bluuebunny/crossref_metadata_2025_split huggingface dataset:
Specific computation of inverse kinematics in a robot off-line programming environment
Authors: Cassar Jean - Philippe , Vanheeghe Philippe 
Published: March 2009

SUMMARYAn off-line programming station for a robotised welding cell is presented. In this context the choice of a kinematic inversion method applied to the simulation of robots is discussed.A direct inversion method is developed in the case of 5-axes robots of plane geometry and for a task presenting a symmetry of revolution. It uses the geometry of the tool and of the robot and vectorial calculations very well adapted to this particular case. The results presented validate the choice of this method for a specialised programming environment.
An iterative method for generating kinematically feasible interference-free robot trajectories
Authors: Buchai R. O. , Cherchas D. B. 
Published: March 2009

SUMMARYThis paper proposes a method for finding an optimal geometric robot trajectory to perform a specified point-to-point motion without violating joint displacement limits or interference constraints. The problem is discretised, and a quantitative measure of interference is proposed. Constraint violations are represented by exterior penalty functions, and the problem is solved by iteratively improving an initial estimate of the trajectory. This is accomplished by numerically minimizing a cost functional using a modified Newton–Raphson method.
Strategies of searching for collision-free manipulator motions: automata theory approach
Authors: Jacak Witold 
Published: March 2009

SUMMARYThe paper present a model of the kinematics of a rotary, redundant manipulator, in the form of a Finite State Machine, this is in fact, an example ofAIproduction systems. This model is able to supply us with succesive configurations, calculated immediately in Cartesian space and allowing at the same time to considerably simplify the computations engaged in the graph searching. For an automaton-type model of the manipulator kinematics, diverse strategies of searching for a collision-free trajectory, reduced to a search of an appropriate path in the state-transition graph of FSM, are analyzed.
Dynamic Characteristics of Balanced Robotic Manipulators with Joint Flexibility
Authors: Lee S.B. , Cho H.S. 
Published: March 2009

SUMMARYThe mass balancing of robotic manipulators has been shown to have favorable effects on the dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joint flexibilities. This paper investigates the effects of the joint flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller built-in inside motor control loop. The results show that, at low speed, the joint flexibility nearly does not influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joint deformation error.
Collision–Free Trajectory Planning for Two Robot Arms
Authors: Shin Youshik , Bien Zeungnam 
Published: March 2009

SUMMARYAn approach for collision–free trajectory planning along designated paths of two robots in a common workspace is presented. Specifically, in order to describe potential collision between the links of two robots along the designated paths, explicit forms of virtual obstacle are adopted, according to which links of one robot are made to grow while the other robot is forced to shrink as a point on the path. Then, a notion of virtual coordination space is introduced to visualize all the collision–free coordinations of two trajectories. Assuming that a collision–free coordination curve between the two robots is given via a virtual coordination space, the minimum time collision–free trajectory pair for the two robots is sought considering dynamic constraints of torque and velocity bounds of actuators of the two robots.
Recognition of Unreliable Ultrasonic Range Data in a Robotic Environment
Authors: Parnis P.J. , Drazan P.J. 
Published: March 2009

SUMMARYThe use of ultrasonic range transducers is an inexpensive method of obtaining information about the environment surrounding a robotic System. However, ultrasonic ranging suffers from various shortcomings, one of the major being the production of unreliable data caused by specular reflection.This work presents an original approach to overcoming the problem of unreliable ultrasonic range data which is caused by specular reflection of the ultrasonic beam. The approach is shown to discriminate between reliable and unreliable data, thus enhancing the role of the ultrasonic range transducer in robotic applications.
A novel tactile sensor for robot applications
Authors: Eghtedari F. , Morgan C. 
Published: March 2009

SUMMARYThis paper examines a tactile slip sensor based on photoelastic effects. Photoelastic patterns are obtained using a Dynamic Ram with a resolution of 256 by 128 pixels. Software is developed to detect changes in the stress patterns when an object moves relative to the surface of the sensor. It is suggested that the stress patterns can be used to detect slippage at the object/gripper interface.
Combined time/location optimization of robotic motions with specified paths and velocity profiles
Authors: Beiner L. 
Published: March 2009

