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.1987.1088015
Vijay R. Kumar, K. Waldron
The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The system is statically indeterminate and an optimal solution for this problem is desired for force control. A fast and efficient sub-optimal method for computing the grasping forces is presented. This method is based on the superposition of finger-interaction forces on equilibrating forces. An interaction force is defined as the component of the vector difference of the finger contact forces at any two fingers along the line joining the two contact points. They are computed based on the assumption that the normals at the point of contact pass through the centroid of the contact points and are therefore independent of the actual geometry of the object. The contact interaction is modelled as a point contact. The problems associated with making the algorithm independent of the object geometry are explored.
{"title":"Sub-optimal algorithms for force distribution in multifingered grippers","authors":"Vijay R. Kumar, K. Waldron","doi":"10.1109/ROBOT.1987.1088015","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088015","url":null,"abstract":"The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The system is statically indeterminate and an optimal solution for this problem is desired for force control. A fast and efficient sub-optimal method for computing the grasping forces is presented. This method is based on the superposition of finger-interaction forces on equilibrating forces. An interaction force is defined as the component of the vector difference of the finger contact forces at any two fingers along the line joining the two contact points. They are computed based on the assumption that the normals at the point of contact pass through the centroid of the contact points and are therefore independent of the actual geometry of the object. The contact interaction is modelled as a point contact. The problems associated with making the algorithm independent of the object geometry are explored.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"5 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":"126985423","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.1987.1087810
H. Durrant-Whyte
Robots must operate in an environment which is inherently uncertain. This uncertainty is important in areas such as modeling, planning and the motion of manipulators and objects; areas where geometric analysis also plays an important part. To operate efficiently, a robot system must be able to represent, account for, and reason about the effects of uncertainty in these geometries in a consistent manner. We maintain that uncertainty should be represented as an intrinsic part of all geometric descriptions. We develop a description of uncertain geometric features as families of parameterized functions together with a distribution function defined on the associated parameter vector. We consider uncertain points, curves and surfaces, and show how they can be manipulated and transformed between coordinate frames in an efficient and consistent manner. The effectiveness of these techniques is demonstrated by application to the problem of developing maximal information sensing strategies.
{"title":"Uncertain geometry in robotics","authors":"H. Durrant-Whyte","doi":"10.1109/ROBOT.1987.1087810","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087810","url":null,"abstract":"Robots must operate in an environment which is inherently uncertain. This uncertainty is important in areas such as modeling, planning and the motion of manipulators and objects; areas where geometric analysis also plays an important part. To operate efficiently, a robot system must be able to represent, account for, and reason about the effects of uncertainty in these geometries in a consistent manner. We maintain that uncertainty should be represented as an intrinsic part of all geometric descriptions. We develop a description of uncertain geometric features as families of parameterized functions together with a distribution function defined on the associated parameter vector. We consider uncertain points, curves and surfaces, and show how they can be manipulated and transformed between coordinate frames in an efficient and consistent manner. The effectiveness of these techniques is demonstrated by application to the problem of developing maximal information sensing strategies.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"31 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":"122994065","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.1987.1088041
G. Hirzinger
The Paper outlines the concepts of a robot technology experiment ROTEX we have proposed to fly with the next German spacelab mission D2 (originally planned for 88, now delayed for at least two years). It provides a small, six axis robot inside a space-lab rack, equipped with a multisensory gripper (force/torque, an array of range finders, stereo optical fibers). The robot is supposed to handle a biological experiment, to perform several assembly and "servicing tasks" and to grasp floating objects. The paper focusses on the man-machine and supervisory control concepts for teleoperation from the spacecraft and from ground and expecially explains the predictive estimation schemes for an extensive use of delay-compensating 3D-computer graphics.
