Showing papers on "Robot published in 1970"

Walking robot amusement ride

Abstract: This invention provides improvements in an amusement roundabout disclosed in my prior U.S. Pat. No. 3,507,222 which discloses a stepping robot secured to and traveling on a guiding and supporting slotted platform type of trackway. The present invention provides a simplified and more rugged construction of the railway truck used to support the robot, specifically in the coupling means connecting the robot to the truck; provision of means to counterbalance the robot''s own weight to reduce the normal workload on the stepper; provision of means to limit an excessive workload; and, provision of means to cause the passenger compartment to rock from side to side as a result of and in specific synchronization with the robot''s stepping action.

Research on Intelligent Automata

Abstract: : A research project applying artificial intelligence techniques to the development of integrated robot systems is described. The experimental facility consists of an SDS-940 computer and associated programs controlling a wheeled vehicle that carries a TV camera and other sensors. The emphasis is on the development of a system of programs for processing sensory data from the vehicle, for storing relevant information about the environment, and for planning the sequence of motor actions necessary to accomplish tasks in the environment. A typical task performed by our present system requires the robot vehicle to rearrange (by pushing) simple objects in its environment. A feature of our approach is the use of a formal theorem-proving system to plan the execution of high-level functions as a sequence of other, perhaps lower level, functions. The execution of these requires additional planning at lower levels. The main theme is the integration of the necessary planning systems, models of the world and sensory processing systems into an efficient whole capable of performing a wide range of tasks in a real environment.

Robot motion planning

Abstract: Manipulation and motion are the most common means that we use to act directly on the world. Vision and language serve us as inputs and we communicate with other human beings using speech, but we act on our surroundings by moving and manipulating. If AI is to deal with real life problems, autonomous intelligent systems will have to interact with the world in the way humans do. This tutorial is intended to present what robot motion planning is, what has been achieved through it so far, and what could be reasonably expected from it in the near future. The attention will be focused more on techniques for real-life applications than on theoretical formulations. Emphasis is on robot manipulators rather than on isolated moving objects, distinguising applications in 2D and 3D. The tutorial is organized on a performance basis instead of the usual methodological clasification. Three levels of performance are distinguishedr(a) Geometric theoretical algorithms, (b) approaches that work at a computer simulation level and (c) techniques that have been implemented on actual robots, or which deal with problems for real-life robots. Some of the covered topics are: collision detection, fundamentals of the problem, geometric algorithms, basic motion planning techniques, moving obstacles, multiple robot coordination, nonholonomic motion, planning with uncertainty and future directions. Throughout the tutorial many examples and case studies will serve to illustrate successful applications as well as their underlying theoretical techniques. Transactions on Information and Communications Technologies vol 1, © 1993 WIT Press, www.witpress.com, ISSN 1743-3517

Behaviour based mobile robot navigation technique using ai system: experimental investigation on active media pioneer robot

Abstract: A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a) Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system (b) Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c) Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables. Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

A Review Of Current Research In 3-D Machine Vision And Robot Accuracy

Abstract: It has been shown that the major contributor to down time in robot automated production lines is error in positioning. The faults that cause such errors can be corrected for provided they are identified early enough. Conventional instrumentation, such as displacement measurement probes, is unsuitable for the task, since the number of fixed transducers results in high costs. This review supports a programme of research to measure robot position and repeatability using a non-invasive optical technique based on photogrammetric principles. This paper reviews the following areas: 1. General 3-D machine vision. 2. Photogrammetry and camera calibration. 3. Robot accuracy.

A Multiresolution A* Method For Robot PathPlanning

Abstract: In this paper, a point-to-point robot path planning problem is studied. It occurs in industry for example in spot welding, riveting, and pick and place tasks. A new A -based method is presented. The algorithm searches the robot's con guration space with many di erent resolutions at the same time. When a path candidate goes far from the obstacles, coarser resolutions corresponding to bigger step sizes is used. When it goes near the obstacle surfaces, ner resolutions corresponding to smaller step sizes is used. The algorithm always nds a path from a starting robot con guration to the goal con guration if one exists, which is a property of the A search in general. This is true given the nest resolution of the search space. These kind of path planning algorithms are called resolution complete in the robotics literature. A is also applied because of the possibility to generate better guiding heuristics. A better admissible heuristic roughly means that A using it expands fewer con guration space nodes, which is known a priori. A known AI-method utilizing relaxed models is applied to generate admissible heuristics. Constructing relaxed models involves removing details from the base level problem to get simpli ed ones. The heuristics are then obtained by solving these simpli ed problems. A simulated robot workcell is provided for demonstrations. The path planning of a 5-degrees-of-freedom industrial robot appears to be reasonably fast.

Coordinated Motion Planning Of Manipulators By Evolution Strategies

Abstract: A method for obtaining coordinated motion plans of manipulator robots is presented. This planning can be easily implemented by programs written in any industrial robot programming language, such as VAL II. The generated programs minimize the total motion time of the robots along their paths, with some constraints directed at avoiding collision between the robots. A method based on Evolution Strategies is used for the optimization.

Calibration And Correction Methods Of SpatialErrors Found In Cartesian Manipulators

Abstract: The paper suggests how the manufacturing process can be improved by the use of offline programming of robots in the production line. Calibration is necessary for this strategy. Some calibration methods are noted and their limitations discussed. Knowledge gained from research in geometric error compensation in machine tools is applied in principle to the compensation of errors in Cartesian manipulators. The method devised makes use of a compensation algorithm based on results obtained from a deviation error map. Data derived from laser measurement techniques is used for the generation of algorithms that can be integrated through the manipulator control system.

Robust trajectory for mobile robot

Abstract: This paper deals with the problem of mobile path planning. We investigate the case for which the obstacle positions are well known but the mobile location is defined with uncertainties. We propose an algorithm which finds a robust path, if it exists, from a source point to a goal point for a non holonomic robot The proposed method is based on the Multivalue Coding model.

Robotic Arm Graphical Representation,Motion Simulation And Execution

Abstract: The classical approach in programming and testing a robotic installation in a workshell is by trial and error. In industry, one has to install the robot and then test it's functionality. In addition, the insertion of movements into memory through a limited keyboard without visualization, is a tedious and time consuming task. This paper describes a method of programming, simulating, visualizing, and controlling of any manipulatory, step motor driven, robotic arm through a common personal computer (PC), thus avoiding the test-afterinstallation procedure. The software, was developed under Borland C++ v4.0, uses 32-bit instructions and can be run under a multitasking environment such as Microsoft's Windows v3.1 or higher. The hardware link between the computer and the robot can be achieved through any D/A card with sufficient output rate and high level language routines at a very low cost.

A Mobile Robot Architecture Dedicated ToAsynchronous Events Management

Abstract: Within the L.R.P. mobile robot project ROMEO (French acronym for an experimental autonomous robot) figure 1, we have developed a dedicated software architecture. This architecture is specifically designed to support manoeuvering requirements such as planning control and contacts management with the environment. After a presentation of the navigation problematic in a constrained environment for a non-holonomic robot, we describe our approach and the soft-and-hardware levels consequences deriving from it. Fundamentally we deal with the elaboration of a very flexible and open architecture, which combines functional and behavioral aspects to cope with asynchronous events and to give to the robot reflexivity.

Application Of AI Based Reinforcement LearningTo Robot Vehicle Control

Abstract: This paper describes a system which uses an extended reinforcement learning algorithm to generate reactive control strategies. It is applied to the control of a vehicle in a simulated traffic environment.