bluuebunny/crossref_metadata_2025_split huggingface dataset:
Order-picking industrial robot
Authors: Warnecke H.-J. , Baumeister K. 
Published: March 2009

SUMMARYOrder-picking, i.e. arranging work-pieces of different types on a pallet, which is nowadays often carried out manually, will in future be more and more automated for economic reasons. The industrial robot in combination with an intelligent gripper, a supporting palletizing and order-picking software and a suitably designed periphery will permit fully automated order-picking. The Fraunhofer-Institute for Manufacturing Engineering and Automation (F.R.G.) has developed such a system which takes advantage of the arrangement of the work-pieces in the compartment stack and simultaneously grips the work-pieces that are then arranged in a pattern on a pallet.
A system for robot manipulation of electrical wires using vision
Authors: Vernon David 
Published: March 2009

SUMMARYA prototype robot system for automated handling of flexible electrical wires of variable length is described. The handling process involves the selection of a single wire from a tray of many, grasping the wire close to its end with a robot manipulator, and either placing the end in a crimping press or, for tinning applications, dipping the end in a bath of molten solder. This system relies exclusively on the use of vision to identify the position and orientation of the wires prior to their being grasped by the robot end-effector. Two distinct vision algorithms are presented. The first approach utilises binary imaging techniques and involves object segmentation by thresholding followed by thinning and image analysis. An alternative general-purpose approach, based on more robust grey-scale processing techniques, is also described. This approach relies in the analysis of object boundaries generated using a dynamic contour-following algorithm. A simple Robot Control Language (RCL) is described which facilitates robot control in a Cartesian frame of reference and object description using frames (homogeneous transformations). The integration of this language with the robot vision system is detailed, and, in particular, a camera model which compensates for both photometric distortion and manipulator inaccuracies is presented. The system has been implemented using conventional computer architectures; average sensing cycle times of two and six seconds have been achieved for the grey-scale and binary vision algorithms, respectively.
New methods in artificial vision by using entropies of deterministic functions
Authors: Jumarie Guy 
Published: March 2009

SUMMARYThe purpose of this paper is to show how one can use entropies of deterministic functions (as previously defined by the author) in order to analyze some questions related to machine vision. The main advantage of this approach is that it provides information theoretic methods for solving problems which basically do not refer to probability distributions. After a short qualitative background on deterministic functions, one applies this theory to edge finding, image segmentation, transfer of information defined by brightness functions, and image processing. Some more theoretical details on the entropies of deterministic functions are given in the appendix.
Experimental dual-mode control of a flexible robotic arm
Authors: Yim Woosoon , Zuang Jichun , Singh Sahjendra 
Published: March 2009

SUMMARYThis paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.
An Intelligent Part Sorting Robot in Unstructured Manufacturing Environments
Authors: Mehdian M. , Rahnejat H. 
Published: March 2009

SUMMARYThis paper outlines a method for control of robotic systems for part sorting operations in unstructured manufacturing environments. The sorting is accomplished simply and without any change in the kinematic structure of the robot or any need for inclusion of complicated external sensory systems. The method developed is based on the inherent relationship between the mass of parts to be carried and the maximum velocity of the tool centre point attainable along certain specified paths.The actuators' maximum velocity is detected and is communicated to a devised expert system. The expert system uses this maximum velocity as a part of its matching procedure for the purpose of part sorting.
A transputer-based system for locating parts and controlling an industrial robot
Authors: Pham D. T. , Hu Huosheng , Pote J. 
Published: March 2009

SummaryA parallel-processing system for locating parts and controlling an industrial robot is proposed. The system employs Transputers and Occam to achieve parallelism. In conjunction with a novel vibratory sensor, the system enables a robot to determine the exact location of parts which have been picked up from a semi-ordered work place. A new algorithm for obtaining the coordinates of the parts using the sensed vibration and deflection signals is described. The algorithm dispenses with the lengthy and complex equation-solving procedures previously required. Instead, it only involves looking up a data table and performing simple two-dimensional interpolation calculations. The design of the algorithm to ensure efficient parallel operation is described. Experimental results showing the successful implementation of the algorithm on the proposed system are presented.
Continuous path planning via a non-inverting parallel algorithm
Authors: Voliotis S. D. , Christodoulou M. A. 
Published: March 2009