{"title":"The space and telerobotic concepts of the DFVLR ROTEX","authors":"G. Hirzinger","doi":"10.1109/ROBOT.1987.1088041","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088041","url":null,"abstract":"The Paper outlines the concepts of a robot technology experiment ROTEX we have proposed to fly with the next German spacelab mission D2 (originally planned for 88, now delayed for at least two years). It provides a small, six axis robot inside a space-lab rack, equipped with a multisensory gripper (force/torque, an array of range finders, stereo optical fibers). The robot is supposed to handle a biological experiment, to perform several assembly and \"servicing tasks\" and to grasp floating objects. The paper focusses on the man-machine and supervisory control concepts for teleoperation from the spacecraft and from ground and expecially explains the predictive estimation schemes for an extensive use of delay-compensating 3D-computer graphics.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"69 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":"121455295","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.1987.1088007
Tomas Lozano-Perez, W. Grimson, S. J. White
We have investigated the problem of locating cylinders in a depth scan map. The crucial problem is deciding whether a group of scans could arise from the same cylinder. We investigated a number of traditional approaches to this problem. We found significant reliability and accuracy problems in the traditional approaches that involve fitting ellipses to the scan data. As an alternative, we have developed a simple and very robust method for computing the axis of a cylinder based on three scans. This computation provides the basic capability needed to segment the scan data. This report summarizes our experience with several of the methods and describes the new method in detail.
{"title":"Finding cylinders in range data","authors":"Tomas Lozano-Perez, W. Grimson, S. J. White","doi":"10.1109/ROBOT.1987.1088007","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088007","url":null,"abstract":"We have investigated the problem of locating cylinders in a depth scan map. The crucial problem is deciding whether a group of scans could arise from the same cylinder. We investigated a number of traditional approaches to this problem. We found significant reliability and accuracy problems in the traditional approaches that involve fitting ellipses to the scan data. As an alternative, we have developed a simple and very robust method for computing the axis of a cylinder based on three scans. This computation provides the basic capability needed to segment the scan data. This report summarizes our experience with several of the methods and describes the new method in detail.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"51 2 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":"129361424","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.1987.1087814
B. Fox, K. Kempf
The scheduling of jobs and resources In a manufacturing environment is important because o f its basic impact on production costs, but is difficult because of the problems of combinatorial complexity and executwnal uncertainty. Scheduling suffers from combinatorial complexity because there are a very large number of schedules which can be generated f o r a set of jobs and resources, but there is no good way to choose between the options prior to execution. Scheduling is complicated by executional uncertainty in that unforeseeable events will almost certainly occur to disrupt any particular schedule once execution commences. This paper describes a novel approach to scheduling which overcomes these two difficulties. Implementation of the approach requires a new representation for schedules and techniques for knowledge-based reasoning about this representation. The issues involved in performing the knowledge-based reasoning are described and illustrated by examples drawn from the domain of robotic assembly.
{"title":"Reasoning about opportunistic schedules","authors":"B. Fox, K. Kempf","doi":"10.1109/ROBOT.1987.1087814","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087814","url":null,"abstract":"The scheduling of jobs and resources In a manufacturing environment is important because o f its basic impact on production costs, but is difficult because of the problems of combinatorial complexity and executwnal uncertainty. Scheduling suffers from combinatorial complexity because there are a very large number of schedules which can be generated f o r a set of jobs and resources, but there is no good way to choose between the options prior to execution. Scheduling is complicated by executional uncertainty in that unforeseeable events will almost certainly occur to disrupt any particular schedule once execution commences. This paper describes a novel approach to scheduling which overcomes these two difficulties. Implementation of the approach requires a new representation for schedules and techniques for knowledge-based reasoning about this representation. The issues involved in performing the knowledge-based reasoning are described and illustrated by examples drawn from the domain of robotic assembly.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"262 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":"115823698","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.1987.1088033
R. Conterno, Y. Ho
The problem of scheduling customer orders in the management of a large multi-product warehouse is addressed under realistic assumptions including rapidly changing data, uncertainties and unforeseen events. Simple flexible solution strategies are sought, in the sense that the scheduling problem should not be solved again from the beginning everytime new information becomes available. Among the solution strategies, one is based on a few statistical assumptions about the random variables involved in the process: it exploits a stochastic version of the well-known duality principle for nonlinear programming and yields a number of interesting features.