SUMMARYA parameter optimization approach to the time-minimization of robotic motions along specified paths is presented for the case when: (i) the velocity profile is a prescribed sequence of constant acceleration/deceleration segments with unspecified, but bounded vertex velocities at given path stations; (ii) the relative robot/path location can be varied. Such optimizations occur when technological requirements impose a certain velocity profile along the path due to velocity and acceleration constraints. Full nonlinear manipulator dynamics and path parameterization are used to determine the optimal velocity profile and robot location consistent with the actuator/configuration limitations. No numerical integration or search for switching curve are involved in the solution. Examples of time-and-location optimized robotic motions with specified velocity profile are presented.
Joint velocity uniformity in redundant robot manipulators
Authors: Hemami A. 
Published: March 2009

SUMMARYA redundant robot manipulator has several certain or expected advantages over a nonredundant one. It is expected, among other capabilities, that the joints vary with constant velocities during the execution of those tasks which in a nonredundant manipulator require variable joint velocities. In this way, motion becomes more precise because of the elimination of errors associated with velocity change in joints. In this paper, it is shown that this expected advantage is not possible for all the joints, and that only as many joints as the degree of redundancy can have constant velocities.
Computer-assisted visual perception in teleoperated robotics
Authors: Mallem M. , Chavand F. , Colle E. 
Published: March 2009

SUMMARYDue to the complexity of teleoperation tasks, human operators figure in the teleoperator perception-decision-control loop. The operator needs an interactive system to handle the huge flow of data between himself and the teleoperator.The scene represented by the robot and its environment is viewed by one or more cameras. However, the video image may be degraded in extreme environments (underwater, space, etc.) or simply inadequate (2-D image).In this paper we describe the visual perception aids based of the scene, and more specifically how these are generated by the method we put forward. The system developed at the LRE superimposes a 3-D synthetic image onto the video picture, and animates the scene in real-time on the basis of sensor information feedback. The graphic image can be generated from models, if the objects are known, otherwise interactively, with the cooperation of the operator if the objects are completely unknown. Experiments show that these graphic aids improve the operator's performance in task execution.
Requirements for inertial sensor systems for measuring robot positions
Authors: Janocha H. , Schmidt D. 
Published: March 2009

SummaryInertial Measurement Systems (IMS) allow the position calculation of moving objects without requiring outside information. For years the inertial 3-D coordinate measuring technique has been subject to intense research in geodesy and autonomous navigation of land-, water-and airborne vehicles. Because of these areas of application inertially-based systems have been designed for long term measuring only. Here we discuss the requirements that are imposed on inertial sensors in order for them to be used for the calculation of positions of robots. The use of modern sensor technology, combined with strategies for error correction, can result in substantial advantages when calculating robot positions independently from load and environment.
Certainty Grid Representation for Robot Navigation by a Bayesian Method
Authors: Cho Dong Woo 
Published: March 2009

SummaryRecent development of sensor knowledge representation by the use of a certainty grid has been extensive and shown the usefulness of the grid-based concept for robot navigation.Yet the methodology was not perfect. This paper introduces the Bayesian formula into the certainty grid representation to overcome some difficulties ofad hocformula that has been the only way of updating the grids. The complete derivation of the proposed updating formula is given and proved to be able to accurately identify the simulated world. Also, the paper suggests two updating models: context-sensitive and context-free. Both of them were shown to be usable through simulation in real world modeling.
Real-time determination of a mobile robot's position by linear scanning of a landmark
Authors: Kim Jae H. , Cho Hyung S. 
Published: March 2009

SUMMARYFor the navigation of a mobile robot, the determination of its absolute location is one of essential tasks. This paper proposes a stripe type landmark which enables us to develop a fast algorithm to calculate the distance and orientation of a camera relative to the landmark. Exact and closed form solution of the camera location is obtained from the geometric relation between the pattern of landmark and its projected image. Since the presented algorithm requires only one row of the mark image, determination of the location can be processed in real-time. In addition, the mark can be identified using the projective invariant of the original mark pattern without any additional patterns. The effect of the error sources on the location determination is analyzed through a series of simulations and experiments. The applicability of the algorithm to mobile robots is discussed using the experimental results.
Conceptual graph-based system for assembly program synthesis
Authors: Maimon O. , Kapitanovsky A. 
Published: March 2009