SUMMARYThe problem of path tracking in robotic manipulators applications is studied in this paper. The path is generated as a sequence of elementary motions. The characteristic feature of our algorithm is that it avoids singularities, because there is no need to use inverse kinematics. Direction and proximity criteria are introduced.The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.
Computing a Manipulator Regressor Without Acceleration Feedback
Authors: Yuan Jing , Stepenanko Yury 
Published: March 2009

SUMMARYA manipulator regressor is an n x l matrix function in the dynamic expression τ = Y r or τ = Wr, which linearizes the robotic dynamics with respect to a properly defined inertia parameter vector ζr є R1. Many modern adaptive controllers require on-line computation of a regressor to estimate the unknown inertia parameters and ensure robustness of the closed-loop system.While the computation of Y is studied by Atkeson, An and Hollerbach1 and Khosla and Kanade,2 the computation of W for a general n–link robot has not been reported in the literature. This paper presents an algorithm to compute W for a general n–link robotic manipulator. The variables used to construct the regressor matrix are directly available from the outward iteration of a Newton-Euler algorithm; some additional arithmetic operations and first-order, low-pass filtering are needed. The identification of unknown inertia parameters is also discussed.
A vibratory sensor for locating parts
Authors: Pham D. T. , Dissanayake M. W. M. G. 
Published: March 2009

SUMMARYA vibratory sensor capable of locating parts by measuring their inertial properties is described in this paper. The sensor is designed to be fitted to the wrist of a robot and used to acquire parts from a stack or a tray. The initial coordinates of the parts need only be approximately known (say to ±25 mm and ±45°). The robot is thus said to operate in a “semi-ordered” environment which can be realised inexpensively as accurate pallets, fixtures or other parts presentation equipment are not required. Furthermore, the absence of complete disorder, as would exist with a “bin-picking” approach where parts are allowed to lie at random in a bin, reduces the degree of sophistication demanded of the sensor system. Consequently, the cost of the latter can also be kept low.The proposed sensor has a circular platform mounted on the shaft of a motor such that the shaft is normal to the platform. The part whose location is to be determined is held on the platform by magnetic or other means. The assembly consisting of the part, platform and motor is constrained to vibrate about an axis parallel to the platform. Two methods for computing the location of the part relative to the platform are described. Both methods require the natural frequencies of vibration of the part-platform-motor assembly for various angular positions of the platform. A simulation study to examine the effect of various design and operational parameters (inertias of the platform and part, stiffness of the spring restraining the movements of the vibrating assembly, location of part on platform, accuracy of frequency measurements) on the accuracy of the location computed is presented. The simulation results clearly demonstrate the feasibility of the sensor.
Semi-automatic calibration procedure for the vision-robot interface applied to scale model decoration
Authors: Trabasso Luis Gonzaga , Zielinski Cezary 
Published: March 2009

SUMMARYA semi-automatic method for calibrating a robot-vision interface is presented. It puts a small work-load on the operator, requires a simple calibration jig and a solution of a very simple system of equations. It has been extensively used in an experimental robotic cell set up at Loughborough University of Technology, where various aspects of the manufacturing and the decoration of scale models are being investigated. As an extension of the calibration procedure, the paper also shows practical solutions for the problem of dealing with three dimensional objects using a single camera.
Real-time path planning procedure for a whole-sensitive robot arm manipulator
Authors: Cheung Edward , Lumelsky Vladimir 
Published: March 2009

SUMMARYWe consider the problem of sensor-based motion planning for a three-dimensional robot arm manipulator operating among unknown obstacles. When every point of the robot body is subject to potential collision. The corresponding planning system must include these four basic components: sensor hardware; real-time signal/sensory data processing hardware/software; a local step planning subsystem that works at the basic sample rate of the arm; and finally, a subsystem for global planning. The arm sensor system developed at Yale University presents a proximity sensitive skin that covers the whole body of the arm and consists of an array of discrete active infrared sensors that detect obstacles by processing reflected light. The sensor data then undergoes low level processing via a step planning procedure, which converts sensor information into local normals at the contact points in the configuration space of the robot. This paper presents preliminary results on the fourth component, a real-time algorithm that realizes the upper, global level of planning. Based on the current collection of local normals, the algorithm generates preferable directions of motion around obstacles, so as to guarantee reaching the target position if it is reachable. Experimental results from testing the developed system are also discussed.
Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot
Authors: Legnani Giovanni , Faglia Rodolfo 
Published: March 2009

