Showing papers on "Robot published in 1972"

Modelling, trajectory calculation and servoing of a computer controlled arm

Abstract: : The problem of computer control of an arm is divided into four PARTS: modelling, trajectory calculation, servoing and control. In modelling the author uses a symbolic data structure to represent objects in the environment. The arm is moved along time-coordinated space trajectories in which velocity and acceleration are controlled. The arm is servoed by a small computer. In order to control the arm, a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions.

Some New Directions in Robot Problem Solving

Abstract: : For the past several years research on robot problem-solving methods has centered on what may one day be called simple plans: linear sequences of actions to be performed by single robots to achieve single goals in static environments. Recent speculation and preliminary work at several research centers has suggested a variety of ways in which these traditional constraints could be relaxed. In this paper we describe some of these possible extensions, illustrating the discussion where possible with examples taken from the current Stanford Research Institute robot system.

The QA4 language applied to robot planning

Abstract: This paper introduces an implemented version of a problem-solving language called QA4 (Question Answerer 4) and illustrates the application of that language to some simple robot problems. This application is especially appropriate, because the QA4 language has features that are recognized as useful for problemsolving programs; these features include built-in backtracking, parallel processing, pattern matching, and set manipulation. Expressions are put into a canonical form and stored uniquely, so that they can have property lists. A context mechanism is provided, so that the same expression can be given different properties in different contexts. The QA4 interpreter is implemented in LISP and can interface with LISP programs. The language is especially intended to be useful for research leading to program verification, modification, and synthesis, to semantically oriented theorem proving, and to various forms of robot planning.

Robot, computer problem solving system

Abstract: The development of a computer problem solving system is reported that considers physical problems faced by an artificial robot moving around in a complex environment. Fundamental interaction constraints with a real environment are simulated for the robot by visual scan and creation of an internal environmental model. The programming system used in constructing the problem solving system for the simulated robot and its simulated world environment is outlined together with the task that the system is capable of performing. A very general framework for understanding the relationship between an observed behavior and an adequate description of that behavior is included.

Man, Teleoperators, and Robots: An Optimum Team for Space Exploration

Abstract: Man-teleoperator-robot teams for space exploration facilities construction and operation, discussing lunar programs

Robot and Manipulator Slave from Control Viewpoint

Abstract: In the paper the questions of robots’ and manipulators’ slave unit dynamics as control objects are under consideration. With allowance for robots’ and manipulators’ performance characteristics, the authors succeeded in getting the analytical and structural representation of motion transduced from an actuator to an appropriate joint axis.

Descriptions and plans in an interactive robot simulation system

Abstract: The problem of designing a robot-controller is approached by taking a simplified computer-simulated, model of a robot in an environment, and writing programs to enable the robot to move around its environment in a reasonably intelligent manner. At no point is mathematical logic used. The problems of concept representation and the creation and execution of plans are dealt with in this simple system, and some attention is paid to the problem of exploration. ROSS, an interactive computer program which simulates the robot-environment model, is described. A command language allows the user to specify tasks for the robot at various conceptual levels. The main contribution is showing how, in a rectanguloid two-dimensional environment, a robot's model of his world may be represented as a graph, and how the robot should use this graph to create and execute plans of action. Also, two new algorithms are presented for handling two-dimensional rectanguloid objects (shapes for short), and the concept of a “maximal subrectangle” of such a shape is introduced. The algorithm DECOMP decomposes or “parses” a shape into its maximal subrectangles, while the algorithm CONTAIN compares a pair of shapes and decides whether one of the shapes could be moved to fit inside the other. Several problems are listed concerning the ways in which a robot might explore, represent, and make plans about its environment, most of which are amenable to direct attack in this simplified model. Finally, theoretical questions concerning two-dimensional rectanguloid shapes are raised.

A Fundamental Study on the Simple Eyes of Industrial Robots Applying the Correlation Technique

Abstract: The purpose of this study is to develop simple artificial eyes in order to perceive an object in front of the robot or the unmanned car on which the eyes are installed, and to lighten, as much as possible, the burden of the electronic computer for recognizing the object. This paper describes the newly devised simple eyes which consist of a couple of TV cameras, a polarity coincidence correlator and servomechanisms to control them. The experimental results by the above-mentioned eyes offer the fundamental data for design of the equipment for practical use.

Robot Vision as a Factor in the Control of Motion

Abstract: Industrial robots in common use have no feedback from visual sensors. Such devices are satisfactory for use in certain applications, for example, where only coarse control is required or where mechanical disturbance is completely absent. However, the robot for general-purpose use requires a method of position-sensing feedback, and some low-cost form of visual sensing would be ideal, particularly if it could be combined with means for visual object-recognition. The difficulties and requirements of such visual sensing and recognition are reviewed, and work on various possible methods is discussed.