006
M. Leahy, G. Saridis
Forces unmodeled by Lagrange-Euler dynamics restrict the trajectory tracking accuracy of dynamics based PUMA manipulator control laws. The ability of unmodeled force compensation techniques to eliminate those restrictions, enabling dynamics based PUMA controllers to accurately track a high speed trajectory, has been identified. Implementation of nonlinear velocity dependent friction compensation in the feedforward loop significantly improves controller efficacy. A combination of feedforward and feedback compensation techniques permits tracking accuracy sufficient for gross motion control of a PUMA manipulator without additional instrumentation. The effectiveness of proposed modern control theories can now be compared to an experimentally determined manipulator control performance baseline.
{"title":"Compensation of unmodeled puma manipulator dynamics","authors":"M. Leahy, G. Saridis","doi":"10.1109/ROBOT.1987.1088006","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088006","url":null,"abstract":"Forces unmodeled by Lagrange-Euler dynamics restrict the trajectory tracking accuracy of dynamics based PUMA manipulator control laws. The ability of unmodeled force compensation techniques to eliminate those restrictions, enabling dynamics based PUMA controllers to accurately track a high speed trajectory, has been identified. Implementation of nonlinear velocity dependent friction compensation in the feedforward loop significantly improves controller efficacy. A combination of feedforward and feedback compensation techniques permits tracking accuracy sufficient for gross motion control of a PUMA manipulator without additional instrumentation. The effectiveness of proposed modern control theories can now be compared to an experimentally determined manipulator control performance baseline.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"30 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":"123653129","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.1987.1087971
C. Cai, B. Roth
This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact [2]. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.
{"title":"On the spatial motion of a rigid body with point contact","authors":"C. Cai, B. Roth","doi":"10.1109/ROBOT.1987.1087971","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087971","url":null,"abstract":"This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact [2]. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"15 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":"124470587","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.1987.1087958
Chien-Hue Chen, A. Kak
In this report we have used projectivity theory to model the process of structured light scanning for 3D robot vision. The projectivity formalism is used to derive a 4 × 3 transformation matrix that converts points in the image plane into their corresponding 3D world coordinates. Calibration of the scanner consists of computing the coefficient of this matrix by showing to the system a set of lines generated by suitable object edges. We end this paper by showing how the matrix can be used to convert image pixel locations into the world coordinates of the corresponding object points using two different scanning strategies.
{"title":"Modeling and calibration of a structured light scanner for 3-D robot vision","authors":"Chien-Hue Chen, A. Kak","doi":"10.1109/ROBOT.1987.1087958","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087958","url":null,"abstract":"In this report we have used projectivity theory to model the process of structured light scanning for 3D robot vision. The projectivity formalism is used to derive a 4 × 3 transformation matrix that converts points in the image plane into their corresponding 3D world coordinates. Calibration of the scanner consists of computing the coefficient of this matrix by showing to the system a set of lines generated by suitable object edges. We end this paper by showing how the matrix can be used to convert image pixel locations into the world coordinates of the corresponding object points using two different scanning strategies.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"47 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":"128178978","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.1987.1088056
Shin-Min Song, Yueh-Jaw Lin
The kinematics of pantograph type manipulators were studied and found to be very computationally efficient due to the decoupled kinematics of pantograph mechanisms [14]. In this paper, the dynamics of a wrist-partitioned, pantograph type manipulators are studied. Both Lagrange's and an extended D'Alembert's methods are used to derive the equations of motion, in applying the extended D'Alembert's method, a special treatment of the force and moment components in free-body diagrams allows the three dimensional motion of the manipulator to be treated as a two dimensional case. This special treatment also eliminates the need of a simultaneous solution of many equations. The extended D'Alembert's formulation is found to be more computationally efficient than the Lagrange's. Moreover, the inverse dynamics of both methods are found to be more computationally efficient than that of a conventional open-chain manipulator.
{"title":"Dynamics of pantograph type manipulators","authors":"Shin-Min Song, Yueh-Jaw Lin","doi":"10.1109/ROBOT.1987.1088056","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088056","url":null,"abstract":"The kinematics of pantograph type manipulators were studied and found to be very computationally efficient due to the decoupled kinematics of pantograph mechanisms [14]. In this paper, the dynamics of a wrist-partitioned, pantograph type manipulators are studied. Both Lagrange's and an extended D'Alembert's methods are used to derive the equations of motion, in applying the extended D'Alembert's method, a special treatment of the force and moment components in free-body diagrams allows the three dimensional motion of the manipulator to be treated as a two dimensional case. This special treatment also eliminates the need of a simultaneous solution of many equations. The extended D'Alembert's formulation is found to be more computationally efficient than the Lagrange's. Moreover, the inverse dynamics of both methods are found to be more computationally efficient than that of a conventional open-chain manipulator.","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":"129134749","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.1987.1087956
C. S. Lee, P. Chang
Computing the robot forward dynamics is important for real-time computer simulation of robot arm motion. Two efficient parallel algorithms for computing the forward dynamics for robot arm simulation were developed to be implemented on an SIMD computer with n processors, where n is the number of degrees-of-freedom of the manipulator. The first parallel algorithm, based on the Composite Rigid-Body method, generates the inertia matrix using the parallel Newton-Euler algorithm, the parallel linear recurrence algorithm, and the row-sweep algorithm, and then inverts the inertia matrix to obtain the joint acceleration vector desired at time t. The second parallel algorithm, based on the conjugate gradient method, computes the joint accelerations with a time complexity of O(n) for multiplication operation and O(nlogn) for addition operation. The proposed parallel computation results are compared with the existing methods.