SUMMARYThis paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. Finally, the influence of these parameters on the dynamic behaviour of an actual SCARA robot in our department is investigated by means of experimental tests and by a computer simulation program purposely written.
Algorithms for simple object reconstruction using the largest possible object approach
Authors: Lee Edward T. , Wu Fred Y. 
Published: March 2009

SUMMARYRecently, three-dimensional motion analysis and shape recovery have attracted growing attention as promising avenues of approach to image understanding, object reconstruction as well as computer vision for robotic Systems. The image generation problem and the model generation problem are presented. More specifically, the inputs to the image generator are an old image, object model, motion specification, and hidden line and hidden surface algorithms. The output is a new image. Since the object model is given, the top-down approach is usually used. On the other hand, for the model generation problem, the input is an image sequence while the output is an object model. Since the object model is not given, and bottom-up approach is usually used.In this paper, the largest possible object approach is proposed and the advantages of this approach are stated. They are:1. This approach may be applicable to objects with planar surfaces as well as nonplanar surfaces.2. This approach may be applicable to the case that there are more than one face change per frame.3. This approach may be applicable when the camera is moving.4. This approach may be applicable when the object is measured by several measuring stations.By using this approach, algorithms for simple object reconstruction given a sequence of pictures are presented together with illustrative examples. The relevance and importance of this work are discussed.The results of this paper may have useful applications in object reconstruction, pictorial data reduction and computer vision for robotic Systems.
Robot navigation algorithms using learned spatial graphs
Authors: Iyengar S. S. , Jorgensen C. C. , Rao S. V. N. , Weisbin C. R. 
Published: March 2009

SUMMARYFinding optimal paths for robot navigation in a known terrain has been studied for some time but, in many important situations, a robot would be required to navigate in completely new or partially explored terrain. We propose a method of robot navigation which requires no pre-learned model, makes maximal use of available information, records and synthesizes information from multiple journeys, and contains concepts of learning that allow for continuous transition from local to global path optimality. The model of the terrain consists of a spatial graph and a Voronoi diagram. Using acquired sensor data, polygonal boundaries containing perceived obstacles shrink to approximate the actual obstacles surfaces, free space for transit is correspondingly enlarged, and additional nodes and edges are recorded based on path intersections and stop points. Navigation planning is gradually accelerated with experience since improved global map information minimizes the need for further sensor data acquisition. Our method currently assumes obstacle locations are unchanging, navigation can be successfully conducted using two-dimensional projections, and sensor information is precise.
On the use of time-varying inertia links to increase the versatility of manipulators
Authors: Jumarie Guy 
Published: March 2009

SUMMARYFor a manipulator which works in a given fixed environment, like in manufacturing plants for instance, the control system may be designed in a fixed definite way. But when the characteristics of this environment is subject to variations, e.g. change in the mass of the object to be moved, it is necessary to endow the manipulator with some versatility which allows it to adapt itself to the new working conditions. The purpose of the paper is to show that the use of links with varying inertia is a possible way to achieve this flexibility.
Robotics: the strategic issues
Authors: Owen Tony 
Published: March 2009

SUMMARYIncreasing domestic and international competition is forcing the adoption of robotics. The advantages of robotics can be measured objectively at both a national and company level. The rate of adoption is slower than was predicted in the late 70's; and Computer Integrated Manufacturing has yet to appear. Generally, the UK's manufacturing industry is reluctant to adopt robotics, though changes in managerial attitude, strategic objectives, and the training of future staff is overcoming this reluctance.
Servoed world models as interfaces between robot control systems and sensory data
Authors: Kent Ernest W. , Albus James S. 
Published: March 2009

SUMMARYA hierarchical robot sensory system being developed for industrial robotics is described. At each level of the hierarchy, sensory interpretative processes are guided by expectancy-generating modeling processes. The modeling processes are driven by a priori knowledge (object prototypes), by knowledge of the robot's movements (feed-forward from the control system), and by feedback from the interpretative processes (prior state of the sensory world). At the lowest level, the senses (vision, proximity, tactile, force, joint angle, etc.) are handled separately; above this level, they are integrated into a multi-model world model. At successively higher levels, the interpretative and modeling processes describe the world with successively higher order constructs, and over successively longer time periods. Each level of the modeling hierarchy provides output, in parallel, to guide the corresponding levels of a hierarchical robot control system.
Simulation of human judgement in a robot-based adjustment system
Authors: Naghdy Fazel , Billingsley John , Harrison David 
Published: March 2009

