A hierarchically controlled, sensory interactive robot in the automated manufacturing research facility

Mccain, H

doi:10.1109/robot.1985.1087359

Cited by 8 publications

(4 citation statements)

References 4 publications

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“…Some robot systems 60,65 which incorporate vision are designed for task level programming. Such systems are generally hierarchical, with higher levels corresponding to more abstract data representation and lower bandwidth.…”

Section: Concepts Of Visual Controlmentioning

confidence: 99%

Visual Control of Robot Manipulators – A Review

Corke

1993

World Scientific Series in Robotics and Intelligent Systems

238

120

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This paper attempts to present a comprehensive summary of research results in the use of visual information to control robot manipulators and related mechanisms. An extensive bibliography is provided which also includes important papers from the elemental disciplines upon which visual servoing is based. The research results are discussed in terms of historical context, commonality of function, algorithmic approach and method of implementation. @ c x t6 (t) is referred to as the interaction matrix, and + denotes the generalized inverse. As previously it is

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Section: Concepts Of Visual Controlmentioning

confidence: 99%

Visual Control of Robot Manipulators – A Review

Corke

1993

World Scientific Series in Robotics and Intelligent Systems

238

120

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“…The absolute measurements, used in many approaches [68], fall short in the application described in the above situations. In order to cope with the above conditions, direct end-point sensing~control methods have been proposed.…”

Section: Relative Pose-based Strategymentioning

confidence: 99%

An intelligent assembly robotic system based on Relative Pose measurements

Janabi–Sharifi

Wilson

1995

J Intell Robot Syst

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Abstract.One of the major problems in realizing intelligent assembly robotic systems has been the difficulty of compensating for uncertain and erroneous situations. In particular, pose (position and orientation) uncertainties lead to a challenging problem. In this paper, we outline a Relative Pose-based Strategy for effective dynamic end-pont control of manipulators in uncertain environments. The introduced strategy imposes new requirements on the higher levels of the control. Besides appropriate planning, control and sensing strategies, an advanced supervision system architecture needs to be provided. In this paper, the fundamental issues relating to intelligent assembly robotic system design are briefly discussed and an overall control architecture is introduced. The lower portions of the proposed architecture, viz. the Execution and the Supervisory Levels are described in detail.Key words. Relative pose-based strategy (REPOS), state estimation management, immediancy spectrum, intelligent assembly robotic system, control system, hierarchical control structure, layered control structure.

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“…As a result, there is no need to start from scratch for each new project. Besides the FTS, applications of the NIST hierarchical design approach include underwater vehicles, 2 factory systems, 3 ' 4 mining vehicles, 5 autonomous vehicles, 6 nuclear robots, 7 field material handling robots, 8 etc.…”

Section: Introductionmentioning

confidence: 99%

Using NASREM for real-time sensory interactive robot control

Lumia

1994

Robotica

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SUMMARYThe Flight Telerobotic Servicer (FTS) is a robotic device which will be used to build and maintain Space Station Freedom. The FTS is expected to evolve from its initial capability of teleoperation toward greater autonomy by taking advantage of advances in technology as they become available. In order to support this evolution, NASA has chosen the NASA/NIST Standard Reference model for Telerobot Control System Architecture (NASREM) as the FTS functional architecture. As a result of the definition of generic interfaces in NASREM, the system can be modified without major impact. Consequently, different approaches to solve a problem can be tested easily. This paper describes the implementation of NASREM in the NIST laboratory. The approach is to build a flexible testbed to enhance research in robot control, computer vision, and related areas. To illustrate the real-time aspects of the implementation, a sensory interactive motion control experiment will be described.

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A hierarchically controlled, sensory interactive robot in the automated manufacturing research facility

Cited by 8 publications

References 4 publications

Visual Control of Robot Manipulators – A Review

Visual Control of Robot Manipulators – A Review

An intelligent assembly robotic system based on Relative Pose measurements

Using NASREM for real-time sensory interactive robot control

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