bluuebunny/crossref_metadata_2025_split huggingface dataset:
An inverse kinematic solution for kinematically redundant robot manipulators
Authors: Oh Se‐Young , Orin David , Bach Michael 
Published: July 2007

AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence, the closed‐form solution has been obtained only for rather simple manipulator configurations where joints intersect or where consecutive axes are parallel or perpendicular. For the case of redundant manipulators, the number of joint variables generally exceeds that of the constraints, so that in this case the problem is further complicated due to an infinite number of solutions. Previous approaches have been directed to minimize a criterion function, taking into account additional constraints, which often implies a time‐consuming optimization process. In this article, a different approach is taken to these problems. A Newton‐Raphson numerical procedure has been developed based on a composite Jacobian which now includes rows for all members under constraint. This procedure may be applied to solve the inverse kinematic problem for a manipulator of any mechanical configuration without having to derive beforehand a closed‐form solution. The technique is applicable to redundant manipulators since additional constraints on other members as well as on the end effector may be imposed. Finally, this approach has been applied to a seven degree‐of‐freedom manipulator, and its ability to avoid obstacles is demonstrated.
Robot vision: An evaluation of imaging sensors
Authors: Pinson Lewis J. 
Published: July 2007

AbstractRobot vision, robotics vision, and computer vision are terms that have evolved over the past few years to include two separate but related functions that provide visual sensing for computerdriven robots. These two functions are “electro‐optical imaging” and “image processing.” The purpose of electro‐optical imaging is to convert optical radiation to an appropriate electronic signal for input to the robot's computer; whereas, the purpose of image processing is to extract useful information from the electronic image provided by the sensor. This article deals with the electro‐optical sensing part of robot vision. It describes the operation and properties of electro‐optical imaging sensors. The fundamental concepts of optical radiation, optical radiation quantities and units, and photon energies are defined. The fundamental principles for detecting optical radiation and definitions for the primary performance measures for optical detectors are given. A relatively comprehensive overview of the parameters used to describe imaging sensors is presented. Factors affecting these parameters and obtainable sensor performance are compared. Example design analyses are presented to show the interaction of various performance measures.
Collision avoidance for industrial robots with arbitrary motion
Authors: Freund E. , Hoyer H. 
Published: July 2007

AbstractFor effective application of industrial robots in flexible manufacturing systems and in automatic assembly, guided automatic collision avoidance is an important and—in spite of many applications—so far unsolved problem. The basis is unconstrained path control of each robot controlled, for example, by optical sensors in connection with different priority levels assigned to the robots. Iterative, time‐consuming, hierarchical control methods are not applicable due to the complexity and the real‐time constraints of this task. As a new and successful approach the application of various hierarchical decision strategies in connection with extremely time‐efficient evaluation of decision tables is presented. This concept is based on a suitable description of the actual possible collision spaces.
Alternative methods for the analysis of robot arm dynamics
Authors: Driels M. R. , Yang Z. H. 
Published: July 2007

AbstractBeginning with an outline of the accepted methods for kinematic analysis of robot manipulators, the structure of the dynamical system is provided using two complementary approaches. The first of these is based on Lagrangian techniques while the second is a modified version of Hollerbach's recursive formula. The results of both methods are demonstrated for the particular case of a PUMA robot, and the code for both algorithms is provided in the Appendix.
Adjustment of robot joint gears using encoder velocity and position information
Authors: Dagalakis Nicholas G. , Myers Donald R. 
Published: July 2007

AbstractA new technique for the adjustment of joint gears in industrial robots is presented. Band‐limited random excitation signals were injected into the drive system of the joint under test, and both the actuator shaft velocity and position were monitored. The coherence functions between the voltage at the terminals of the electric actuator and the position and velocity signals were determined. The change in the coherence functions was studied for various joint gear settings. An algorithm is proposed for determining the gear setting which results in the most linear operation of the joint drive system. This algorithm was tested on the adjustment of the gears of the wrist rotation joint of a PUMA 560 robot arm.
TL‐10: A programming language for assembly robots
Authors: Nakano Masaru , Hasegawa Junzo , Kuno Toshitaka , Moribe Hiroshi , Ikeda Toshiaki , Koide Mitsuo , Shiroshita Osamu , Sukigara Kazutoshi 
Published: July 2007

AbstractTL‐10, Toyoto Robot Language‐10, is a BASIC‐like robot language. It has functions that define locations and subroutine parameters, which are useful in the accumulation and the transference of robot applied technology. It also has functions to communicate with other computers such as those for vision systems. The important features are described and illustrated by examples.
Robust robot control with bounded input torques
Authors: Slotine Jean‐Jacques E. , Spong Mark W. 
Published: July 2007

