Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087981
J. Lessard, D. Laurendeau
This paper presents a computer vision technique designed to estimate the position and orientation of a robot manipulator in its working environment. The manipulator is expected to execute live-line maintenance tasks. The position and orientation are obtained from the segmentation of two grey-level images of the scene taken from a single point of view, and from a priori knowledge of the scene. Experimental results are presented and the validity of the method is discussed on the basis of accuracy and speed.
{"title":"Estimation of the position of a robot using computer-vision for a live-line maintenance task","authors":"J. Lessard, D. Laurendeau","doi":"10.1109/ROBOT.1987.1087981","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087981","url":null,"abstract":"This paper presents a computer vision technique designed to estimate the position and orientation of a robot manipulator in its working environment. The manipulator is expected to execute live-line maintenance tasks. The position and orientation are obtained from the segmentation of two grey-level images of the scene taken from a single point of view, and from a priori knowledge of the scene. Experimental results are presented and the validity of the method is discussed on the basis of accuracy and speed.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"26 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":"133694125","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.1987.1087951
Ching-Cheng Wang
The robot drive system has been previously designed to achieve optimal performance in the acceleration space by matching the gear ratios and actuator impedances. In this paper, the design effort on the robot drive system is continued to achieve the optimal performance measured in the velocity and angular velocity space. Design variables are first identified to be actuator gains. Then, the speed hull geometry of a design is analyzed and an appropriate performance measurement of this design is explored. To locate the optimal design, efficient algorithms dedicated to speed hull constructions are identified and the steepest descent direction, is derived to assist in searching for the optimal design. It is found that the objective function of the optimal design problem is not convex and a local optimal design shouldn't be mistaken as the global optimal design. However, for drive systems built with low gear ratios, the nonlinear effects are negligible and the objective function is convex. Therefore, a local optimal design is the global optimal design.
{"title":"The optimal design of robot drive system--Actuator gains","authors":"Ching-Cheng Wang","doi":"10.1109/ROBOT.1987.1087951","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087951","url":null,"abstract":"The robot drive system has been previously designed to achieve optimal performance in the acceleration space by matching the gear ratios and actuator impedances. In this paper, the design effort on the robot drive system is continued to achieve the optimal performance measured in the velocity and angular velocity space. Design variables are first identified to be actuator gains. Then, the speed hull geometry of a design is analyzed and an appropriate performance measurement of this design is explored. To locate the optimal design, efficient algorithms dedicated to speed hull constructions are identified and the steepest descent direction, is derived to assist in searching for the optimal design. It is found that the objective function of the optimal design problem is not convex and a local optimal design shouldn't be mistaken as the global optimal design. However, for drive systems built with low gear ratios, the nonlinear effects are negligible and the objective function is convex. Therefore, a local optimal design is the global optimal design.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"38 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":"134025135","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.1987.1088021
R. Graves
The scheduling and dispatching problem for flexible assembly systems operating in a MRP environment is described. These flexible assembly systems (FAS) can perform the required operations on multiple product types which are assembled simultaneously. A non-exact procedure is presented as the basis for SCHEDULER and DISPATCHER functionality in a hierarchical scheduling system design.
{"title":"Hierarchical scheduling approach in flexible assembly systems","authors":"R. Graves","doi":"10.1109/ROBOT.1987.1088021","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088021","url":null,"abstract":"The scheduling and dispatching problem for flexible assembly systems operating in a MRP environment is described. These flexible assembly systems (FAS) can perform the required operations on multiple product types which are assembled simultaneously. A non-exact procedure is presented as the basis for SCHEDULER and DISPATCHER functionality in a hierarchical scheduling system design.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"28 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":"134451778","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.1987.1087751
P. Bidaud, J. Guinot, A. Bernardy, F. Boudin, D. Fontaine
Recent advances in robotics research show that applications of robot manipulators to complex assembly problems require the use of an intelligent terminal to generate compliant micro-motions. A new approach for complex assembly tasks consisting in the use of a manipulator-gripper, like a left hand, is presented here. Previous works have been concerned with the analysis and development of the manipulator-gripper to grip and manipulate objects of various shapes, and control grasp and contact forces. Experiments are being carried out to correct small variations in the relative position and orientation of assembly parts require further development towards high-level programming system.