{"title":"Order scheduling problem in manufacturing systems","authors":"R. Conterno, Y. Ho","doi":"10.1109/ROBOT.1987.1088033","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088033","url":null,"abstract":"The problem of scheduling customer orders in the management of a large multi-product warehouse is addressed under realistic assumptions including rapidly changing data, uncertainties and unforeseen events. Simple flexible solution strategies are sought, in the sense that the scheduling problem should not be solved again from the beginning everytime new information becomes available. Among the solution strategies, one is based on a few statistical assumptions about the random variables involved in the process: it exploits a stochastic version of the well-known duality principle for nonlinear programming and yields a number of interesting features.","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":"116041705","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.1987.1087758
Y. Shiu, S. Ahmad
In order to use a wrist-mounted sensor (such as a camera, a range sensor, or a tactile sensor) for a robot task, the position of the sensor with respect to T6(wrist of robot) must be known. We can find the mounting position of the sensor by moving the robot and observing the resulting motion of the sensor. This yields a homogeneous transform equation of the form AX=XB, where A is the change in T6due to the arm movement, B is the resulting sensor displacement, and X is the sensor position relative to T6. A and B are known, since A can be computed from the encoder values and B can be found by the sensor system. The solution to an equation of this form has one degree of rotational freedom and one degree of translational freedom. In order to solve for X (the sensor position) uniquely, it is necessary to make two arm movements and form a system of two equations of the form: A1X=XB1and A2X=XB2. A closed-form solution to this system of equations is presented. The necessary condition for a unique solution is that the axes of rotation of A1and A2are neither parallel or antiparallel to one another. The theory is supported by simulation results.
{"title":"Finding the mounting position of a sensor by solving a homogeneous transform equation of the form AX = XB","authors":"Y. Shiu, S. Ahmad","doi":"10.1109/ROBOT.1987.1087758","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1087758","url":null,"abstract":"In order to use a wrist-mounted sensor (such as a camera, a range sensor, or a tactile sensor) for a robot task, the position of the sensor with respect to T6(wrist of robot) must be known. We can find the mounting position of the sensor by moving the robot and observing the resulting motion of the sensor. This yields a homogeneous transform equation of the form AX=XB, where A is the change in T6due to the arm movement, B is the resulting sensor displacement, and X is the sensor position relative to T6. A and B are known, since A can be computed from the encoder values and B can be found by the sensor system. The solution to an equation of this form has one degree of rotational freedom and one degree of translational freedom. In order to solve for X (the sensor position) uniquely, it is necessary to make two arm movements and form a system of two equations of the form: A1X=XB1and A2X=XB2. A closed-form solution to this system of equations is presented. The necessary condition for a unique solution is that the axes of rotation of A1and A2are neither parallel or antiparallel to one another. The theory is supported by simulation results.","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":"116168644","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.1987.1088043
C. Boer, F. Lombardi
The guidelines of the design of an Integrated Production Planning and Control System for FMS are sketched, with special emphasis on the capability of managing transients due to unplanned events by means of on-line control policies which can be selected in accordance with the specific requirements of particular production conditions.
{"title":"Recovering schemes integrated in the production planning and control of flexible manufacturing systems","authors":"C. Boer, F. Lombardi","doi":"10.1109/ROBOT.1987.1088043","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088043","url":null,"abstract":"The guidelines of the design of an Integrated Production Planning and Control System for FMS are sketched, with special emphasis on the capability of managing transients due to unplanned events by means of on-line control policies which can be selected in accordance with the specific requirements of particular production conditions.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"91 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114103808","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.1987.1088050
W. Gex, N. L. Campbell
This paper describes a method of mapping the local environment in front of a ground vehicle using acoustical sensors. The map outlines the extent of known freespace. This information is used to generate navigation points in the form of a subgoal and avoidance points which may be used by another process to dynamically generate a path. The map information is also used to intelligently steer the sensors to areas of the environment requiring further investigation. Inconsistencies in sensor returns are resolved with multiple sensor scans. While any inconsistencies are being resolved, the map, if in error, errs on the side of safety. These algorithms are being developed by the Naval Ocean Systems Center (NOSC) on the Ground Surveillance Robot project.
{"title":"Local free space mapping and path guidance","authors":"W. Gex, N. L. Campbell","doi":"10.1109/ROBOT.1987.1088050","DOIUrl":"https://doi.org/10.1109/ROBOT.1987.1088050","url":null,"abstract":"This paper describes a method of mapping the local environment in front of a ground vehicle using acoustical sensors. The map outlines the extent of known freespace. This information is used to generate navigation points in the form of a subgoal and avoidance points which may be used by another process to dynamically generate a path. The map information is also used to intelligently steer the sensors to areas of the environment requiring further investigation. Inconsistencies in sensor returns are resolved with multiple sensor scans. While any inconsistencies are being resolved, the map, if in error, errs on the side of safety. These algorithms are being developed by the Naval Ocean Systems Center (NOSC) on the Ground Surveillance Robot project.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"20 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":"126642109","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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