AbstractA new scheme is presented to achieve effective on‐line tracking control of robot manipulators in the presence of model uncertainty and torque limitations. Pointwise optimization techniques are incorporated into a “slow” feedback loop in order to generate feasible desired trajectories, optimally close to the original desired trajectories. A suction controller is used in the “fast” main feedback loop, allowing to combine robust tracking with simple controller design. Simulations show very significant performance improvement over standard techniques. The algorithm is computationally cheap and can easily be implemented on‐line.
Semiautomatic calibration of robot manipulator for visual inspection task
Authors: Lin Wei‐Chung , Ross Joseph B. , Ziegler Michelle H. 
Published: July 2007

AbstractA semiautomatic procedure to calibrate a robot manipulator for improving positioning accuracy is proposed. An error‐correcting transformation is estimated using the point‐pairs in the theoretical and actual coordinate frames. The theoretical points are obtained using a 3D model of the inspected part, whereas the actual points are derived with image processing and analytic geometry techniques. The estimation of the error‐correcting transformation is based on a leastsquare method. Experimental results are described to illustrate the calibration procedure.
On certain aspects of the zero reference position method and its applications to an industrial manipulator
Authors: Gupta K. C. , Carlson G. J. 
Published: July 2007

AbstractThe zero reference position method, proposed by Gupta in 1981, is based upon an arbitrary choice of the zero reference position, the principle of displacement similarity, and the hand‐to‐the‐base sequence of changing the joint variables in a serial manipulator. Its applications in performing recursive computations, formulating explicit governing equations, and obtaining closed form solutions for serial manipulators are presented in this paper. A Bendix‐type of industrial robot is used for illustrating the closed form solution procedure.
Technology and corporate culture of industrial robots in Japan
Authors: Aida Shuhei , Hasegawa Mitsuhiko , Ueda Taizo 
Published: July 2007

AbstractThis paper describes with examples of some typical industrial robots developed in Japan the process of development, which industrial robots in Japan took. It also describes citing the differences of cultural basis between Japan and western countries the influences of automation to man, culture and society, and survey the future industrial robots.
Three‐dimensional shape recognition method using ultrasonics for manipulator control system
Authors: Tsujimura Takeshi , Yabuta Tetsuro , Morimitsu Takenori 
Published: July 2007

AbstractThis article describes a three‐dimensional shape recognition method that employs an ultrasonic distance sensor mounted on a manipulator, and its application to a manipulator control system. The principle of the method is to reconstruct an object surface numerically using both distance and orientation informations of an object. The method makes it possible to control the manipulator, to set the sensor in any position and orientation employing freedom of the manipulator, and to measure the object. The method is available for manipulator control because it can precisely assess the distance from the manipulator to the object, as well as reconstruct the object shape. Experimental results show that the newly developed method make object shape recognition easy and inexpensive. Application experiment proved that the method is effective for manipulator work due to its provision of distance information.
Robot navigation in an unexplored terrain
Authors: Rao Nageswara S. V. , Iyengar S. S. , Jorgensen C. C. , Weisbin C. R. 
Published: July 2007

AbstractNavigation planning is one of the most vital aspects of an autonomous mobile robot. Robot navigation for completely known terrain has been solved in many cases. Comparatively less research dealing with robot navigation in unexplored obstacle terrain has been reported in the literature. In recent times this problem has been addressed by adding learning capability to a robot. The robot explores terrain using sensors as it navigates, and builds a terrain model in an incremental manner. In this article we present concurrent algorithms for robot navigation in unexplored terrain. The performance of the concurrent algorithms is analyzed in terms of planning time, travel time, scanning time, and update time. The analysis reveals the need for an efficient data structure to store an obstacle terrain model in order to reduce traversal time, and also to incorporate learning. A modified adjacency list is proposed as a data structure for storing a spatial graph that represents an obstacle terrain. The time complexities of the algorithms that access, maintain, and update the spatial graph are estimated, and the effectiveness of the implementation is illustrated.
A modeling approach to aid in designing robotized manufacturing cells
Authors: Wilhelm Wilbert E. , Kalkunte Mohan , Cash Charles 
Published: July 2007

AbstractThis article describes an approach for modeling the work cycle of robotized manufacturing cells. The approach incorporates the logic of GERT networks and the computational techniques of recursion models, but extends these fundamental concepts to provide a resource‐based model of cell operations. Since the approach gives approximate estimates of performance, accuracy is evaluated in comparison with simulation results. A comprehensive, but hypothetical, example is given to describe use of the model as an aid in cell design. Typical applications involve “what if” studies to evaluate end‐of‐arm effectors, cell layout, a limited supply of tooling, equipment capabilities (e.g., speeds), and sequence of operations in cells employing one or more robots.
Application of a dynamic programming algorithm for trajectory planning of finger‐like manipulators
Authors: Thakor Nitish V. , McNeela Martin A. 
Published: July 2007

