ISSN:0741-2223    

DOI:10.1002/rob.4620040202

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

年代:1987

数据来源: WILEY

摘要:

AbstractAn efficient Jacobian calculation and inversion for a PUMA manipulator permits the real‐time implementation of modern Cartesian space manipulator control techniques. Efficient exact computational formulations for the Jacobian and its inverse have been developed by symbolic reduction techniques. Jacobian computational requirements have been reduced to 66 multiplications and 30 additions. The inverse Jacobian requires only 103 multiplications, 5 divisions, and 70 additions. These computational requirements are easily satisfied in real‐time by modern microprocessor‐based manipulator control sy

ISSN:0741-2223    

DOI:10.1002/rob.4620040203

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

年代:1987

数据来源: WILEY

摘要:

AbstractThis article presents a microcomputer‐based robot dynamic sensing system by the use of the linear scanning approach for object recognition and manipulation. In this research, a 512 × 1 solid‐state photodiode linear array sensor is used for dynamic scanning the object to be identified. An experimental prototype is built, which consists of a fully opened parallel jaw gripper and a 360d̀ turnable pedestal located between the jaws of the gripper. The sensor with the lens is mounted near the horizontal edge of one side of the gripper, and the illumination source is located directly on the other finger. The object to be identified is placed on the turnable pedestal. The simulated robot gripper can move vertically and the object will be scanned providing a two‐dimensional image of the object. The object can be scanned in different views by adjusting the angle of the turnable pedestal. All the binary images which result are further analyzed for recognition and manipulation purposes. A Compaq microcomputer based on the Intel 8088 microprocessor is used as the host. A special interface between scanned video output, CPU, and video RAM memory is built and successfully

ISSN:0741-2223    

DOI:10.1002/rob.4620040204

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

年代:1987

数据来源: WILEY

摘要:

AbstractIn order to discuss sensor systems in intelligent robotics or manufacturing systems, it is necessary to classify tasks, controller requirements, as well as the information‐control aspects. This paper classifies tasks as deterministic (principally driven by geometry considerations) and non‐deterministic. The latter are the problems done by people requiring skill involving processes whose process models either do not exist or are poorly understood. Other non‐deterministic tasks involve inspection or data interpretation. The process tasks require adaptive‐learning type control systems and are rich in sensor needs. Automated inspection tasks can be implemented by Engineering‐Based Expert systems with more modest sensor system req

ISSN:0741-2223    

DOI:10.1002/rob.4620040205

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

年代:1987

数据来源: WILEY

摘要:

AbstractA trajectory based on a Gaussian velocity profile is presented as an alternative to the double square pulse acceleration profile. The new trajectory leads to the fast positioning of the tip of a flexible robot with a minimal excitation of high‐frequency modes. The torques necessary to move the robot according to this trajectory show a very smooth behavior. The absence of high‐frequency content, present when double square pulse accelerations are considered, eliminates the Occurrence of undesired residual vibrations produced by modeling uncemnties at high frequencies. The excellent results obtained suggest the use of this new trajectory for fast and precise positioning of flexible rob

ISSN:0741-2223    

DOI:10.1002/rob.4620040206

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

年代:1987

数据来源: WILEY

摘要:

AbstractA number of issues pertaining to the automatic recognition of the shape of known and unknown surfaces and objects by tactile probing are discussed and formulated for a planar robotic probe. The dynamics of the robotic probe are presented. Sensory and computational requirements are outlined. Several methods for deriving parameters that describe a quadratic shape are exposed. Digital computer simulations are used to demonstrate and compare three linear algorithms in estimation of parameters of a quadratic surface.

ISSN:0741-2223    

DOI:10.1002/rob.4620040207

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

年代:1987

数据来源: WILEY

摘要:

AbstractThe kinematic error compensation of robot manipulators is at present being attempted by improving the precision of the nominal robot kinematic parameters. This paper addresses the problem of kinematic compensation using a new mathematical joint model proposed to account for shortcomings in existing methods. The corrected manipulator transformation is formulated in terms of “generalized Jacobians”: relating differential errors at the joints to the differential change in the manipulator transformation. The details of application are discussed for a particular industrial manipula

ISSN:0741-2223    

DOI:10.1002/rob.4620040208

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

年代:1987

数据来源: WILEY

摘要:

AbstractWe formulate the kinematic equations of motion of wheeled mobile robots incorporating conventional, omnidirectional, and ball wheels.1We extend the kinematic modeling of stationary manipulators to accommodate such special characteristics of wheeled mobile robots as multiple closed‐link chains, higher‐pair contact points between a wheel and a surface, and unactuated and unsensed wheel degrees of freedom. We apply the Sheth‐Uicker convention to assign coordinate axes and develop a matrix coordinate transformation algebra to derive the equations of motion. We introduce a wheel Jacobian matrix to relate the motions of each wheel to the motions of the robot. We then combine the individual wheel equations to obtain the composite robot equation of motion. We interpret the properties of the composite robot equation to characterize the mobility of a wheeled mobile robot according to a mobility characterization tree. Similarly, we apply actuation and sensing characterization trees to delineate the robot motions producible by the wheel actuators and discernible by the wheel sensors, respectively. We calculate the sensed forward and actuated inverse solutions and interpret the physical conditions which guarantee their existence. To illustrate the development, we formulate and interpret the kinematic equations of motion of Uranus, a wheeled mobile robot being constructed in the CMU Mobile Robot Labor

ISSN:0741-2223    

DOI:10.1002/rob.4620040209

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

年代:1987

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620040201

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

年代:1987

数据来源: WILEY