{"title":"Application for a manipulator-gripper in an assembly cell","authors":"P. Bidaud, J. Guinot, A. Bernardy, F. Boudin, D. Fontaine","doi":"10.1109/ROBOT.1987.1087751","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087751","url":null,"abstract":"Recent advances in robotics research show that applications of robot manipulators to complex assembly problems require the use of an intelligent terminal to generate compliant micro-motions. A new approach for complex assembly tasks consisting in the use of a manipulator-gripper, like a left hand, is presented here. Previous works have been concerned with the analysis and development of the manipulator-gripper to grip and manipulate objects of various shapes, and control grasp and contact forces. Experiments are being carried out to correct small variations in the relative position and orientation of assembly parts require further development towards high-level programming system.","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":"125605496","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.1987.1087901
I. Cox, N. Gehani
Many current robot systems exhibit a significant degree of concurrency, doing many activities in parallel. Future sensor-based robots are expected to exhibit even more concurrency. Programs to control such robots are characterized by the need to wait for external events and/or handle interrupts, deal with concurrent activities, synchronize actions with external events and communicate with other robots/processes. In this paper, we focus on the advantages of concurrent programming for robotics and suggest that a general purpose language with the right facilities is a good vehicle for robot programming. In this context we will discuss Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. We give a brief description of Concurrent C followed by a description of how Concurrent C programs communicate with robots and devices. We then show, by means of examples, all of which were implemented, how Concurrent C simplifies the writing of robot programs. Of specific interest are the process interaction and related interrupt handling facilities.
{"title":"Concurrent C and robotics","authors":"I. Cox, N. Gehani","doi":"10.1109/ROBOT.1987.1087901","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087901","url":null,"abstract":"Many current robot systems exhibit a significant degree of concurrency, doing many activities in parallel. Future sensor-based robots are expected to exhibit even more concurrency. Programs to control such robots are characterized by the need to wait for external events and/or handle interrupts, deal with concurrent activities, synchronize actions with external events and communicate with other robots/processes. In this paper, we focus on the advantages of concurrent programming for robotics and suggest that a general purpose language with the right facilities is a good vehicle for robot programming. In this context we will discuss Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. We give a brief description of Concurrent C followed by a description of how Concurrent C programs communicate with robots and devices. We then show, by means of examples, all of which were implemented, how Concurrent C simplifies the writing of robot programs. Of specific interest are the process interaction and related interrupt handling facilities.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"363 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":"123190143","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.1987.1087985
Yilong Chen
The feedback algorithm widely employed in the various current control strategies is a digital implementation of a conventional proportional plus derivative (PD) control. For dynamic control of robots, this algorithm can be shown to lead to unsatisfactory trade-offs between static accuracy, system stability, insensitivity to model structure inaccuracies and high frequency noise rejection. These trade-offs become even more serious as sampling rate decreases. To reduce these trade-offs, a more realistic discrete time system model of a robot arm and a more sophisticated feedback compensator are required. In this paper, a discrete time system model of a robot arm is derived and limitations of PD controllers are shown. They are consistent with our simulation and experimental results. Also a Lag-lead compensator is designed by a frequency-response analysis based on this model, along with the algorithm for realizing this compensator. Simulations and tests are conducted, which show encouraging results in reducing the trade-offs.
{"title":"Frequency response of discrete-time robot systems--Limitations of PD controllers and improvements by lag-lead compensation","authors":"Yilong Chen","doi":"10.1109/ROBOT.1987.1087985","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087985","url":null,"abstract":"The feedback algorithm widely employed in the various current control strategies is a digital implementation of a conventional proportional plus derivative (PD) control. For dynamic control of robots, this algorithm can be shown to lead to unsatisfactory trade-offs between static accuracy, system stability, insensitivity to model structure inaccuracies and high frequency noise rejection. These trade-offs become even more serious as sampling rate decreases. To reduce these trade-offs, a more realistic discrete time system model of a robot arm and a more sophisticated feedback compensator are required. In this paper, a discrete time system model of a robot arm is derived and limitations of PD controllers are shown. They are consistent with our simulation and experimental results. Also a Lag-lead compensator is designed by a frequency-response analysis based on this model, along with the algorithm for realizing this compensator. Simulations and tests are conducted, which show encouraging results in reducing the trade-offs.","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":"124687035","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.1987.1087837
K. C. Gupta
Robot manipulators have a variety of wrist arrangements. In commonly found wrist arrangements, the wrist axes are either cointersecting or nearly cointersecting, but rotations at some wrist joints must be restricted to avoid mechanical interference. Closed-form algebraic solutions for many simple robots with such wrists have been developed over the years. This paper deals specifically with robots with continuous 3-roll wrists. In a continuous 3- roll wrist, all wrist joints have unrestricted spin freedom without any mechanical inference. Although several manipulators now exist with such wrists, hardly any literature exists which deals with them. We present explicit closed-form solutions for robots with two types of continuous 3-roll wrists. The zero reference position method has been used to derive these solutions. The results presented in this paper should be useful in developing computer control for these robots with continuous 3-roll wrists.