AbstractDextrous hand designs require planning and coordination of multijointed fingers. This communication presents a dynamic programming algorithm to optimize the trajectory of a finger or a fingerlike manipulator. The algorithm generates a minimum cost trajectory for a specified cost function (such as accuracy or time of travel) and a set of constraints (such as obstacles along the trajectory). We present simulations demonstrating the trajectory planning for simplified fingerlike manipulator configurations. This approach is potentially applicable to several additional situations faced by multijointed fingers employed in dextrous hand designs, such as complex trajectory planning, obstacle avoidance, and fault tolerance. We illustrate some results obtained by computer simulations of these problems.
Off‐line programming motion and process commands for robotic welding of space shuttle main engines
Authors: Ruokangas C. C. , Guthmiller W. A. , Pierson B. L. , Sliwinski K. E. , Lee J. M. F. 
Published: July 2007

AbstractAn intelligent, adaptive robotic system is being developed for a low‐volume, high precision process: the welding of the Space Shuttle Main Engines (SSMEs). The overall system goals include the development of a workstation‐based system to provide flexible, efficient off‐line programming of both motion and welding process commands for the robotic workcell. This offline programming system includes: implementation of a user interface for weld engineers, generation of both geometric and process commands for the workcell, development of a weld parameter database system, and display of both run‐time and archived data. This article presents details of the off‐line programming system, including interfaces, implementation, and limitations. The system will be implemented on the SSME production floor, and will be benchmarked in effectiveness and productivity against commercially available robotic welding systems presently in use. The overall system development is a joint effort between NASA's Marshall Space Flight Center and two divisions of Rockwell International: Rocketdyne and the Science Center.
A multi‐purpose dynamic and tactile sensor for robot manipulators
Authors: Tzou H. S. , Pandita S. 
Published: July 2007

AbstractIn this article, a multi‐purpose tactile/acceleration sensor system made of newly developed thick polymeric piezoelectric material and capable of sensing acceleration, contact force and pressure is developed and evaluated using analytical and experimental techniques, The sensor system is discretized and modeled by a single degree of freedom second order system from which equations of electromechanical dynamics are formulated to evaluate its performance. Analytical solutions are compared favorably with experimental results.
Position control of two‐arm manipulators for coordinated point‐to‐point motion
Authors: Benhabib B. , Zak G. , Tabarah E. 
Published: July 2007

AbstractA trajectory planning and motion control algorithm is; presented for the point‐to‐point (PTP) motion of two‐arm manipulators cooperating on a task. The proposed method considers the multi‐arm manipulator as a system when formulating its kinematic model and obtains a global solution to the system, as opposed to individual arm solutions. For PTP motion control between two arm configurations, a simple trajectory is first assumed by defining joint velocity profiles and maximum allowable task space errors between the two end effectors of the manipulator. The task space errors during the motion are then continuously monitored to take corrective action when necessary to prevent those errors from exceeding the given tolerance limits. The main objective of this method is to reduce the number of inverse kinematics solutions during the real‐time control of the two‐arm system. The algorithm is illustrated by a numerical example for an eight degree‐of‐freedom kinematically redundant planar two‐arm system.
The application of newton‐euler recursive methods to the derivation of closed form dynamic equations
Authors: Driels M. R. , Fan U. J. , Pathre U. S. 
Published: July 2007

AbstractThe article presents, in tutorial format, a development of the Newton‐Euler (NE) approach to the analysis of robot dynamics. Beginning with fundamental concepts drawn from vector calculus and mechanics, a set of recursive equations are developed which allow the calculation of the dynamics of a manipulator in closed form. An example based on conventional manipulator design is evaluated in some detail and shows that, for kinematic models of some complexity, the NE approach is as fast as other techniques based on Lagrangian methods for deriving closed form dynamical equations.
Direct adaptive control of a one‐link flexible arm with tracking
Authors: Yuan Bau‐San , Book Wayne J. , Siciliano Bruno 
Published: July 2007

AbstractA robust tracking controller for a one‐link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally controlled linearized model of the system. The resulting controller overcomes the fundamental limitation in previously published research on direct adaptive control of flexible robots that required additional actuators solely to control the flexible degrees of freedom. The nominal trajectory is commanded by means of a tracking control. Simulation results for the prototype in the laboratory show improvements obtained with the outer adaptive feedback loop compared to a pure optimal regulator control. Robustness is tested by varying the payload mass.
A forward displacement analysis of a class of stewart platforms
Authors: Griffis M. , Duffy J. 
Published: July 2007

