Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087800
R. Richbourg, N. Rowe, M. Zyda, R. McGhee
Long-range route planning is an important component in the intelligent control system of an autonomous agent. Most attempts to solve it with map data rely on applying simple search strategies to high-resolution, node-and-link representations of the map. These techniques have several disadvantages including large time and space requirements. We present an alternative which utilizes a more intelligent representation of the problem environment. Topographical features are represented as homogeneous-cost regions, greatly reducing storage requirements. Then, the A* search strategy is applied to a dynamically created graph, constructed according to Snell's law. Testing has shown significant speed improvements over competing techniques.
{"title":"Solving global two-dimensional routing problems using snell's law and a search","authors":"R. Richbourg, N. Rowe, M. Zyda, R. McGhee","doi":"10.1109/ROBOT.1987.1087800","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087800","url":null,"abstract":"Long-range route planning is an important component in the intelligent control system of an autonomous agent. Most attempts to solve it with map data rely on applying simple search strategies to high-resolution, node-and-link representations of the map. These techniques have several disadvantages including large time and space requirements. We present an alternative which utilizes a more intelligent representation of the problem environment. Topographical features are represented as homogeneous-cost regions, greatly reducing storage requirements. Then, the A* search strategy is applied to a dynamically created graph, constructed according to Snell's law. Testing has shown significant speed improvements over competing techniques.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"8 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":"121316982","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.1987.1087791
Nark B. Metea, J. Tsai
In this paper, an intelligent navigation system for autonomous land vehicles (ALV) using hierarchical terrain representation has been developed which can successfully negotiate an obstacle and threat-laden terrain, even if nothing is known beforehand about the terrain. The ALV stores new information in its memory as it travels, has the ability to backtrack out of unexpected dead ends, and performs spontaneous decision-making in the field based on local sensor readings. The optimal global route of the ALV journey is obtained using dynamic programming, and decision-making is accomplished via a production rule-based system. Execution examples demonstrate the power of the prototype system to solving navigation problems. This establishes the feasibility of constructing a valid ALV by combining search techniques with artificial intelligence tools such as production rule-based systems.
{"title":"Route planning for intelligent autonomous land vehicles using hierarchical terrain representation","authors":"Nark B. Metea, J. Tsai","doi":"10.1109/ROBOT.1987.1087791","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087791","url":null,"abstract":"In this paper, an intelligent navigation system for autonomous land vehicles (ALV) using hierarchical terrain representation has been developed which can successfully negotiate an obstacle and threat-laden terrain, even if nothing is known beforehand about the terrain. The ALV stores new information in its memory as it travels, has the ability to backtrack out of unexpected dead ends, and performs spontaneous decision-making in the field based on local sensor readings. The optimal global route of the ALV journey is obtained using dynamic programming, and decision-making is accomplished via a production rule-based system. Execution examples demonstrate the power of the prototype system to solving navigation problems. This establishes the feasibility of constructing a valid ALV by combining search techniques with artificial intelligence tools such as production rule-based systems.","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":"129460972","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.1987.1087847
Tomas Lozano-Perez, Joe L. Jones, E. Mazer, Patrick A. O'Donnell, W. Grimson, P. Tournassoud, A. Lanusse
We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed objects in the environment. In addition, the system builds a depth map, using structured light, of the area where the part is to be found initially. Any other objects present in that area do not have to be modeled.
{"title":"Handey: A robot system that recognizes, plans, and manipulates","authors":"Tomas Lozano-Perez, Joe L. Jones, E. Mazer, Patrick A. O'Donnell, W. Grimson, P. Tournassoud, A. Lanusse","doi":"10.1109/ROBOT.1987.1087847","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087847","url":null,"abstract":"We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed objects in the environment. In addition, the system builds a depth map, using structured light, of the area where the part is to be found initially. Any other objects present in that area do not have to be modeled.","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":"130372663","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.1987.1087770
B. Bhanu, Nils Thune, M. Thune
Control systems which enable robots to behave intelligently is a major issue in todays process of automating factories. This paper presents a hierarchical robot control system, termed CAOS for Control using Action Oriented Schemas, with ideas taken from the neurosciences. We are using action oriented schemas (called neuroschemas) as the basic building blocks in a hierarchical control structure which is being implemented on a BBN Butterfly Parallel Processor. Serial versions in C and LISP are presented with examples showing how CAOS achieves the goals of recognizing three-dimensional polyhedral objects. We also describe a simulation on how it manipulates objects. Moreover, the ongoing implementation of a parallel version of the system is discussed.
