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.1987.1087747
N. Sadegh, R. Horowitz
The stability analysis of an adaptive control scheme for robotic manipulators, originally introduced by Horowitz and Tomizuka (1980), is presented in this paper. In the previous stability proof it was assumed that the manipulator parameter variation is negligible compared with the speed of adaptation. It is shown that this key assumption can be removed by introducing two modifications in the adaptive control scheme: 1. Reparametrizing the nonlinear terms in dynamic equations as linear functions of unknown but constant terms. 2. Defining the Coriolis compensation term in the control law as a bilinear function of the manipulator and model reference joint velocities, instead of a quadratic function of the manipulator joint velocities. The modified adaptive control scheme is shown to be globally asymptotically stable.
{"title":"Stability analysis of an adaptive controller for robotic manipulators","authors":"N. Sadegh, R. Horowitz","doi":"10.1109/ROBOT.1987.1087747","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087747","url":null,"abstract":"The stability analysis of an adaptive control scheme for robotic manipulators, originally introduced by Horowitz and Tomizuka (1980), is presented in this paper. In the previous stability proof it was assumed that the manipulator parameter variation is negligible compared with the speed of adaptation. It is shown that this key assumption can be removed by introducing two modifications in the adaptive control scheme: 1. Reparametrizing the nonlinear terms in dynamic equations as linear functions of unknown but constant terms. 2. Defining the Coriolis compensation term in the control law as a bilinear function of the manipulator and model reference joint velocities, instead of a quadratic function of the manipulator joint velocities. The modified adaptive control scheme is shown to be globally asymptotically stable.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"90 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":"114226801","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}
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.1987.1087983
C. Lee, Y. Chao
A non-contact, full field vision technique is presented to determine the surface roughness values. The variation of extracted texture features, roughness (Frgh), on the arithmetic average roughness (Ra) of the test surface is studied. The effects of magnification and aperture size of the imaging system on the extracted surface features are also examined. The vision system offers a fast and accurate method for the on-line automated surface roughness inspection of machined components.
{"title":"Surface texture dependence on surface roughness by computer vision","authors":"C. Lee, Y. Chao","doi":"10.1109/ROBOT.1987.1087983","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087983","url":null,"abstract":"A non-contact, full field vision technique is presented to determine the surface roughness values. The variation of extracted texture features, roughness (Frgh), on the arithmetic average roughness (Ra) of the test surface is studied. The effects of magnification and aperture size of the imaging system on the extracted surface features are also examined. The vision system offers a fast and accurate method for the on-line automated surface roughness inspection of machined components.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"61 3 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":"123136005","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.1987.1088053
P. Putz, R. Finsterwalder
This paper presents a novel approach to robust decentralized robot control: the application of a recently developed parameter space design method which allows interactive graphical selection of control parameters satisfying individually prescribed stability, performance, and robustness requirements as well as additional criteria on controller structure or implementational aspects. The technique allows rapid practical design of simple controllers that are superior to conventional designs, yet equally cheap to implement and fast to execute. This is demonstrated at the example of a 6 degrees-of-freedom experimental space robot.
{"title":"Parameter space design for robust decentralized robot control","authors":"P. Putz, R. Finsterwalder","doi":"10.1109/ROBOT.1987.1088053","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088053","url":null,"abstract":"This paper presents a novel approach to robust decentralized robot control: the application of a recently developed parameter space design method which allows interactive graphical selection of control parameters satisfying individually prescribed stability, performance, and robustness requirements as well as additional criteria on controller structure or implementational aspects. The technique allows rapid practical design of simple controllers that are superior to conventional designs, yet equally cheap to implement and fast to execute. This is demonstrated at the example of a 6 degrees-of-freedom experimental space robot.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"1999 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":"125716908","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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