AbstractA closed‐form forward displacement analysis is performed for a Stewart Platform‐type of parallel mechanism, whose six legs meet in a pair‐wise fashion at three points in the top and base platforms. The six legs and two platforms of this mechanism together form an octahedron. An eighth‐degree polynomial in the square of the tan‐half‐angle that measures the elevation of a triangular face of the octahedron relative to the base triangle is derived. Each of three vertices of the base triangle of the octahedron is modeled by a spherical four‐bar mechanism, and the polynomial is obtained by eliminating a pair of tan‐half‐angular displacements from the displacement equations of the three spherical four‐bar mechanisms. The result are verified numerically by performing a reverse displacement analysis and displaying real solutions on a graphic system. It is clear that there are a maximum of eight reflected pairs of real assembly configurations of the octahedral form of the Stewart Platform.
An efficient algorithm for computation of manipulator inertia matrix
Authors: Fijany Amir , Bejczy Antal K. 
Published: July 2007

AbstractIn this article an efficient algorithm for computation of the manipulator inertia matrix is presented. The algorithm is derived based on Newton's and Euler's laws governing the motion of rigid bodies. Using spatial notations, the algorithm leads to the definition of the composite rigid‐body spatial inertia which is a spatial representation of the notion of augmented body. The equations resulting from this algorithm are derived in a coordinate‐free form. The choice of the coordinate frame for projection of the coordinate‐free equations, that is, the intrinsic equations, is discussed by analyzing the vectors and the tensors involved in the final equations. Previously proposed algorithms, the physical interpretations leading to their derivation, and the redundancy in their computations are analyzed. The developed algorithm achieves a greater efficiency by eliminating the redundancy in the intrinsic equations as well as by a suitable choice of coordinate frame for projection of the intrinsic equations.
A comparative study of inverse dynamics of manipulators with closed‐chain geometry
Authors: Lin Yueh‐Jaw , Song Shin‐Min 
Published: July 2007

AbstractThe dynamics of closed‐chain manipulators was not studied as extensively as that of open‐chain manipulators. In this article, the inverse dynamics of two types of closedchain manipulators, namely, a pantograph manipulator and a five‐bar manipulator, are studied. The recently developed computationally efficient method1 is applied to both manipulators. The computational efficiency of inverse dynamics is evaluated in terms of both formulating methods (the method in reference 1 vs. the Lagrange method), and geometric structures (the pantograph vs. the five‐bar). The inverse kinematics computation of pantogaph manipulators is expected to be simpler than that of five‐bar manipulators simply because of the decoupling nature of the pantogaph mechanisms. On the contrary, the inverse kinetics of the pantograph is less efficient than the five‐bar because more links are involved during motion. It is also found that the overall inverse dynamics which includes both the inverse kinematics and kinetics of the pantograph manipulators, is more computationally efficient than that of the five‐bar, mainly due to the simple kinematics of the pantograph.
A nominal adaptive controller for a robot manipulator
Authors: Dawson D. M. , Lewis F. L. , Dorsey J. F. 
Published: July 2007

AbstractThis article derives an adaptive controller to achieve trajectory following for a robot manipulator. Lyapunov's second method is used for the design. The parameter, position, and velocity errors are shown to be uniformly bounded in the presence of an unknown bounded disturbance. To obtain insight for selecting the various control parameters for maintaining small tracking and parameter errors, we derive an error bound in terms of the system disturbances.
Inverse kinematics of variable‐geometry truss manipulators
Authors: Naccarato Frank , Hughes Peter 
Published: July 2007

AbstractA new class of robotic arm consists of a periodic sequence of truss substructures, each of which has several variable‐length members. Such variable‐geometry truss manipulators (VGTMs) are inherently highly redundant and promise a significant increase in dexterity over conventional anthropomorphic manipulators. This dexterity may be exploited for both obstacle avoidance and controlled deployment in complex workspaces. The inverse kinematics problem for such unorthodox manipulators, however, becomes complex because of the large number of degrees of freedom, and conventional solutions to the inverse kinematics problem become inefficient because of the high degree of redundancy. This paper presents a solution to this problem based on a spline‐like reference curve for the manipulator's shape. Such an approach has a number of advantages: (1) direct, intuitive manipulation of shape; (2) reduced calculation time; and (3) direct control over the effective degree of redundancy of the manipulator. Furthermore, although the algorithm has been developed primarily for variable‐geometry‐truss manipulators, it is general enough for application to other manipulator designs.