ISSN:0741-2223    

DOI:10.1002/rob.4620010202

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractThis article proposes a betterment process for the operation of a mechanical robot in a sense that it betters the next operation of a robot by using the previous operation's data. The process has an iterative learning structure such that the (k+ 1)th input to joint actuators consists of thekth input plus an error increment composed of the derivative difference between thekth motion trajectory and the given desired motion trajectory. The convergence of the process to the desired motion trajectory is assured under some reasonable conditions. Numerical results by computer simulation are presented to show the effectiveness of the proposed learning scheme.

ISSN:0741-2223    

DOI:10.1002/rob.4620010203

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractThe detailed model for the motion of a manipulator system is linearized along a specific path. An on‐line parameter estimation algorithm based on the least‐squares criterion is used to determine the parameter values along the path at the operating instances. Based on the estimated parameter values, a self‐tuning adaptive controller is designed by minimizing a chosen performance criterion. Simulation results as well as experimental results are presented to demonstrate the approach. Certain aspects of the implementation are disc

ISSN:0741-2223    

DOI:10.1002/rob.4620010204

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractThe control of a three‐link planar robot, whose parameters roughly match a small commercially available arm, is considered. The end effector of the arm moves along a specified trajectory on a surface with dry friction while maintaining a prespecified constant pressure against the surface both with and without force sensors at the tip. A control strategy is presented with nonlinear position and velocity error feedback gains which are state dependent. Digital computer simulations of the motion are provided for comparison purposes and for demonstrating the effectiveness of this strateg

ISSN:0741-2223    

DOI:10.1002/rob.4620010205

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractMultisensor systems require a coherent and efficient treatment of the information provided by the various sensors. We propose a framework, the Logical Sensor Specification System, in which the sensors can be defined abstractly in terms of computational processes operating on the output from other sensors. Various properties of such an organization are investigated, and a particular implementation is described.

ISSN:0741-2223    

DOI:10.1002/rob.4620010206

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractThe problem of picking up single cylindrical objects using a robot equipped with a vision system is investigated. Explanation of how the robot defines the position of objects located within the workcell is provided. Image analysis, camera calibration, and algorithm specification are also defined.

ISSN:0741-2223    

DOI:10.1002/rob.4620010207

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractIn this article, the implementation of a microcomputer‐based control system using a low‐cost 16‐bit single‐board microcomputer combined with a general‐purpose data acquisition board is described. It is intended that this combination forms a suitable basis of a control system for the type of complex sensor systems currently associated with modern industrial robots. The technique of interfacing a 16‐bit microcomputer to a peripheral environment which has essentially an 8‐bit architecture is presented. The result is a high‐performance, low‐cost analog data processing and control system. A novel timing device with both software‐ and hardware‐configurable features has been developed so that an accurate interval timer for use with sample data systems is also available. To demonstrate the potential use of the system, an illustrative example of real‐time adaptive proce

ISSN:0741-2223    

DOI:10.1002/rob.4620010208

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620010209

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620010201

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY