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Proceedings. 1985 IEEE International Conference on Robotics and Automation

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 (38)
    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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  • Optimizing robot motion along a predefined path

    Publication Year: 1985, Page(s):765 - 770
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    This paper describes a control scheme designed to make a manipulator move as fast as possible within its velocity and acceleration constraints. The control system adapts itself to any given path but is still conceptually simple and requires relatively little computing power. The basic strategy is to have an optimization algorithm tune the output of a trajectory generator that drives individual con... View full abstract»

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  • The design of a computer controlled planar manipulator

    Publication Year: 1985, Page(s):301 - 306
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    The research presented in this report consists of the complete design, construction, and simulation of a planar manipulator device which was intended to be computer controlled. Designed as a research tool, the Planar Manipulator was instrumented for position, velocity, and torque control at each joint. A modularity feature was also designed into the robot to allow for interchanging any electromech... View full abstract»

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  • Compensation manipulator flexibility effects by modal space techniques

    Publication Year: 1985, Page(s):972 - 977
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed fo... 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 (46)
    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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  • IRRIS - An image registration, recognition, and inspection system

    Publication Year: 1985, Page(s):449 - 451
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    This paper briefly describes IRRIS-100TM, a machine vision system shown in operation at four recent exhibitions sponsored by the Society for Manufacturing Engineers. A gray level vision system combining Artificial Intelligence methods with statistical and structural pattern recognition techniques, IRRIS-100TMcan rapidly determine the location and orientation of touching and o... View full abstract»

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  • Parallelism in manipulator dynamics

    Publication Year: 1985, Page(s):772 - 778
    Cited by:  Papers (7)
    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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  • Computer control of space-borne teleoperators with sensory feedback

    Publication Year: 1985, Page(s):205 - 214
    Cited by:  Papers (46)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper presents the conceptual design, analysis, synthesis and software organization of an advanced teleoperator control system with sensory feedback. The design requirements for the system are discussed in detail and an implementation strategy is presented. The resulting system features maximum autonomy of the local hand controller and remote manipulator subsystems, along with kinematic and d... View full abstract»

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  • Redundancy resolution of manipulators through torque optimization

    Publication Year: 1985, Page(s):1016 - 1021
    Cited by:  Papers (93)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the effect of redundancy resolution on joint torque can be directly reflected. One method chooses the joint acceleration null-space vector to minimize joint torque in a least squares sense; ... View full abstract»

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  • Automatic opitcal through hole inspection method for printed wiring boards using leakage light detection

    Publication Year: 1985, Page(s):481 - 486
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    New automatic through hole inspection techniques for printed wiring boards (PWBs) were developed. The new method called Leakage Light Detection can detect defects such as cracks and breaks in plating of through holes with aspect ratio as large as ten. A prototype system for automatic through hole inspection is constructed, based on these techniques. This system detects defects in a 250 mm × 2... View full abstract»

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  • A new development in camera calibration calibrating a pair of mobile cameras

    Publication Year: 1985, Page(s):74 - 79
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    A new method of calibration is proposed for active visual sensing for use in 3D analysis. The method, based on an adaptation of the two camera plane m model, permits the calibration of a mobile camera as a function of the position and orientation of the camera. View full abstract»

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  • Dynamics modelling of a single-link flexible robot

    Publication Year: 1985, Page(s):984 - 989
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    The dynamics modelling of a single-link flexible robot with a rigid mass attached to the tip is addressed. The flexibility is represented by lateral bending motion of the robot link. The model is obtained using a Newton-Euler formulation and the natural frequencies and mode shapes are obtained using a constrained mode approach. The paper models the flexibility effects as an internal disturbance to... View full abstract»

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  • EYESEE: A machine vision system for inspection of integrated circuit chips

    Publication Year: 1985, Page(s):444 - 448
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    A mechine vision system for inspecting either "in-process" or completed (fully patterned) integrated circuit (IC) chips has been demonstrated. Applied to the inspection of a Darlington IC, the EYESEE system was shown to effectively replace a human operator in performing a final inspection task. EYESEE has been extended to inspection of certain Large Scale Integration (LSI) and Very Large Scale Int... View full abstract»

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  • Contour tracing for precision measurement

    Publication Year: 1985, Page(s):22 - 27
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Current methods of contour tracing are based on chain code concepts which require movement from the center of a pixel to the center of a four- or eight-connected neighbor. They are basically serial processes requiring memory and decision structures based on the connectedness of the objects and the direction of the trace. A chain code method is proposed here which moves along the edge midpoints of ... 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 (2)  |  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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  • Finding points of high curvature and critical curves from a volume model

    Publication Year: 1985, Page(s):436 - 441
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    This paper presents a method to evaluate surface curvature at points on the three-dimensional shell of an object using a volume representation. By considering points where the curvature is significantly high to be feature points, curves may be constructed on the surface of the object model. Such descriptive curves will become useful in finding orientation or making identification in robotics appli... View full abstract»

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  • Abstract data types for CAD systems

    Publication Year: 1985, Page(s):359 - 364
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    One of the major obstacles in CAD is the lack of available software systems that can effectively manage the massive amounts and diverse types of data necessary to describe designs. In this paper, we focus on this problem by investigating the use of data abstraction, a software engineering principle, as a means of managing the volume and complexity of design data. View full abstract»

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  • Industrial robots with seven joints

    Publication Year: 1985, Page(s):1010 - 1015
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    In a physical 3-dimensional free space at most six degrees of freedom can be independent, i.e. three for position and three for orientation. Intuitively robots with six joints are adequate to execute any tasks. However, in reality, constraints often exist under the complex environment so that six joints are not quite enough for the robots. An insertion of an additional joint into the robot may sol... View full abstract»

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  • A unified approach to manipulator modeling

    Publication Year: 1985, Page(s):729 - 736
    Cited by:  Papers (3)
    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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