{"title":"Efficient parallel algorithms for robot forward dynamics computation","authors":"C. S. Lee, P. Chang","doi":"10.1109/ROBOT.1987.1087956","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087956","url":null,"abstract":"Computing the robot forward dynamics is important for real-time computer simulation of robot arm motion. Two efficient parallel algorithms for computing the forward dynamics for robot arm simulation were developed to be implemented on an SIMD computer with n processors, where n is the number of degrees-of-freedom of the manipulator. The first parallel algorithm, based on the Composite Rigid-Body method, generates the inertia matrix using the parallel Newton-Euler algorithm, the parallel linear recurrence algorithm, and the row-sweep algorithm, and then inverts the inertia matrix to obtain the joint acceleration vector desired at time t. The second parallel algorithm, based on the conjugate gradient method, computes the joint accelerations with a time complexity of O(n) for multiplication operation and O(nlogn) for addition operation. The proposed parallel computation results are compared with the existing methods.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"54 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":"127837640","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.1987.1087967
F. Merat, Hsianglung Wu
A new method, called feature extraction by demands (FED), for generating an object description concurrently at different feature levels will be described. An object is described in terms of features which include points, surface patches, edges, corners, and surfaces. These features form a feature space which is the base used to decompose the feature extraction process into different levels. FED provides a method to generate partial descriptions about objects from partially processed range data at different feature levels. The partial descriptions become a feed-back to guide the feature extraction process to extract more detailed information from interesting areas which can then be used to refine the object description. Regions which are not perceived to contain useful infomation will be ignored in further processing. As a more complete object description is generated, FED converges from bottom-up image processing to top-down hypotheses verification to generate complete hierarchical object descriptions.
{"title":"Generation of object descriptions from range data using feature extraction by demands","authors":"F. Merat, Hsianglung Wu","doi":"10.1109/ROBOT.1987.1087967","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087967","url":null,"abstract":"A new method, called feature extraction by demands (FED), for generating an object description concurrently at different feature levels will be described. An object is described in terms of features which include points, surface patches, edges, corners, and surfaces. These features form a feature space which is the base used to decompose the feature extraction process into different levels. FED provides a method to generate partial descriptions about objects from partially processed range data at different feature levels. The partial descriptions become a feed-back to guide the feature extraction process to extract more detailed information from interesting areas which can then be used to refine the object description. Regions which are not perceived to contain useful infomation will be ignored in further processing. As a more complete object description is generated, FED converges from bottom-up image processing to top-down hypotheses verification to generate complete hierarchical object descriptions.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"43 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":"114215634","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.1987.1088000
G. Rogers, R. Weston
The paper outlines a novel approach to real-time control which is based on developing and maintaining a "knowledge base" about the system to be controlled. The knowledge base comprises information relating to the plant and its environment and is used to determine the control signals required to obtain the desired response from the plant. The control methodology devised has been used to achieve motion control of a single axis electric module intended for robotic applications. The results obtained are encouraging and show a marked improvement over classical control techniques. For the "knowledge based" controller, methods of updating the system representation for environmental changes are proposed through the use of "indirect" and "direct" identification techniques.
{"title":"A knowledge based approach to robot axis control","authors":"G. Rogers, R. Weston","doi":"10.1109/ROBOT.1987.1088000","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088000","url":null,"abstract":"The paper outlines a novel approach to real-time control which is based on developing and maintaining a \"knowledge base\" about the system to be controlled. The knowledge base comprises information relating to the plant and its environment and is used to determine the control signals required to obtain the desired response from the plant. The control methodology devised has been used to achieve motion control of a single axis electric module intended for robotic applications. The results obtained are encouraging and show a marked improvement over classical control techniques. For the \"knowledge based\" controller, methods of updating the system representation for environmental changes are proposed through the use of \"indirect\" and \"direct\" identification techniques.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"120 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":"116203380","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.1987.1087742
B. Lee, Y. Chien
This paper addresses an overview of time-varying obstacle avoidance problems for robotic manipulators. We propose four different approaches to solving these problems. They are the Heuristic Off-line (HOF) approach, the Heuristic On-line (HON) approach, the Analytic Off-line (AOF) approach, and the Analytic On-line (AON) approach. The AOF approach is particularly pursued and derived in this paper. Some fundamental difficulties are then discussed in the AOF approach. It is shown that the analytic approach is not always successful in solving the time-varying obstacle avoidance problems.
{"title":"Time-varying obstacle avoidance for robot manipulators: Approaches and difficulties","authors":"B. Lee, Y. Chien","doi":"10.1109/ROBOT.1987.1087742","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087742","url":null,"abstract":"This paper addresses an overview of time-varying obstacle avoidance problems for robotic manipulators. We propose four different approaches to solving these problems. They are the Heuristic Off-line (HOF) approach, the Heuristic On-line (HON) approach, the Analytic Off-line (AOF) approach, and the Analytic On-line (AON) approach. The AOF approach is particularly pursued and derived in this paper. Some fundamental difficulties are then discussed in the AOF approach. It is shown that the analytic approach is not always successful in solving the time-varying obstacle avoidance problems.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"77 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":"116730612","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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