bluuebunny/crossref_metadata_2025_split huggingface dataset:
Assembly Strategies for Parts with a Plane of Symmetry
Authors: Aspragathos N. A. 
Published: March 2009

SUMMARYThis paper describes the development of assembly strategies based on hybrid force/position control. The assembly strategies developed are confined to the large class of assembly tasks defined as a peg-in-the-hole assembly having a plane of symmetry passing through the axis of insertion.The basic idea to develop a robotic system for programmable assembly is presented. This system can currently operate controlled manipulators with minor modifications, i.e. if a force/torque sensor and proper software for hybrid control are provided.The principles of writing assembly strategies are analysed and examples of more complex assembly tasks than the classic round peg-in-the-hole are discussed in detail.
Concepts of Augmented Image Space and Transformed Feature Space for Efficient Visual Servoing of an “Eye-in-Hand Robot”
Authors: Jang Won , Kim Kyungjin , Chung Myungjin , Bien Zeungnam 
Published: March 2009

SUMMARYFor efficient visual servoing of an “eye-in-hand” robot, the concepts of Augmented Image Space and Transformed Feature Space are presented in the paper. A formal definition of image features as functionals is given along with a technique to use defined image features for visual servoing. Compared with other known methods, the proposed concepts reduce the computational burden for visual feedback, and enhance the flexibility in describing the vision-based task. Simulations and real experiments demonstrate that the proposed concepts are useful and versatile tools for the industrial robot vision tasks, and thus the visual servoing problem can be dealt with more systematically.
A Distributed PC-Based Control System for Education in Robotics
Authors: Kirćanski N. , Leković Dj. , Borić M. , Vukobratović M. , Djurović M. , Djurović N. , Petrović T. , Karan B. , Urosević D. 
Published: March 2009

SUMMARYThe paper presents an educational system for teaching and research in robotics which consists of a manipulator, controller and a PC compatible host computer. The advanced design of host-computer user-interface software makes the system very suitable for teaching. It allows the user not only to follow the system states but also to change the control structure on-line. In the first part of this paper the architecture of the system, window-oriented user interface, specially designed robot language and several build-in students lessons will be described as well as the data acquisition system and advanced graphical capabilities.In the second part of this paper the executive controller architecture is described. Besides the manipulator control function and IO operations, the controller supports communication with the host-computer. The controller is programmable, i.e. it executes various tasks within user-defined and build-in students lessons. By the use of simple host-computer commands the controller can execute various algorithms both for trajectory generation and dynamically compensated digital servo control. The dynamic model components in the feed-forward and feed-back control loop can be selectively included and changed during the manipulator's motion. Experimental results with a 4-link educational robot are presented.
Application of redundant robots to constrained-motion tasks
Authors: Potkonjak Veljko 
Published: March 2009

SUMMARYThe problem of the constrained motion of robot end-effector is discussed. The redundant robot is considered, redundancy being added in order to improve robot working characteristics. In the phase of free motion towards the constraint the errors of basic non-redundant configuration are corrected by means of redundancy. During the constrained motion redundancy plays the role either of active or passive compliance. Between these two phases, the collision with the constraint occurs, and the impact can be absorbed by using redundancy.
Virtual reality and telepresence
Authors: Stone Robert 
Published: March 2009

SUMMARYThe UK Advanced Robotics Research Centre's VERDEX Project (Virtual Environment demote Driving Experiment) is an experimental test bed for investigating telepresence and virtual reality technologies in the design of human-system interfaces for telerobots. The achievements of the Project to date include the transformation of scanning laser rangefinder output to stereo virtual imagery (viewed using the VPL EyePhoneTM), the Teletact® Tactile Feedback Glove (for use with the VPL DataGloveTM), a high-speed, head-slaved stereo TV system, and a T800/i860 SuperVisionTM graphics/video parallel processing system.
AI and Robotics; Flexibility and Integration
Authors: Mowforth Peter , Bratko Ivan 
Published: March 2009

SUMMARYThis paper reviews some current research problems in Artificial Intelligence applied to robotics, in particular the processing of sensory information and robot programming. It is perceived that much progress has been made in applying AI techniques to particular isolated tasks, but the important theme at the leading edge of the AI-based robotics technology seems to be the interfacing of the subsystems into an integrated environment. This requires flexibility of the subsystems themselves. But on the other hand it also increases the flexibility of the integrated system in that it broadens the variety of ways for solving problems through functional combination of the subsystems. The presentation in this paper is illustrated by examples from the hardware and software environment of the advanced robotics research at the Turing Institute.
How robotics expands A.I.
Authors: Andrew Alex M. 
Published: March 2009

