0
Research Papers

An Empirical Approach to Performance Criteria for Manipulation

[+] Author and Article Information
Mark Tisius

Department of Mechanical Engineering, Robotics Research Group, University of Texas at Austin, Austin, TX 78703mtisius@yahoo.com

Mitch Pryor1

Department of Mechanical Engineering, Robotics Research Group, University of Texas at Austin, Austin, TX 78703mpryor@mail.utexas.edu

Chetan Kapoor

Department of Mechanical Engineering, Robotics Research Group, University of Texas at Austin, Austin, TX 78703mpryor@mail.utexas.edu

Delbert Tesar

Department of Mechanical Engineering, Robotics Research Group, University of Texas at Austin, Austin, TX 78703tesar@mail.utexas.edu

The term untrained specifically refers to users lacking technical knowledge in the robotics domain.

Here we consider tasks that are completed autonomously, semi-autonomously, or tele-operated.

Reference 30 presents KICs for both rotary and prismatic joints. Here we only present the equations for rotary arms due to space limitations, but the criteria are applicable for any general serial chain.

Discontinuities continuously occur as the minimum distance between an obstacle and the manipulator is re-associated with a different link as well as due to the inherently discontinuous commands.

1

Corresponding author.

J. Mechanisms Robotics 1(3), 031002 (Jul 09, 2009) (12 pages) doi:10.1115/1.3147194 History: Received September 24, 2008; Revised December 15, 2008; Published July 09, 2009

Empirical performance criteria based on geometric and physical properties are commonly used for real-time decision-making (and design) of redundant anthropomorphic manipulators (serial) or workcells (parallel) performing high level tasks while avoiding obstacles, providing safety, and responding to human commands. This requires configuration management of these complex systems by prioritizing candidate configurations relative to quantifiable secondary objectives with clear physical meanings. Clarity is addressed by using position, inertial, kinetic, and potential energy (gravity and deformation) based metrics that are crisply defined from system and input parameters. Scaling differences among derived performance metrics require normalization to determine their relative import and inclusion in multicriteria decision-making techniques. Large dimensional spaces mean statistically reduced representations are necessary to decipher their relative import and allow an operator without extensive robotic knowledge to use them effectively and independent of a redundancy resolution technique (RRT). We propose two global norms: the unit norm and the average norm for a broad set of performance criteria that quantify these systems’ unique constraint, transmission, and energy characteristics. These norms are then used to select relevant criteria for operational decision-making based on intuitive operator commands instead of abstract mathematical notions. Additionally, a modified RRT is presented that is more robust with respect to changes during operation in the secondary objectives, which allows for greater flexibility when formulating new criteria. Results are illustrated using a variety of new and existing criteria on an anthropomorphic dual-arm system.

Copyright © 2009 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

An ideal decision-making system

Grahic Jump Location
Figure 2

Applied forces and node locations for a link in a serial chain

Grahic Jump Location
Figure 3

Performance based hybrid generalized RRT (37)

Grahic Jump Location
Figure 4

Perturbed pseudo-inverse RRT

Grahic Jump Location
Figure 5

Joint-space performance map for sum JRA formulation (p=4)

Grahic Jump Location
Figure 6

Criteria values for critical joint JRA formulation (p=4)

Grahic Jump Location
Figure 7

Output space map for the MOT criterion

Grahic Jump Location
Figure 8

Example configurations for the MOT criterion

Grahic Jump Location
Figure 9

Output space map for VTR criterion

Grahic Jump Location
Figure 10

KPVs for a 4R planar manipulator following circular path

Grahic Jump Location
Figure 11

17DOF anthropomorphic dual-arm system

Grahic Jump Location
Figure 12

MOT values for 4R manipulator using global normalization

Grahic Jump Location
Figure 13

Pipe cutting in simulation environment. The simulated task included each of the three pipes in the simulation.

Grahic Jump Location
Figure 14

Criteria values for pipe cutting task

Grahic Jump Location
Figure 15

Waste disposal in simulation environment

Grahic Jump Location
Figure 16

Criteria values for waste removal task

Grahic Jump Location
Figure 17

Wall painting in simulation environment

Grahic Jump Location
Figure 18

Criteria values for wall painting task

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In