{"title":"CAOS: A hierarchical robot control system","authors":"B. Bhanu, Nils Thune, M. Thune","doi":"10.1109/ROBOT.1987.1087770","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087770","url":null,"abstract":"Control systems which enable robots to behave intelligently is a major issue in todays process of automating factories. This paper presents a hierarchical robot control system, termed CAOS for Control using Action Oriented Schemas, with ideas taken from the neurosciences. We are using action oriented schemas (called neuroschemas) as the basic building blocks in a hierarchical control structure which is being implemented on a BBN Butterfly Parallel Processor. Serial versions in C and LISP are presented with examples showing how CAOS achieves the goals of recognizing three-dimensional polyhedral objects. We also describe a simulation on how it manipulates objects. Moreover, the ongoing implementation of a parallel version of the system is discussed.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130827054","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}
Pub Date : 1987-03-01DOI: 10.1109/ROBOT.1987.1087881
G. M. McKinnon, M. King, D. Runnings
The use of manipulators and the development of manipulator technology has steadily increased in recent years. Consequently, teleoperation or the remote operation of a machine or piece of equipment has also increased. Typically, teleoperation is employed in situations where the environment is dangerous or too remote for humans to work. In space exploration with the use of dextrous manipulators, teleoperation has become a critical component. This paper describes tests carried out to evaluate three man-machine interfaces with two dextrous manipulators. The three interfaces were a master/slave system with force reflection, a master slave system without force reflection, and two six degree of freedom handcontrollers. Results indicated that task accuracy was superior with the handcontrollers. The time taken to complete the tasks with the handcontroller was longer than with the master/slave system with force reflection but with force reflection removed, no differences were found.
{"title":"Coordinated control of multi-axis tasks","authors":"G. M. McKinnon, M. King, D. Runnings","doi":"10.1109/ROBOT.1987.1087881","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087881","url":null,"abstract":"The use of manipulators and the development of manipulator technology has steadily increased in recent years. Consequently, teleoperation or the remote operation of a machine or piece of equipment has also increased. Typically, teleoperation is employed in situations where the environment is dangerous or too remote for humans to work. In space exploration with the use of dextrous manipulators, teleoperation has become a critical component. This paper describes tests carried out to evaluate three man-machine interfaces with two dextrous manipulators. The three interfaces were a master/slave system with force reflection, a master slave system without force reflection, and two six degree of freedom handcontrollers. Results indicated that task accuracy was superior with the handcontrollers. The time taken to complete the tasks with the handcontroller was longer than with the master/slave system with force reflection but with force reflection removed, no differences were found.","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":"126567673","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.1987.1087964
J. DeCurtins, J. Kremers
Programmability, the principal advantage of a robot over traditional hard automation, may become more difficult to achieve when vision systems are used to enhance robot capabilities because such systems may add a significant level of complexity to the programming task. CAD/CAM data on which to base automatic program generation are expensive and unavailable in many applications, particularly in small batch or low volume manufacturing. The SKETCH automatic programming facility, described in this paper, is designed for use in programming a visually guided robotic arc-welding system in those applications for which CAD/CAM-based off-line robot programming is either infeasable or unavailable. This facility was developed as part of SRI's ongoing research into machine-vision-based guidance and control of robots for arc welding and is designed to allow a skilled welder to program the vision system quickly and easily by sketching on a graphics screen the cross section of the seam to be welded.
{"title":"Sketch: A simple-to-use programming system for visually guided robotic arc welding","authors":"J. DeCurtins, J. Kremers","doi":"10.1109/ROBOT.1987.1087964","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087964","url":null,"abstract":"Programmability, the principal advantage of a robot over traditional hard automation, may become more difficult to achieve when vision systems are used to enhance robot capabilities because such systems may add a significant level of complexity to the programming task. CAD/CAM data on which to base automatic program generation are expensive and unavailable in many applications, particularly in small batch or low volume manufacturing. The SKETCH automatic programming facility, described in this paper, is designed for use in programming a visually guided robotic arc-welding system in those applications for which CAD/CAM-based off-line robot programming is either infeasable or unavailable. This facility was developed as part of SRI's ongoing research into machine-vision-based guidance and control of robots for arc welding and is designed to allow a skilled welder to program the vision system quickly and easily by sketching on a graphics screen the cross section of the seam to be welded.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"50 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":"127207672","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.1987.1087966
A. Kak, B. Roberts, K. M. Andress, R. L. Cromwell
World representation is obviously a most important part of the sensory intelligence required by a mobile robot in order to operate autonomously in a complex environment. In this paper, we will propose a taxonomy of robot intelligence based on the methods used for world representation and for the integration of sensory information with the representations. These methods of representation and sensory integration are currently being programmed into PETER, a mobile robot, in our lab.