SUMMARYArtificial Intelligence clearly influences Robotics, but the advent of the latter alters the character of A.I. itself, bringing it closer to natural intelligence. This is partly due to greater attention to processes depending on continuous variables, and the combination of these with concept-based or “logical” processes. Some fundamental A.I. principles, notably Minsky's heuristic connection, involve continuity, and the advent ofRobotics should stimulate developments which take them into account. A scheme for a robot which can increase its speed of operation by a learning process is outlined.
Robotic assembly: a synthesizing overview
Authors: Cho H. S. , Warnecke H. J. , Gweon D. G. 
Published: March 2009

SUMMARYRobotic assembly systems offer tremendous promise for the flexible assembly automation but present a variety ofcomplexresearch issues due to the positioning inaccuracy of the manipulator, dimensional variation of mating parts and their physical interactions. This paper provides an up-to-date survey of researches in robotic assembly with emphasis on parts mating technology. Depending upon the mating strategy, presently available methods of performing precision assembly operations are classified and their advantages and limitations are discussed from the view points of the system complexity, adaptability and reliability. The performance variables such as the mating speed, positioning error absorbing capability and applicability are compared in some details for various assembly methods.
Parallel computation of symbolic robot models of pipelined processor architectures
Authors: Kirćanski N. , Petović T. , Vukobratović M. 
Published: March 2009

SUMMARYIncreased speed of inverse dynamics computation is essential for improving the characteristics of robot control systems. This is achieved by reducing the numerical complexity of the models and by introducing parallelism in model computation. In this paper customized symbolic models with a near minimum numerical complexity will be used as a basis for the examination of parallelism in inverse dynamic robot models. A scheduling algorithm for the distribution of computational load onto an arbitrary linear array of pipelined processors will be developed. The proposed algorithm is experimentally evaluated on a transputer network.
R & D Profile Jet Propulsion Laboratory Robotic Facilities and Associated Research
Authors: Weisbin C. , Perillard D. 
Published: March 2009

SUMMARYThis paper describes the robotics facilities and associated research program of the Jet Propulsion Laboratory, lead center in telerobotics for the United States National Aeronautics and Space Administration. Emphasis is placed on evolution from teleoperation to remote System automation. Research is described in manipulator modelling and control, real-time planning and monitoring, navigation in outdoor terrain, real-time sensing and perception, human-machine interface, and overall System architectures. Applications to NASA missions emphasize robotic spacecraft for solar System exploration, satellite servicing and retrieval, assembly of structures, and surveillance. Applications to military missions include battlefield navigation, surveillance, logistics, command and control.
Task–Driven Extraction of Object Contour by Human Haptics: Part 1
Authors: Klatzky Roberta L. , Lederman Susan J. , Balakrishnan J. D. 
Published: March 2009

SUMMARYThe extraction of contour information from objects is essential for purposes of grasping and manipulation. We proposed that human haptic exploration of contours, in the absence of vision, would reveal specialized patterns. Task goals and intrinsic system capacities were assumed to constrain the breadth of processing and the precision with which contour is encoded, thus determining parameters of exploration and ultimately producing movement synergies or “contour exploration procedures.” A methodology for testing these assumptions is described, and the most frequently observed procedures are documented in Part 1. Part 2 will further analyze the procedures, test predictions, and develop implications of the research. The paper (2 parts) is novel in its study of human manipulative behavior from a robotic standpoint; it is thus of interest to robotics research workers interested in the long-term goals of robot manipulation and those interested in an anthropomorphic approach to robotics studies.
Identifiable Parameters and Optimum Configurations for Robots Calibration
Authors: Khalil W. , Gautier M. , Enguehard Ch. 
Published: March 2009

SUMMARYThis paper presents a general method to identify the geometric parameters of robots. An algorithm is given to calculate the identifiable geometric parameters. The robot location and the tool location parameters are taken into account. The algorithm is generalized to tree structure robots. The problem of selecting the optimum robot configurations to be used during the identification is discussed and a solution is proposed.
Iterative Generation of Virtual Reference for a Manipulator
Authors: Yamakita M. , Furuta K. 
Published: March 2009