SUMMARYISRA is a support system for robot programming. It provides a means to automatically (guided by knowledge) convert a user's request, expressed in the natural language, into the appropriate conceptual model of the required task. This model incorporates information required for the understanding, planning and sensory-guided performance of the required robotic task.To develop this system we applied the Natural Computation method. We considered natural information processing by humans during synthesis and interpretation of robotic programs, and then constructed an approximate conceptual model of the relevant dynamically changing real world.Such a model has to be suitable (e.g. representable and executable) for efficient computer processing. This paper presents the results of a case study which shows that methods built by formalizing human information processing in the robotic domain may be efficiently and naturally implemented in ISRA. It provides evidence that the structure and behavior of ISRA's competence representation and algorithm are comparable with the psychological behavior of humans, as required by the Natural Computation method.The case study illustrates the use of ISRA for the first phase of an assembly program synthesis i.e. planning of all valid assembly sequences.
Ultrasonic imaging system for robots using an electronic scanning method
Authors: Kuroda Shin-ichi , Jitsumori Akio , Inari Takahiko 
Published: March 2009

SUMMARYThis paper describes a primitive environment recognition system for advanced robots. The system can recognize the location, configuration and distribution of 3-D objects in an object space (4m×4m×2.5m) using an ultrasonic imaging method. As an experiment, we have tried to develop the recognition system for the distribution of standing persons. First, this system was tested by mechanical scanning in order to obtain a satisfactory result. Next, we have investigated the electronic scanning method. A transmitter built for testing was composed of twenty-one ultrasonic transducers (40 KHz) built into a 2-D array. The characteristics supported by measurements have agreed well with the theoretical results. Therefore, it has become clear that the ultrasonic imaging system using an electronic scanning method can be applied to environment recognition.
The ‘Omnigripper’: a form of robot universal gripper
Authors: Scott Peter B. 
Published: March 2009

SUMMARYAt Imperial College, the author has invented a form of universal gripper comprising two slightly separated ‘fingers’, each consisting of an array of 8 by 16 closely spaced pins which can ride vertically up and down independently of each other. Lowering the gripper over an object pushes some pins out of the way, so creating ‘customised’ fingers which mould round and fit the part. To grasp objects, either the two (slightly separated) fingers can be brought together to grip an object externally, or else they can be moved slightly apart (from a ‘closed’ position) for an internal grip. In addition, feedback from each pin of the gripper can provide tactile information about an object.
Some comments on the national conference on ‘The economic, social, financial and technical effects of automation (November 27–28, 1984; University of Salford, U.K.) … conference closure
Authors: Chilver F. R. S. Henry 
Published: March 2009

SUMMARYAfter reviewing the conference topics, the author discusses the technical potential of automation in the wider aspects of technical innovation. The next topic is concerned with automation and the world economy in general, and that in developed countries in particular. Some comments are then made about the manufacturing prospects in the U.K. and their relationships with education and training in the relevant fields. Finally, the inauguration of the Advanced Manufacturing Technology Chair at the University of Salford is described in the context of industry-education problems.
Change and the nature of work. Some employment and organisational problems of advanced manufacturing technology
Authors: Tynan Oliver 
Published: March 2009

SUMMARYSome changes have uncomfortable characteristics. Change is inevitable, large, penetrating, unpredictable. There is thus the need to create ‘learning’ organisations capable of coping with change. The following topics are considered:1. Changes in organisational shape – transition from hierarchical triangular shaped to ‘heterarchical’ diamond shaped organisations – the breakdown hierarchy.2. Changes in the role of people in manufacturing and services including the public service.3. ‘Managers’ and new technology – management role enhanced co-ordinating and creating motivation.4. Three models for change.5. The productivity of automation is essential. ‘Working’ years are shortening, ‘dependent’ years are lengthening.6. People as assets.7. Technology, Human Aspects, Process of change = TRAP.
Manipulator motion along a constraint
Authors: Lensky A. V. , Lizunov A. B. , Formal'sky A. M. , Shneider A. Yu. 
Published: March 2009

SUMMARYThis paper is concerned with the problem of keeping contact with a fixed object during the motion of a manipulator gripper along the contour of an object, i.e. along a constraint. The theory of the existence and the stability of stationary regimes of motion along a straight line and a circle is studied.
Concurrent Pascal as a robot level language – a suggestion
Authors: Steiger-Carçao Adolfo , Camarinha-Matos L. M. 
Published: March 2009

SUMMARYThis paper briefly describes actual robot level programming languages, focusing on their intrinsic limitations when compared with traditional concurrent programming languages or when used for robotic systems/flexible production workshops programming, and not only for an isolated manipulator control.To reduce such limitations, a suggestion is made to base the development of robotic programming systems on already existing concurrent languages (Concurrent Pascal, Modula-2), taking into account their built-in extension facilities for fastening the incorporation of (or easy interfacing with) existing packages or products already developed in robotics (robot models, CAD systems, vision systems, etc).Using such languages as a support base for a robotic station programming environment, with access to different components developed separately, will allow a better understanding of the inter-relations among components and their limitations when faced with an integration perspective.
Manufacturing of a Scara Type Direct-Drive Robot with Graphite Fiber Epoxy Composite Material
Authors: Lee Dai Gil , Kim Ki Soo , Kwak Yoon Keun 
Published: March 2009