SUMMARYA robot-based automatic system for adjusting energy regulators in electric cookers is described in this paper. It is claimed that this system improves the quality of the regulators and increases productivity. First, the operator's intuitive judgement and decision-making are simulated on a microcomputer; the structure and performance variables of the regulator are then described. A discussion of computer modelling of the regulator then follows, leading to the development of an algorithm for the adjustment procedure and overall strategy of the system. Experiments on 2,000 regulators showed that this automated operation was superior to the manual procedure as regards consistency and accuracy. This technique based on a robot may be applied to quality control and manufacture of a variety of similar products.
Separation of two monotone polygons in linear time
Authors: Toussaint Godfried T. , El Gindy Hossam A. 
Published: March 2009

SUMMARYLet P= (p1, p2, …, pn) and Q= (q1, q2, …, qm) be two simple polygons monotonic in directions θs and φ respectively. It is shown that P and Q are separable with a single translation in at least one of the directions: ,. Furthermore, a direction for carrying out such a translation can be determined in O(m + n) time. This procedure is of use in solving the FIND-PATH problem in robotics.
FMS and the main car industry
Authors: Nicolò V. 
Published: March 2009

SUMMARYThe attainment of a breakeven for lower outputs, the diversification of models in order to meet market demand and the improvement of quality are accepted as strategic objectives for the automotive industry. The role of flexible manufacturing with reference to these objectives is illustrated. The steps, through which the new technology is introduced, are discussed and some production systems already installed are described within the given framework.
An efficient procedure for generating dynamic manipulator models
Authors: Vukobratović M. , Li Shi-Gang , Kirćanski N. 
Published: March 2009

SUMMARYAn iterative procedure for obtaining dynamic model of manipulator has been proposed in this paper. The high efficiency of the procedure is reached on the basis of iterative relations of dynamic parameters. For general six revolute joint manipulator, the complete dynamic model i.e. matrices H(q), C(q), G(q) and vector of joint torques 13. requires 992 multiplications and 776 additions. When the complete dynamic model is given by 13. the number of operations reduces to 863 multiplications and 773 additions.
On synchronized proportional motion of multi-robot systems with stepper motors and shared controller
Authors: Lirov Yuval 
Published: March 2009

SUMMARYThe synchronized action of robots is important in many applications, especially in the manufacturing processes. An algorithm to obtain a smooth synchronized movement of the multiple-robot system is presented for the case when only one processor is available to control all of the robots that incorporate stepper motors. The origin of this algorithm stems from the digital differential analyzer used in machine tool control.
Dynamic direct subspaces for robot path planning
Authors: Red W. E. , Kim K. H. 
Published: March 2009

SUMMARYA direct subspace of a dynamic three-dimensional joint space is found to be useful for robot path planning in workspaces comprised of both static and dynamic objects. Dynamic descriptions permit positioning tables, automated guided vehicles, conveyors and cycling machine tools to be modeled by elements which translate or cycle along rectilinear paths. Graphical path planning procedures use cursor indicators to move the robot configuration point between the desired starting and final configurations while avoiding both the static and dynamic joint space obstacles.
Design of a mechanical proximity sensor
Authors: Schiebel Edward N. , Busby Henry R. , Waldron Kenneth J. 
Published: March 2009

SUMMARYA proximity sensor using a mechanical contact principle is under development for robotic applications. Good discrimination between contact loads and inertial windage loads is essential. Rugged design and easy replacement of sensing elements is also necessary. The sensor is under consideration for use on the feet of the Adaptive Suspension Vehicle.
Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator
Authors: Shahinpoor M. , Meghdari A. 
Published: March 2009

SUMMARYAn expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.
Learning Control for Autonomous Machines
Authors: Shoureshi R. , Swedes D. , Evans R. 
Published: March 2009

SUMMARYToday's industrial machines and manipulators have no capability to learn by experience. Performance and productivity could be greatly enhanced if a machine could modify its operation based on previous actions. This paper presents a learning control scheme that provides the ability for machines to utilize their past experiences. The objective is to have machines mimic the human learning process as closely as possible. A data base is formulated to provide the machine with experience. An optical infrared distance sensor is developed to inform the machine about objects in its working space. A learning control scheme is presented that utilizes the sensory information to enhance machine performance in the next trial. An adaptive scheme is proposed for the modification of learning gain matrices, and is implemented on an industrial robot. Experimental results verify the potentials of the proposed adaptive learning scheme, and illustrate how it can be used for improvement of different manufacturing processes.