SUMMARYVirtual reference is defined as the signal for a closed-loop System so that the response tracks the desired path perfectly. It is proposed to obtain a virtual reference signal suitable for a manipulator to track a predetermined trajectory using repetitive operations. Thus the algorithm ensures that the difference between the desired and the manipulator trajectories will become negligible as the number of operations approaches infinity if the manipulator is compensated for properly by local feedback. This algorithm uses a dual System to recursively improve the reference signal. Such a System has the advantage of being simple to design. The derivation of this algorithm is based on functional analysis. The effectiveness is confirmed by two experimental results.
Structured Motion Planning in the Local Configuration Space
Authors: Zalzala A. M. S. , Morris A. S. 
Published: March 2009

SUMMARYThe minimum-time motion of robot manipulators is solved by defining a suitable time history for the arm end-effector to traverse. As the planning is performed in the configuration space, the uniqueness of the proposed algorithm emerges from the combination of both cubic and quadratic polynomial splines. Furthermore, the highly efficient time optimisation procedure could be applied to local segments of each joint trajectory, leading to a significant reduction of the travelling time. In addition, the ability to perform a search in the work space is granted, exploiting all possible options for an optimum motion. The method proposed considers all realistic physical limitations inherent in the manipulator design, in addition to any geometric constraints imposed on the path. Simulation programs have been written, and results are reported for the Unimation PUMA 560 robot manipulator.
On the Dynamic Characteristics of a Redesigned Robot
Authors: Park H. S. , Cho H. S. 
Published: March 2009

SUMMARYA robotic manipulator is usually a very complicated system whose dynamics is too complicated time consuming for real-time control. The authors propose general criteria for designing an ideal robot whose dynamics is very much simpler than that of the conventional one. In this paper, dynamic characteristics of an ideally designed robot are investigated. The design guidelines were applied to a 6-degree-of-freedom PUMA 560 robot. Based upon the design concept dynamic equations of the redesigned robot were derived. Utilizing these equations, dynamic characteristics of the redesigned robot are investigated with respect to the computation efforts required, variation of the inertia matrix, joint input torque chracteristics, and couplings between the joints. A detailed comparison study is also made between the redesigned and conventional robots.
Identification and Compensation of a Robot Kinematic Parameter for Positioning Accuracy Improvement
Authors: Kim D. H. , Cook K. H. , Oh J. H. 
Published: March 2009

SUMMARYThis paper presents a simple identification method of the actual kinematic parameters for a robot with parallel joints. It is known that Denavit–Hartenberg's coordinate System is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1 m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and the corresponding error function is defined. The identified kinematic parameters, which make the error function zero, are obtained by the iterative least square method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.
On the problem of translating an elliptic object through a workspace of elliptic obstacles
Authors: Oommen B. John , Reichstein Irwin 
Published: March 2009

SUMMARYTwo algorithms are presented which deal with translating an elliptic object, A, without collision amidst elliptic obstacles. These are:(i) An exact algorithm, of complexity O(N log N), where N is the number of obstacles, yielding all directions along which the object is separable from the obstacles by a single translation.(ii) An algorithm quadratic in N, which yields, with a degree of approximation determined by the user, a path of the object from its initial to its final position.
A fast tracking error control method for an autonomous mobile robot
Authors: Lee S.S. , Williams J.H. 
Published: March 2009

SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.
A modeling method for collision detection and motion planning of robots
Authors: Wu Chia-Ju 
Published: March 2009

SUMMARYA modeling method for robots is proposed, in which a convex polyhedron is represented as a set of inequalities and a robot is represented as a union of convex polyhedrons. With this method, collision between robots can be detected by solving a set of linear programming problems at every sampling instant. By detecting possible collision at every sampling instant, a directed graph for robots is created. The motion planning problem of robots is then transformed into a path searching problem in the directed graph and can be solved by exisiting searching algorithms.
On-line polynomial path planning in Cartesian space for robot manipulators
Authors: Froissart Cyrille , Mechler† Pierre 
Published: March 2009

SUMMARYA method is presented to perform path planning in the Cartesian space. The motion velocity and acceleration are continuous. This is the first polynomial path planning algorithm in the Cartesian space working in real-time; it does not need an advanced knowledge of the trajectory and can be used when knot points are provided on-line by a sensor. The Bézier representation is used to compute a fifth degree polynomial path. It has been tested on an industrial robot controller.
Avoidance of obstacles with unknown trajectories: locally optimal paths and path complexity, Part I
Authors: Gil de Lamadrid James , Zimmerman† Jill 
Published: March 2009

