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 (41)
    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
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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
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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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  • Stable prehension with a multi-fingered hand

    Publication Year: 1985, Page(s):570 - 575
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (568 KB)

    We study grasps by a robot hand with three spring-loaded fingers. In two dimensions, the hand can grasp any polygon stably. That is, the grip is at a local minimum of the potential energy function defined by the springs of the fingers, ignoring friction. Surprisingly, under some conditions an equilibrium grasp on a circle is unstable even with respect to translation. In three dimensions, the hand ... View full abstract»

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  • High performance conformal skin for robots

    Publication Year: 1985, Page(s): 700
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  • Real-time multiprocessor-based robot controller

    Publication Year: 1985, Page(s): 814
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  • The application of a knowledge-based system to design for manufacture

    Publication Year: 1985, Page(s):182 - 185
    Cited by:  Papers (1)
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    Computer-aided design (CAD) and computer-aided manufacturing (CAM) systems have been widely used to aid the design and manufacturing process. The use of CAD/CAM systems shortens the design cycle and improves productivity. In most CAD/CAM systems, the CAD activities, primarily used by design engineers, and the CAM activities, primarily used by manufacturing engineers, currently use the same data ba... View full abstract»

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  • Improved numerical solutions of inverse kinematics of robots

    Publication Year: 1985, Page(s):743 - 748
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (448 KB)

    Numerical solution of the inverse kinematics of robots using modified Newton-Raphson (MNR) and modified predictor-corrector (MPC) algorithms is discussed. These modified algorithms are highly reliable and stable. Both algorithms always find a solution if a physically realizable robot configuration exists. They are also capable of approaching singular configurations of the robot as E = C ε View full abstract»

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  • Visual map making for a mobile robot

    Publication Year: 1985, Page(s):824 - 829
    Cited by:  Papers (66)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (672 KB)

    Mobile robots sense their environment and receive error laden readings. They try to move a certain distance and direction, and do so only approximately. Rather than try to engineer these problems away it may be possible, and may be necessary, to develop map making and navigation algorithms which explicitly represent these uncertainties, but still provide robust performance. The key idea is to use ... View full abstract»

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  • Practical adaptive control of actuated spatial mechanisms

    Publication Year: 1985, Page(s):650 - 655
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (408 KB)

    A new model referenced adaptive control scheme for a general actuator-link assembly based on the Lyapunov stability criterion is presented. A general model of the actuator and link dynamics and constraints is formulated as an integral structure. Application of a state feedback gain introduces the adjustable system. The model and control are formulated to address such physical considerations as mot... View full abstract»

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  • Explanation-based manipulator learning: Acquisition of planning ability through observation

    Publication Year: 1985, Page(s):555 - 560
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (680 KB)

    This paper describes a robot manipulator system currently under development which learns from observation. The system improves its problem-solving capabilities through the acquisition of task-related concepts. The system observes manipulator command sequences that solve problems currently beyond its own panning abilities. General problem-solving schemata are automatically constructed via a knowled... 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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  • Space applications of computer-assisted teleoperator

    Publication Year: 1985, Page(s): 719
    Cited by:  Papers (1)
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  • A real-time iconic image processor

    Publication Year: 1985, Page(s):873 - 878
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (560 KB)

    The Sensory-Interactive Robotics Group at the National Bureau of Standards is producing PIPE, a pipelined image-processing engine, for research in low-level machine vision. PIPE processes sequences of images at field rates through a series of point and neighborhood operations. It is divided into a variable number of identical stages, each of which performs an independent set of operations on the i... View full abstract»

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  • A geometric approach to deriving position/Force trajectroy in fine motion

    Publication Year: 1985, Page(s):691 - 697
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (720 KB)

    The synthesis of position/force trajectories for compliant motion is an important task for the control of industrial robots in assembly tasks. The position and orientation of the manipulator can be specified by a set of six linear independent constraints. Some are caused by contact with other objects (natural position constraints) and the others are applied artificially (artificial position constr... 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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  • Performance evaluation of alternative robot controller architectures using a finite-state machine emulator

    Publication Year: 1985, Page(s):638 - 643
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (536 KB)

    Design tools are needed to study advanced robot controller architectures. These tools must provide capabilities beyond simulation of linear differential equations used for designing PID controls. Other design parameters, such as interprocess communication delays, computational delays, interprocessor bus structures and operating system services, need to be simulated. In this paper, the use of two s... View full abstract»

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  • Logic-based factory design

    Publication Year: 1985, Page(s):176 - 181
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (432 KB)

    A methodology for knowledge-based factory desigh is presented, with emphasis on a logic-oriented implementation in PROLOG, a logic programming language. The implementation, FADES ( FAcilities Design Expert System ) provides a partial demonstration of the methodology proposed. Current status of research, difficulties encountered, and future direction are examined and discussed. 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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  • Robust linear compensator design for nonlinear robotic control

    Publication Year: 1985, Page(s):954 - 959
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    In this paper we investigate the application to the motion control of n-link robotic manipulators of the recently developed stable factorization approach to tracking and disturbance rejection. Given a nominal model of the manipulator dynamics, the control scheme consists of an approximate feedback linearizing control followed by a linear compensator design based on the stable factorization approac... View full abstract»

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