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Robotics and Automation. Proceedings. 1985 IEEE International Conference on

Date 25-28 March 1985

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Displaying Results 1 - 25 of 168
  • [Front cover and table of contents]

    Publication Year: 1985, Page(s):c1 - F1
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    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1985, Page(s): c2
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    Freely Available from IEEE
  • Toward a surface primal sketch

    Publication Year: 1985, Page(s):420 - 425
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (641 KB)

    This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call tile representation the Surface Primal Sketch by analogy with representations of intensity changes, image structure, and changes in curvature of planar curves. We describe an implemented program that detects, localizes, and symbolically describes: steps, where the surf... View full abstract»

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  • The significance of lighting in industrial inspection tasks

    Publication Year: 1985, Page(s):458 - 460
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (225 KB)

    First Page of the Article
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  • A morphological approach to finished surface inspection

    Publication Year: 1985, Page(s):462 - 465
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (351 KB)

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  • Vision-guided robot for automotive assembly

    Publication Year: 1985, Page(s):686 - 690
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (438 KB)

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  • Fast generation of chain-code image descriptions

    Publication Year: 1985, Page(s):868 - 872
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    A method is described for the rapid reduction of intensity matrix image data to chain-coded descriptors. The method also yields some topographic and numerical information about regions in the image. In this method, the chain code is generated and stored in an array which is isomorphic to the image array. Computation other than that associated with the intensity classification (feature) operator is... View full abstract»

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  • Approximate optimum paths of robot manipulators under realistic physical constraints

    Publication Year: 1985, Page(s):737 - 742
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A method is developed for planning the point-to-point path that the manipulator may adopt to minimize a specified performance index, under the realistic physical constraints on Joint torques, accelerations, velocities and position limits. The purpose of such path planning is either to provide the best input for the manipulator controller or to evaluate the arm performance for various designs. Beca... View full abstract»

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  • Sensory feedback structures for robots with supervised learning

    Publication Year: 1985, Page(s):627 - 635
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    A concept for sensory feedback and sensor-based teach-in in robotics is presented. Based on previous work of different authors a scheme of hybrid sensory-position control is proposed and has been realized that interpretes every "rudimentary" teach command in terms of sensory interaction with the environment by generating the socalled "artificial constraints" and the refined path automatically. Rob... View full abstract»

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  • Parallelism in manipulator dynamics

    Publication Year: 1985, Page(s):772 - 778
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This paper presents two highly parallel "mathematically exact" formulations of the inverse Dynamics especially suited to high-speed implementations using VLSI devices. The first is a parallel formulation of the existing linear recursive Newton-Euler algorithm, with the real-time coefficients reduced almost two orders of magnitude. The second reports a new parallel algorithm which improves the line... View full abstract»

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  • A unified approach to manipulator modeling

    Publication Year: 1985, Page(s):729 - 736
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    It is recognized that three different types of mechanisms are required to model a manipulator in most applications. Those are the serial-link, tree structured, and graph structured mechanisms. The model for each type of mechanism is presented in both the recursive and nonrecursive formulations utilizing the same notation throughout. The result is a modeling methodology which clearly shows the rela... View full abstract»

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  • Warp as a machine for low-level vision

    Publication Year: 1985, Page(s):790 - 800
    Cited by:  Papers (14)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1128 KB)

    Warp is a programmable systolic array processor. One of its objectives is to support computer vision research. This paper shows how the Warp architecture can be used to fulfill the computational needs of low-level vision. We study the characteristics of low-level vision algorithms and show how they lead to requirements for computer architecture. These requirements are met by Warp. We then describe... View full abstract»

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  • CAD based - Manufacture of parts

    Publication Year: 1985, Page(s):389 - 390
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (176 KB)

    CAD Based - Manufacture of Parts is the application of math models or CAD techniques to Computer Aided Manufacturing. This paper will discuss the application and considerations for such a system, and the presentation will show examples of how this technique is used currently in several large companies and as it expands into the supplier and/or manufactured part market. The discussion will emphasiz... View full abstract»

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  • A simple set of grasps for a dextrous hand

    Publication Year: 1985, Page(s):588 - 593
    Cited by:  Papers (39)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    This paper describes a high-level control mechanism for a dextrous hand. It overviews a distributed environment for robot control currently under development. A simple flexible set of grasps for a dextrous hand is then suggested and their implementation discussed. Finally the paper speculates about the role the grasp can play in obstacle avoidance and vice-versa. View full abstract»

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  • Real-time evaluation of robotic control methods

