摘要:

AbstractFor effective application of industrial robots in flexible manufacturing systems and in automatic assembly, guided automatic collision avoidance is an important and—in spite of many applications—so far unsolved problem. The basis is unconstrained path control of each robot controlled, for example, by optical sensors in connection with different priority levels assigned to the robots. Iterative, time‐consuming, hierarchical control methods are not applicable due to the complexity and the real‐time constraints of this task. As a new and successful approach the application of various hierarchical decision strategies in connection with extremely time‐efficient evaluation of decision tables is presented. This concept is based on a suitable description of the actual possible collisi

ISSN:0741-2223    

DOI:10.1002/rob.4620010402

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

年代:1984

数据来源: WILEY

摘要:

AbstractThis article describes a sensor‐based obstruction avoidance technique. This technique, if implemented on the on‐board computer of a mobile robot, would enable the robot to move through an unknown environment. The proposed approach is driven by sensory data. The robot thus senses and adapts to the changes in the environment. The software also does path planning. As more information about the environment is obtained the robot's path planning capabilities improve. Illustrative examples are used to describe the algorit

ISSN:0741-2223    

DOI:10.1002/rob.4620010403

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

年代:1984

数据来源: WILEY

摘要:

AbstractBeginning with an outline of the accepted methods for kinematic analysis of robot manipulators, the structure of the dynamical system is provided using two complementary approaches. The first of these is based on Lagrangian techniques while the second is a modified version of Hollerbach's recursive formula. The results of both methods are demonstrated for the particular case of a PUMA robot, and the code for both algorithms is provided in the Appendix.

ISSN:0741-2223    

DOI:10.1002/rob.4620010404

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

年代:1984

数据来源: WILEY

摘要:

AbstractDifferent concepts for dynamic control of manipulation robots are presented. Principles for the synthesis of optimal control, optimal regulator, “inverse problem” technique, force feedback, decoupled control, and decentralized control are considered. An attempt is made to provide a comparative analysis of all the stated control algorithms and to point out the advantage of decentralized control conc

ISSN:0741-2223    

DOI:10.1002/rob.4620010405

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

年代:1984

数据来源: WILEY

摘要:

AbstractA generalized inversion technique and algorithm is presented for the purpose of computing the 9ncoefficients pertaining to the three segments—i.e., liftoff, transitory, and setdown—of a motion trajectory of ann‐axis robot manipulator. The technique and the computer program presented is general enough to be immediately applicable to ann‐axis robot manipulator if only the desired initial and final position, velocity, acceleration, as well as the intermediate “via” positions are given. A number of examples are presented for a wide spectrum of these constraint conditions on the desired motion t

ISSN:0741-2223    

DOI:10.1002/rob.4620010406

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.4620010407

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.4620010401

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

年代:1984

数据来源: WILEY