SUMMARYA SCARA type direct-drive robot which can be used in the assembly operation of printed circuit boards was designed and manufactured with graphite fiber epoxy composite material. The optimum stacking angle of the graphite fiber which gives the minimum deflection of the composite robot arm was calculated by the energy method and the manufacturing method of the box-type cross section of the robot arm with composite materials was developed.In order to compare the dynamic characteristics of the composite material robot arm with a conventional material robot arm, an aluminum robot arm which has the same dimensions and thickness of the composite robot arm was manufactured.The static and dynamic characteristics of the composite material robot arm such as static deflection, natural frequency and damping as well as weight saving were considerably improved compared to those of the aluminum robot arm.
An inverse kinematics algorithm for robot manipulators using incremental unit computation method
Authors: Park Seo W. , Oh Jun H. 
Published: March 2009

SUMMARYThis paper presents a new method for solving the inverse kinematics of robot manipulators. The method defines incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. Based on these units, the incremental computation of the DDA integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is replaced by a simple look-up table. By using an iterative procedure with convergence rules, the inverse kinematics algorithm is established. A 3 DOF robot is considered as the combination of two types of a 2 DOF robot. Simulation and experiment are performed to test the algorithm.
Artificial intelligence for production engineering: a historical approach
Authors: Aleksander Igor 
Published: March 2009

SUMMARYThis paper describes the principles of the advanced programming techniques often dubbed Artificial Intelligence involved in decision making as may be of some value in matters related to production engineering. Automated decision making in the context of production can adopt many aspects. At the most obvious level, a robot may have to plan a sequence of actions on the basis of signals obtained from changing conditions in its environment. These signals may, indeed, be quite complex, for example the input of visual information from a television camera.At another level, automated planning may be required to schedule the entire work cycle of a plant that includes many robots as well as other types of automated machinery. The often-quoted dark factory is an example of this, where not only some of the operations (such as welding) are done by robots, but also the transport of part-completed assemblies is automatically scheduled as a set of actions for autonomic transporters and cranes. It is common practice for this activity to be preprogrammed to the greatest detail. Automated decision making is aimed at adding flexibility to the process so that it can absolve the system designer from having to forsee every eventuality at the design stage.Frequent reference is made in this context to artificial intelligence (AI), knowledge-based and expert systems. Although these topics are more readily associated with computer science, it is the automated factory, in general, and the robot, in particular, that will benefit from success in these fields. In this part of the paper we try to sharpen up this perspective, while in part II we aim to discuss the history of artificial intelligence in this context. In part III we discuss the industrial prospects for the field.
Automatic generation of salient features for the recognition of partially occluded parts
Authors: Mudge T.N. , Turney J.L. , Volz R.A. 
Published: March 2009

SUMMARYA method for solving the recognition of partially occluded parts is presented. It is based on the automatic generation of features from a set of primitive features which are configurations of pairs of fixed length segments of boundary edges of the parts. The procedure that creates the recognition features assigns a number in the range (0,1) that indicates the importance of the feature in the recognition strategy. This number is referred to as the feature's saliency. The method assumes that the parts that can occur in a scene come from a known set of parts. An example illustrates how automatically generated features can be used to count the number of identical parts in a heap.
Computational requirements for a discrete Kalman filter in robot dynamics algorithms
Authors: Kozłowski Krzysztof 
Published: March 2009

SUMMARYIn standard classical kinematic and dynamic considerations the equations of motion for ann-link manipulator can be obtained as recursive Newton-Euler equations. Another approach to finding the inverse dynamics equations is to formulate the system dynamics and kinematics as a two-point boundary-value problem. The equivalence between these two approaches has been proved in this paper. Solution to the two-point boundary-value problem leads to the forward dynamics equations which are similar to the equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing. The extensive numerical studies conducted by the author on the new inverse and forward dynamics algorithms derived from the two-point boundary-value problem establish the same level of confidence as exists for current methods. In order to obtain the algorithms with the smallest coefficients of the polynomial of orderO(n), the categorization procedure has been implemented in this work.