{"title":"Experiments in the integration of world knowledge with sensory information for mobile robots","authors":"A. Kak, B. Roberts, K. M. Andress, R. L. Cromwell","doi":"10.1109/ROBOT.1987.1087966","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087966","url":null,"abstract":"World representation is obviously a most important part of the sensory intelligence required by a mobile robot in order to operate autonomously in a complex environment. In this paper, we will propose a taxonomy of robot intelligence based on the methods used for world representation and for the integration of sensory information with the representations. These methods of representation and sensory integration are currently being programmed into PETER, a mobile robot, in our lab.","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":"127253840","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.1987.1087835
H. Stone, A. Sanderson
The S-Model identification algorithm described in [6,7] is a technique which can be used to accurately identify the actual kinematic parameters of serial link robotic manipulators. The actual kinematic parameters of a manipulator differ from the design parameters due to the presence of random manufacturing errors. The set of identified kinematic parameters is called the arm signature. Accurate arm signatures are needed to control and improve the end-effector positioning accuracy of robotic manipulators for a variety of important tasks. This paper describes the hardware and software implementation of a prototype arm signature identification system. This system uses an external ultrasonic range sensor to measure the Cartesian position of target points placed on the links of the robot. Algorithms to compensate the primary range measurements for spatial variations in air temperature and humidity are also incorporated. The relative Cartesian positioning accuracy of the sensor system is ± .02cm. The general characteristics of our sensor design and the overall system design which exploits averaging over many sensor readings offer numerous advantages for arm signature identification. The prototype system has been applied in [6] to improve the kinematic performance of seven Puma 560 robots. For these robots relative positioning accuracy was improved by a factor of 10 on straight'line positioning tasks. Analysis and simulation of systematic errors confirms that the resolution of our sensor system should provide kinematic performance close to the limitations of the joint encoders. Our experimental studies show that sensor bias ultimately limits kinematic performance using this arm signature system. Experience with this prototype system has demonstrated that the S-Model identification algorithm is a practical and viable method for improving the kinematic performance of robotic manipulators.
{"title":"A prototype arm signature identification system","authors":"H. Stone, A. Sanderson","doi":"10.1109/ROBOT.1987.1087835","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087835","url":null,"abstract":"The S-Model identification algorithm described in [6,7] is a technique which can be used to accurately identify the actual kinematic parameters of serial link robotic manipulators. The actual kinematic parameters of a manipulator differ from the design parameters due to the presence of random manufacturing errors. The set of identified kinematic parameters is called the arm signature. Accurate arm signatures are needed to control and improve the end-effector positioning accuracy of robotic manipulators for a variety of important tasks. This paper describes the hardware and software implementation of a prototype arm signature identification system. This system uses an external ultrasonic range sensor to measure the Cartesian position of target points placed on the links of the robot. Algorithms to compensate the primary range measurements for spatial variations in air temperature and humidity are also incorporated. The relative Cartesian positioning accuracy of the sensor system is ± .02cm. The general characteristics of our sensor design and the overall system design which exploits averaging over many sensor readings offer numerous advantages for arm signature identification. The prototype system has been applied in [6] to improve the kinematic performance of seven Puma 560 robots. For these robots relative positioning accuracy was improved by a factor of 10 on straight'line positioning tasks. Analysis and simulation of systematic errors confirms that the resolution of our sensor system should provide kinematic performance close to the limitations of the joint encoders. Our experimental studies show that sensor bias ultimately limits kinematic performance using this arm signature system. Experience with this prototype system has demonstrated that the S-Model identification algorithm is a practical and viable method for improving the kinematic performance of robotic manipulators.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"10 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":"127197278","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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