“The Norwegian research programme on advanced robotic systems”
Authors: Olav Egeland,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1991, Vol 12, No 2, pp. 57-67.
Keywords: Robotics, ROV, telerobotics, sensory robot control, subsea robotics, robotics overview
Abstract: The Norwegian research programme on advanced robot systems has been focused on sensory control of robots for industrial applications and telerobotics for underwater operations. This paper gives an overview of experimental work and ongoing research. An exciting area in sensory control is visual servoing where camera images at video rate are used to grasp moving objects. Also compliant motion in partially unknown environments is a research topic. New robot control systems have been developed to apply sensory control to robotic manipulators at an acceptable sampling rate. In telerobotics the main work has been on the combination of remote control and local sensory loops in the manipulator. Also in this case visual servoing anti force control are important. The generation and updating of a world model used in a graphic display of the worksite using sensory information has been tested in combination with large delay times in the communication channel. The use of visual and acoustic data for the control of remotely operated vehicles and autonomous underwater vehicles is studied for use in robotic systems. Light-weight robot manipulators with redundant degrees of freedom and high performance joints are being designed for mobile robot applications.
PDF (1357 Kb)
DOI: 10.4173/mic.1991.2.1DOI forward links to this article:
| [1] S. BASU, V.M. HUYNH and S.P. DUTTA (1996), doi:10.1080/00207549608904971 |
| [2] T.I. Fossen and J.G. Balchen (1991), doi:10.1109/OCEANS.1991.606498 |
[1] ANDERSON, R.J. SPONG, M.W. (1989). Asymptotic stability for force reflecting teleoperations with time delay, In Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May.
[2] EGELAND, O., SAGLI, J.R., HENDSETH, S. WILHELMSEN, F. (1989). Dynamic coordination in a manipulator with 7 joints, in Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May.
[3] EGELAND, O., EBDRUP, M. CHIAVERINI, S. (1990). Sensory control in singular configurations-Application to visual servoing, in Proc. IEEE International Workshop on Intelligent Motion Control, Istanbul, Turkey, August.
[4] EGELAND, O., SAGLI, J.R., SPANGELO, I. CHIAVERINI, S. (1991). A damped least-squares solution to redundancy resolution, In Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, April.
[5] DICKMANNS, E.D. GRÄFE, V. (1988). (a) Dynamic monocular machine vision, (b) Application of dynamic monocular machine vision, J. Machine Vision and Applications, 1, pp. 223-261 doi:10.1007/BF01212361
[6] FOSSEN, T.I. SAGATUN, S.I. (1991). Adaptive control of nonlinear underwater robotic systems, In Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, April.
[7] HALLSET, J.O. (1991). Simple visual tracking of pipelines for an autonomous underwater vehicle, In Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, April.
[8] HIRZINGER, G. (1987). The space and telerobotic concepts of DFVLR ROTEX, In Proc. 1986 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, March 1987, pp.443-449.
[9] HØIFØDT, J.R., WETLESEN, T. HÅKONSEN, H. (1984). Robotics Research in Norway, Modeling, Identification and Control, 5, 151-170.
[10] HOVLAND, K. (1990). Telemanipulation with force reflection, in Norwegian, MSc Thesis, Division of Engineering Cybernetics, The Norwegian Institute of Technology, Trondheim, Norway.
[11] HUSEBYE, R.E., JENSSEN, H.P. VELUND, D. (1990). Remotely operated subsea machine tool system, In Proc.. Intervention ´90 The Marine Technology Society, Vancouver, Canada, June 25-27, 1990..Also: Report STF20 A90102, SINTEF, Trondheim, Norway.
[12] KLEPPAKER, R.A., VESTGÅRD, K., HALLSET, J.O. BALCHEN, J.G. (1986). The application of a free-swimming ROV in aquaculture, In Proc. 9th IFAC Symposium on Automation and Data processing in Aquaculture, Trondheim, Norway.
[13] NAKAMURA, Y. HANAFUSA, H. (1986). Inverse kinematic solutions with singularity robustness for robot manipulator control, ASME J. Dynamic Syst., Meas., Contr., 108, 163-171.
[14] RØDSETH, O. J. (1990). Object oriented software system for AUV control, IARP 1st Workshop on Mobile Robots for Subsea Environments. Monterey, California, October 1990.
[15] SAGATUN, S.I. FOSSEN, T.I. (1991). The Norwegian experimental remotely operated vehicle, NEROV. In Proc. ROV/INTERVENTION ´91, Hollywood, Florida, May 21-23.
[16] SAGLI, J.R. EGELAND, O. (1991). Dynamic coordination and actuator efficiency using momentum control for macro-micro manipulators, In Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, April.
[17] SIVERTSEN, O.I., AAMNES, K. RØLVÅG, T. (1990). General design tool for flexible space mechanisms, In C.L. Kirk and J.L. Junkins.Editors. Dynamics of Flexible Structures in Space, Proc. of the First International Conference, Cranfield, UK, May 1990, Springer-Verlag, Berlin.
[18] SKOFTELAND, G. HIRZINGER, G. (1991). Computing position and orientation of a freeflying polyhedron from 3D data, In Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, April.
[19] THOMESSEN, T. LIEN, T.K. (1990). Grinding strategies based on contact force measurements, In Proc. 21th ISIR, Copenhagen, Denmark, October.
[20] WHITNEY, D.E. (1987). Historic perspective and state of the art in robot force control, Int. J. Robotics Research, 6, 3-14 doi:10.1177/027836498700600101
BibTeX:
@article{MIC-1991-2-1,
title={{The Norwegian research programme on advanced robotic systems}},
author={Egeland, Olav},
journal={Modeling, Identification and Control},
volume={12},
number={2},
pages={57--67},
year={1991},
doi={10.4173/mic.1991.2.1},
publisher={Norwegian Society of Automatic Control}
};