Showing papers on "Mobile robot published in 1982"
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287 citations
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TL;DR: To formulate recommendations for an efficient robot language of the future, this article reviews and evaluates many of the RLs now in use or under development in industrial or academic environments.
Abstract: Efficient communication with industrial robots is a key factor in the success of contemporary programmable automation, but robot languages-the means of communication-have commonly been developed in an ad hoc manner to meet the needs of a particular robot and application. Thus, we currently have almost as many robot languages as robots. To formulate recommendations for an efficient robot language of the future, this article reviews and evaluates many of the RLs now in use or under development in industrial or academic environments. Table I compares the industrial robots for which the languages were developed, and Table 2 contains background information on the 14 selected languages, * which are identified below.
126 citations
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01 Mar 1982TL;DR: The feasibility of robots employing vision to acquire randomly oriented cylinders has been demonstrated for the first time and robots with such capabilities can be applied to enhance automation applications, especially in small batch production.
Abstract: The feasibility of robots employing vision to acquire randomly oriented cylinders has been demonstrated for the first time. An experimental robot system using vision and a parallel jaw gripper was able to acquire randomly oriented cylindrical workpieces piled in bins. Binary image analysis was adequate to guide the gripper into the multilayered, piles. Complementary information was provided by simple sensors on the gripper. Experiments were performed using titanium cylinders 6 cm × 15 cm diameter and 7.6 cm × 3 cm diameter. Cycle times to acquire a cylinder and deliver it to a receiving chute ranged from 8 to 10 s when a single supply of one-size cylinders was used. By using a dual supply bin configuration with one bin of each size and overlapping arm motion and image analysis tasks, the cycle times for one cylinder from alternate bins ranged from 5.5 to 7.5 s per piece. In the future robots with such capabilities can be applied to enhance automation applications, especially in small batch production.
115 citations
01 Dec 1982
TL;DR: In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates.
Abstract: In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.
77 citations
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07 Dec 1982
TL;DR: In this article, a light, relatively compact, higly versatile robot (20) of the 3-axis type comprising a base-mounted motor control system which senses the position of a robot arm through a servo-system comprising position-sensing potentiometers (96, 230, 332) mounted in the motor controller system and a feed-back control system to coordinate the vertical and horizontal movement of the robot arm and to provide counterbalancing against gravity.
Abstract: A light, relatively compact, higly versatile robot (20) of the 3-axis type comprising a base-mounted motor control system which senses the position of a robot arm through a servo-system comprising position-sensing potentiometers (96, 230, 332) mounted in the motor control system and a feed-back control system to coordinate the vertical and horizontal movement of a robot arm (30) and to provide counterbalancing against gravity.
44 citations
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TL;DR: An advanced camera-equipped mobile robot is being built at the CMU Robotics Institute to support research in control, perception, planning and related issues.
Abstract: An advanced camera-equipped mobile robot is being built at the CMU Robotics Institute to support research in control, perception, planning and related issues. It will be used initially to continue and extend visual navigation work (the Cart Project) completed in 1981 at Stanford's Al Lab. but is designed with mechanical, sensor and controller flexibility which should permit it to support a wide variety of other efforts.
26 citations
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14 Dec 1982
TL;DR: In this paper, the authors propose to change easily the setting of traveling path by a robot itself by controlling the learning traveling of the robot which is carried out along an obstacle in response to the output state of an obstacle sensor.
Abstract: PURPOSE:To change easily the setting of traveling path by a robot itself by controlling the learning traveling of the robot which is carried out along an obstacle in response to the output state of an obstacle sensor. CONSTITUTION:Sensors S1, S2 and S3 are set at the front part, the side front part and the side rear part of a robot R respectively to detect the obstacles existing at the front and side parts of the robot R with a fixed distance respectively. The states of detection of these sensors are read at an arithmetic control part 5, and at the same time, the robot R is guided so that the sensors S2 and S3 detect a wall surface respectively as long as the wall surfaces is not detected by the sensor 1 in a section (a-b). While the robot R is steered to the right when the front wall surface is detected by the sensor S1 at a point (b) and then steered to the left when the wall surface is detected by only the sensor S3 at a pint (c). Thus the robot R is guided to have the self-traveling along the wall surface.
17 citations
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TL;DR: The abilities and limitations of today's industrial robots are reviewed and compared to similar human parameters in this paper, where the robot abilities were determined from a survey of 282 current robot models.
Abstract: The abilities and limitations of today's industrial robots are reviewed and compared to similar human parameters. The robot abilities were determined from a survey of 282 current robot models. This discussion is held within the general framework of a skills analysis approach to robot task performance.
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TL;DR: A fast and memory saving method to estimate a measuring point by making use of vertical edge patterns, which is especially useful to locate a mobile robot's position in a room where many those patterns are observed at corners of wall and edges of objects.
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TL;DR: A simple ultrasonic sensor coupled with a colour sensing system has been designed and built in the laboratory of the French National Institute of Applied Science at Rennes and mounted on the laboratory's VESA mobile robot.
Abstract: A simple ultrasonic sensor coupled with a colour sensing system has been designed and built in the laboratory of the French National Institute of Applied Science at Rennes, and mounted on the laboratory's VESA mobile robot. It can distinguish simple configurations of obstacles and measure their distance from the robot, and within certain limits of illumination can classify obstacles to eight reference colours.
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18 Aug 1982TL;DR: A control law for the automatic guidance is proposed in this paper as if each obstacle exerts upon the mobile robot a repulsion, which varies inversely with the distance between the robot and the obstacle, and becomes infinite as the robot approaches the obstacle.
Abstract: A control law for the automatic guidance is proposed in this paper as if each obstacle exerts upon the mobile robot a repulsion, which varies inversely with the distance between the robot and the obstacle, and becomes infinite as the robot approaches the obstacle. Stability of the automatic guidance is studied when the mobile robot deviates from the ideal path. The results lead to criteria of selecting control parameters for better guidance.
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TL;DR: This work has developed one of such systems that can be used for welding, painting and so on, and has developed the principle of the distance sensor, which can hold the interval constant from an arm tip up to an object.
01 Jan 1982
TL;DR: The authors have constructed and programmed a self contained independent mobile robot, a miniature multiprocessing and tasking operating system, an algorithm for driving parallel to a wall, and the data representations and approximations necessary to make it operate in real time.
Abstract: The authors have constructed and programmed a self contained independent mobile robot. They describe a miniature multiprocessing and tasking operating system, an algorithm for driving parallel to a wall, and the data representations and approximations necessary to make it operate in real time. 5 references.
01 Jan 1982
TL;DR: A moduLar turtLe robot constructed from Fischertechnik components is introduced and design principLes and approaches to robot construction are discussed.
Abstract: Research into a robotics Learning environment is outLined. DeveLopments required in the LOGO Language are discussed. A moduLar turtLe robot constructed from Fischertechnik components is introduced. Design principLes and approaches to robot construction are discussed.