SUMMARYWe consider the problem of moving a point robot through a two dimensional workspace containing polygonal obstacles moving on unknown trajectories. We propose to use sensor information to predict the trajectories of the obstacles, and interleave path planning and execution. In this paper, we present preliminary work in which we propose our basic algorithm and define a locally minimum velocity path as an optimal robot trajectory, given only local information about obstacle trajectories. In the sequel (part II) to this paper we will show that the complexity of a path planning problem can be characterized by how frequently the robot must change directions to approximate the locally minimum velocity path.
An automatic Guidance system of an autonomous vehicle —the trajectory generation and the control algorithm
Authors: Lee S.S. , Williams J.H. , Rayment P.J. 
Published: March 2009

SUMMARYThis paper presents a trajectory generation method using smooth functions for an automatic guidance system of an autonomous vehicle with two differentially driven wheels within structured environments. A control algorithm based on an incrementally generated smooth trajectory gives a good performance when implemented on an experimental vehicle.
Human posture modelisation as a problem of inverse kinematic of redundant robots
Authors: Lepoutre F.X. 
Published: March 2009

SUMMARYHuman posture is the co-operation of parts of the body to perform a task. This organization is self optimised by the operator to minimize strain and pain and maximize efficiency. This problem is formulated as a problem of inverse kinematic of a redundant robot. Constraints are imposed by the visual and manual task, and criteria may be modified in relation to operator motivation and tiredness. An interactive graphical software is designed to teach the postural problem and as an ergonomic aid.
Trajectory generation and control for automatic manipulation
Authors: Hayward Vincent , Daneshmend Laeeque , Nilakantan Ajit 
Published: March 2009

SUMMARYA method is described to convert information available at manipulator programming level into trajectories which are suitable for tracking by a servo control system. This process generates trajectories in real time which comply with general dynamic and kinematic constraints. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoints - the actuator output demands, in particular, must remain bounded. Our scheme takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, and various types of constraints, such as manipulators. It has been developed in the context of a multi-manipulator programming and control system called Kali and developed at McGill University.
A prototype ground-remote telerobot control system
Authors: Backes Paul G. , Beahan John , Long Mark K. , Steele Robert D. , Bon Bruce , Zimmerman Wayne 
Published: March 2009

SummaryA local-remote telerobot control system is described which is being developed for time-delayed groundremote control of space telerobotic systems. The system includes a local site operator interface for interactive command building and sequencing for supervised autonomy and a remote site: the Modular Telerobot Task Execution System (MOTES), to provide the remote site task execution capability. The local site system also provides stereo graphics overlay on video with interactive update of the remote environmental model. The operator selects objects in the environment to interact with and skill types to specify the tasks to be performed, such as grasping a module or opening a door.
Path planning and control of a mobile base with nonholonomic constraints
Authors: Jagannathan S. , Zhu S. Q. , Lewis F. L. 
Published: March 2009

SummaryMotion Planning and control of mobile vehicles with nonholonomic constraints are in their infancy. A systematic approach for modeling and base; motion control of a mobile vehicle is presented. A nonlinear coordinate transformation that takes into account the complete dynamics with nonholonomic constraints is used in order to obtain a linear system in space coordinates. An input-output feedback linearization inner loop is subsequently designed to transform this system into a linear-point mass system in the coordinates corresponding to the control objectives. A rigorous yet simple approach to motion planning through optimization techniques is presented for these mobile vehicles. The resulting Cartesian trajectory generated from the motion planning algorithm is employed as the reference trajectory in the outer loop, which is designed based on a Lyapunov function candidate. The net result is a base motion controller that gives capabilities to these mobile vehicles not only for tracking a Cartesian trajectory but also to achieve a desired final orientation (docking angle).
Dynamic control with adaptive identification for free-flying space robots in joint space
Authors: Shin Jin-Ho , Lee Ju-Jang 
Published: March 2009

SummaryIn this paper, a joint space dynamic control scheme with an adaptive identifier is proposed for free-flying space robots. The control in Cartesian space poses a measurement problem which is critical from a point of view of implementation. In order to overcome this problem, a joint space control is developed. An inverse kinematics algorithm is proposed so as to control free-flying space robots in joint space. Since the inverse kinematic solutions for space robots depend on the dynamic parameters as well as the kinematic.parameters, the accurate estimation of all the unknown parameters is essential to make joint space control possible. Therefore, an off-line adaptive parameter identification is performed for free-flying space robots. Simulation results are given to show the validity and the effectiveness of the presented adaptive identification and dynamic control scheme.