{"title":"Kinematic solutions of robots with continuous three-roll wrists using the zero reference position method","authors":"K. C. Gupta","doi":"10.1109/ROBOT.1987.1087837","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087837","url":null,"abstract":"Robot manipulators have a variety of wrist arrangements. In commonly found wrist arrangements, the wrist axes are either cointersecting or nearly cointersecting, but rotations at some wrist joints must be restricted to avoid mechanical interference. Closed-form algebraic solutions for many simple robots with such wrists have been developed over the years. This paper deals specifically with robots with continuous 3-roll wrists. In a continuous 3- roll wrist, all wrist joints have unrestricted spin freedom without any mechanical inference. Although several manipulators now exist with such wrists, hardly any literature exists which deals with them. We present explicit closed-form solutions for robots with two types of continuous 3-roll wrists. The zero reference position method has been used to derive these solutions. The results presented in this paper should be useful in developing computer control for these robots with continuous 3-roll wrists.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"27 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":"134303414","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.1987.1087926
Jack C. K. Chou, G. Baciu, H. Kesavan
A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.
{"title":"Computational scheme for simulating robot manipulators","authors":"Jack C. K. Chou, G. Baciu, H. Kesavan","doi":"10.1109/ROBOT.1987.1087926","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087926","url":null,"abstract":"A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"62 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":"132415671","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.1987.1087760
C. Cai, T. Binford
A new version of the AL language system has been implemented, with emphasis on the specifications for an object's motion in operational space under trajectory planning, and flexible grasping. This paper discusses specifications of object geometry, Cartesian trajectory, control frame calculation from the trajectory and geometry, and motion constraints with respect to the control frame. A simple inverse of a Jacobian matrix linking the control frame to joint space variables is also presented.
{"title":"Operational space motion specification in AL robot language","authors":"C. Cai, T. Binford","doi":"10.1109/ROBOT.1987.1087760","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087760","url":null,"abstract":"A new version of the AL language system has been implemented, with emphasis on the specifications for an object's motion in operational space under trajectory planning, and flexible grasping. This paper discusses specifications of object geometry, Cartesian trajectory, control frame calculation from the trajectory and geometry, and motion constraints with respect to the control frame. A simple inverse of a Jacobian matrix linking the control frame to joint space variables is also presented.","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":"117301800","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.1987.1087811
I. Mina
This paper describes a prototype of modeling and reasoning as a knowledge-based system using real time control and planning techniques as well as system dynamics. The aim was to produce an industrial robot system for real-time cell applications. The system derives cell resource information from a data management system and cell control and planning knowledge fro a knowledge-base in the form of abstraction rules. The description of the AI second generation architecture, the concept used, the modeling methods and reasoning techniques based on real-time approaches in cell applications are represented.
{"title":"KMPR: An experimental knowledge-based modeling prototype for robots","authors":"I. Mina","doi":"10.1109/ROBOT.1987.1087811","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087811","url":null,"abstract":"This paper describes a prototype of modeling and reasoning as a knowledge-based system using real time control and planning techniques as well as system dynamics. The aim was to produce an industrial robot system for real-time cell applications. The system derives cell resource information from a data management system and cell control and planning knowledge fro a knowledge-base in the form of abstraction rules. The description of the AI second generation architecture, the concept used, the modeling methods and reasoning techniques based on real-time approaches in cell applications are represented.","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":"115288227","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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