ISSN:0741-2223    

DOI:10.1002/rob.4620070202

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

年代:1990

数据来源: WILEY

摘要:

AbstractA discrete‐time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete‐time adaptation algorithm is extremely simple and is therefore suitable for real‐time implementation. Simulations and experimental results are given to demonstrate the performance of the s

ISSN:0741-2223    

DOI:10.1002/rob.4620070203

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

年代:1990

数据来源: WILEY

摘要:

AbstractThe robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm‐wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm‐wrist coordination. In the companion paper (Part 2). manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guideli

ISSN:0741-2223    

DOI:10.1002/rob.4620070204

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

年代:1990

数据来源: WILEY

摘要:

AbstractIn the companion article (Part 1), we developed a mathematical framework that provides for the analysis and quantitative rating of arm‐wrist coordination. The objective of this article is to exploit this framework and formulate manipulator design guidelines for effective arm‐wrist coordination and task execution. We explore various arm and wrist designs and quantify their performance in terms of meeting the two design objectives of efficient arm‐wrist coordination and robot flexibility. Numerical simulation experiments highlight the measurable effects of both the fixed manipulator geometry and changing robot configuration on arm‐wrist coordination and demonstrate the impact of the design guidelines on robot perf

ISSN:0741-2223    

DOI:10.1002/rob.4620070205

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

年代:1990

数据来源: WILEY

摘要:

AbstractThis article examines the factors influencing the identification and observability of kinematic parameters during robot calibration. A generalized calibration experiment has been simulated using two different identification techniques. Details of the identification techniques and considerations for implementing them using standard IMSL routines are presented. The factors considered during the simulations include: initial estimates of parameters, measurement accuracy and noise, encoder resolution and uncertainty, selection of measurement configurations, number of measurements, and range of motion of the joints during observations. Results are tabulated for the various cases and suggestions are made for the design of robot calibration experiments.

ISSN:0741-2223    

DOI:10.1002/rob.4620070206

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

年代:1990

数据来源: WILEY

摘要:

AbstractThis article presents a new method to determine the minimum set of inertial parameters of robots. The method permits to determine most of the regrouped parameters by means of recursive closed form relations. It is based on the use of a new expression for the kinetic and potential energy of the robot as function of the inertial parameters of the generalized links. The demonstration is seen to be easier than the previous methods and gives a clear idea about the physical meaning of the regrouped parameters.

ISSN:0741-2223    

DOI:10.1002/rob.4620070207

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

年代:1990

数据来源: WILEY

摘要:

AbstractCrab walking is as important as forward walking as applied to walking machine control. Crab walking is especially important to a quadruped since a quadruped has a similar leg geometric layout in both longitudinal and lateral directions. In the studies of forward walking gaits, the wave gait was found to be the optimally stable. In this article, the wave gait is applied to the crab walking of a quadruped and it is modified into four types of wave‐crab gaits according to the range of crab angle. The stability formulae of these wave‐crab gaits are then derived analytically based on the following three stability measurements: stability margin (Sm), body‐longitudinal (or lateral) stability margin (SblorSbt) and crab longitudinal stability margin (Scl).Smis the true stability index under quasi‐static walking condition. However, the equations are more complicated.Sbl(orSbt) is simpler and can be used as a good approximation ofSm.Sclwas commonly adopted as the stability index in the previous gait studies. Nevertheless,Sclis found to be misleading for a large portion of crab angle range. The analytical results derived in this paper are useful to the geometric design and to the real‐time control of a

ISSN:0741-2223    

DOI:10.1002/rob.4620070208

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

年代:1990

数据来源: WILEY

摘要:

AbstractA fast and robust algorithm for extracting line segments from an image through use of the Hough Transform is presented. The framework for our algorithm comes from the work of Illingworth and Kittler. We have extended their Adaptive Hough Transform algorithm to handle lines of arbitrary slope, multiple lines, and lines in very low signal to noise environments. We present our Modified Adaptive Hough Transform along with experimental results obtained with data from a tactile sensor.

ISSN:0741-2223    

DOI:10.1002/rob.4620070209

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

年代:1990

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620070201

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

年代:1990

数据来源: WILEY