    Publication Year: 1985, Page(s):644 - 649
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    Design modifications on the controller of the PUMA- 600 arm are required to apply modern control techniques in real-time. These modifications are performed on the computer-level and the joint control level of the PUMA controller. Real-time closed loop control of the arm is thus made possible. The paper compares the performance of various control algorithms in real-time and by simulation. View full abstract»

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  • Comparing the laplacian zero crossing edge detector with the second directional derivative edge detector

    Publication Year: 1985, Page(s):452 - 457
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    We present evidence that the Laplacian Zero-Crossing operator does not use neighborhood information as effectively as the second directional derivative edge operator. We show that the use of a Gaussian smoother with standard deviation 5.0 for the Laplacian of Gaussian edge operator with a neighborhood size of 50 × 50 both misses and misplaces edges on an aerial image of a mobile home park. Ou... View full abstract»

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  • Second order nonlinear kinematic effects, and their compensation

    Publication Year: 1985, Page(s):307 - 314
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    This paper presents a mathematical model of the nonlinear kinematic effects, which reduce absolute static positioning accuracy of robot arms. This kinematic inaccuracy renders robot manipulators ineffective when programmed off-line, though they might be programmed to successfully perform the same task by "Teach Play back" schemes. The kinematic inaccuracy model, presented in this paper can be used... View full abstract»

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  • Programming of flexible assembly cell: Task modelling and system integration

    Publication Year: 1985, Page(s):901 - 907
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    This paper is divided into four sections. The first section discusses Flexible Assembly Cell (FAC) programming requirements. Sections 2 and 3 present an approach to FAC modelling and programming. The intended objective is to build a programming and decisional environment which allows construction of assembly applications, and to endow the on-line system with decision-making capabilities. The last ... View full abstract»

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  • Manipulability and redundancy control of robotic mechanisms

    Publication Year: 1985, Page(s):1004 - 1009
    Cited by:  Papers (85)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given. A four-joint wrist mechanism is also analyzed with respect to its... View full abstract»

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  • The role of knowledge in the architecture of a robust robot control

    Publication Year: 1985, Page(s):561 - 567
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    We would like robots to recognize and handle situations that do not conform with normal operating conditions. We want to be able to do this without having to consider explicitly errors caused by missing or defective parts, or by malfunctioning. To this end we present the detailed design of a system in which the controller of the robot takes advantage of large knowledge bases to ensure proper execu... View full abstract»

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  • Efficient new techniques for identification and 3D attitude determination of space objects from a single image

    Publication Year: 1985, Page(s):67 - 72
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    We present new algorithms for rapid identification and three-dimensional (3D) attitude determination of a solid object from a single image, using a model matching approach. Our scheme allows the observed object to be partially occluded. The object, as well as the model to which it is matched are represented by the 3D surface constituting their boundaries. We assume that these surfaces consist of f... View full abstract»

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  • A multiprocessor-based controller for the control of mechanical manipulators

    Publication Year: 1985, Page(s):815 - 821
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    This paper describes a cost effective architecture for the control of mechanical manipulators based on a functional decomposition of the equations of motion of a manipulator. The Lagrange-Euler formulation and the Newton-Euler formulation were considered for the decomposition. The functional decomposition separated the inertial, Coriolis, centrifugal and gravity terms of the Lagrange-Euler equatio... View full abstract»

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  • Optimal actuator stiffness distribution for robotic manipulators based on local dynamic criteria

    Publication Year: 1985, Page(s):275 - 281
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    Current industrial robots deflect as much as 25 times their specified accuracy due to their capacity load. This paper presents the local optimization criteria for the distribution of actuator stiffness (or compliance) of a given manipulator configuration to enhance the overall stiffness of the structure and to guarantee a specified level of precision under a known magnitude of machining load resul... View full abstract»

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  • Kinematics and open-loop control of an ilonator-based mobile platform

    Publication Year: 1985, Page(s):346 - 351
    Cited by:  Papers (1)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    This paper describes the analysis and implementation of a motor drive control system for an intelligent wheelchair being developed at the Robotics Institute at Carnegie-Mellon University. The experimental mobile platform is mounted on four so-called Ilonators which permit motion in any direction without conventional steering of the wheel axes. The kinematics of the platform were determined analyti... View full abstract»

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  • On motion planning with six degrees of freedom: Solving the intersection problems in configuration space

    Publication Year: 1985, Page(s):536 - 541
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    The Movers' problem is to find a continuous, collision-free path for a moving object through an environment containing obstacles. The classical formulation of the three-dimensional Movers' problem is as fellows: given an arbitrary rigid polyhedral moving object P with three translational and three rotational degrees of freedom, find a contineous, collision-free path taking P from some initial conf... View full abstract»

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