ISSN:0741-2223    

DOI:10.1002/rob.4620010102

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

年代:1984

数据来源: WILEY

摘要:

AbstractManeuvering an industrial robot to avoid a collision with obstacles in real time involves not only the fast obstacle detection and descripton, but also fast decision making. The problem is complicated since noa prioriknowledge about obstacles is assumed. In addition, they may appear in the robot's path unexpectedly. To detect and describe the three‐dimensional obstacles, stereo cameras are used to collect environmental images. Through the top view of the workspace, the cameras furnish the silhouette as well as heights of obstacles. To speed up the image processing, the pixel array is grouped into patches and the maximum height of each patch is determined. TO simplify the obstacle description in the computer, a “pillar” model of the bounding polyhedra is constructed. Fast decision making is accomplished by structuring a finite number of possible collision avoidance paths. Path feasibility is determined at the “module aisle” level while optimization is performed at the subpath level so that the magnitude of processing effort is reduced from the order of 6

ISSN:0741-2223    

DOI:10.1002/rob.4620010103

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

年代:1984

数据来源: WILEY

摘要:

AbstractThis paper presents the study of an adaptive control which tracks a desired time‐based trajectory as closely as possible for all times over a wide range of manipulator motion and payloads both in joint‐variable coordinates and Cartesian coordinates. The proposed adaptive control is based on the linearized perturbation equations in the vicinity of a nominal trajectory. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component computes the nominal torques from the Newton‐Euler equations of motion either using the resolved joint information or the joint information from the trajectory planning program. This computation can be completed inO(n)time. The feedback component consisting of recursive least square identification and one‐step optimal control algorithms for the linearized system computes the perturbation torques inO(n3) time. Because of the parallel structure, the computations of the adaptive control may be implemented in low‐cost microprocessors. A computer simulation study Was conducted to evaluate the performance of the adaptive control in joint‐variable coordinates for a three‐joint robot arm. The feasibility of implementing the adaptive control in Cartesian coordinates using present day low‐cost microprocesso

ISSN:0741-2223    

DOI:10.1002/rob.4620010104

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

年代:1984

数据来源: WILEY

摘要:

AbstractThe determination of orientation information of a 3D object is a crucial step in hypothesis‐verification approach to object recognition. In this paper. two approaches are presented to estimate the orientation parameters of a 3D object from a single image. The first one is based on camera model estimation and analysis. The second one is a hierarchical search method. Simulation experiments are conducted to evaluate the performance of the estimation

ISSN:0741-2223    

DOI:10.1002/rob.4620010105

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

年代:1984

数据来源: WILEY

摘要:

AbstractThe ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulator's performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics. a set of equations called the “Inverse Arm” and an algorithm called the “Forward Arm” are presented. The Forward Arm simulates the movement of an arm and the Inverse Arm provides a means of computing the correct voltages to apply to an arm to achieve a desired m

ISSN:0741-2223    

DOI:10.1002/rob.4620010106

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

年代:1984

数据来源: WILEY

摘要:

AbstractThe dynamics of a multi‐linkage model of natural or man‐made systems with arbitrary holonomic and non‐holonomic constraints at the joints are formulated. The formulation is equally applicable to movements on the ground or in the air. Nonlinear control strategies for postural balance and rhythmic motion are presented. A predictive algorithm to compensate for computation or transmission delay is proposed. Digital computer simulations are presented to demonstrate the effectiveness of the control strategy for a five‐link three‐dimensio

ISSN:0741-2223    

DOI:10.1002/rob.4620010107

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.4620010108

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.4620010101

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

年代:1984

数据来源: WILEY