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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)

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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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  • Design and control of a redundant mechanism for small motion

    Publication Year: 1985, Page(s):323 - 328
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (616 KB)

    Redundant manipulators are expected to increase robot performance by reducing the problem of workspace singularities, allowing for obstacle avoidance and providing the opportunity for gross motion optimization. We show that the addition of redundant joints can also increase the dynamic response for small motions of the manipulator at its endpoint. We begin by considering a two link mechanism, whic... 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 systolic/cellular computer architecture for linear algebraic operations

    Publication Year: 1985, Page(s):779 - 784
    Cited by:  Papers (7)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    We describe here a 2-D array of processing elements, connected in a nearest neighbor mesh, which provides a high performance linear algebraic computing capability. To provide this generality of operation, the processor array uses the Faddeev algorithm, mapped into a systolic/cellular architecture with only two different types of processing elements. Examples of how it can be used in robotics for s... View full abstract»

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  • Optimal compliance design for grinding robot tool holders

    Publication Year: 1985, Page(s):316 - 322
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    A simple and effective solution to the robot grinding problem is introduced, which significantly reduces vibrations during grinding without additional actuators or active control. The objective is to determine the optimal compliance design for grinding robot tool holders. It is found that the degree of correlation between the dynamic behavior of the wheel in the directions normal and tangent to th... View full abstract»

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  • Position referencing and consistent world modeling for mobile robots

    Publication Year: 1985, Page(s):138 - 145
    Cited by:  Papers (162)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB)

    In order to understand its environment, a mobile robot should be able to model consistently this environment, and to locate itself correctly. One major difficulty to be solved is the inaccuracies introduced by the sensors. The approach proposed in this paper to cope with this problem relies on 1) defining general principles to deal with uncertainties : the use of a multisensory system, favo ring o... View full abstract»

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  • A planar XY robotic fine positioning device

    Publication Year: 1985, Page(s):329 - 336
    Cited by:  Papers (22)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    We describe in this paper a small, fast, precise positioner which can be attached to the terminal link of a general purpose robot for assembly and inspection tasks. The device is a very compact combination of two-dimensional linear motor, flexure springs, position sensor and digital controller. Peak velocities and accelerations of 24.8 cm/sec and 8.7 g are achieved. Positioning resolution is 0.5 &... View full abstract»

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  • Generating detailed scene descriptions from range images

    Publication Year: 1985, Page(s):426 - 431
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    Techniques for extracting detailed, complete descriptions of polyhedral objects from light-stripe rangefinder data are described. The descriptions are in the form of 3D faces, edges, vertices, and their topology and geometry. A range image is first segmented into edge points. A line drawing is then obtained by fitting linear segments to the points in the image, and refining the segments to elimina... 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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  • High resolution maps from wide angle sonar

    Publication Year: 1985, Page(s):116 - 121
    Cited by:  Papers (496)  |  Patents (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1152 KB)

    We describe the use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot. A sonar range reading provides information concerning empty and occupied volumes in a cone (subtending 30 degrees in our case) in front of the sensor. The reading is modelled as probability profiles projected onto a rasterized map, where somewhere occupied and everywhere empty... 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 (25)
    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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  • A Generic switch parts recognition system

    Publication Year: 1985, Page(s): 466
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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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  • Computation of the inertial and gravitational coefficients of the dynamics equations for a robot manipulator with a load

    Publication Year: 1985, Page(s):1024 - 1032
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    We present a method for the computation of the effective inertia, coupling inertia, and gravity loading terms for a manipulator with a load. The calculations are separated so as to consider the manipulator and the load independently. These inertial and gravity loading effects are additive and furthermore their computation need only be performed at a rate commensurate with changes in the configurat... View full abstract»

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  • The determination of next best views

    Publication Year: 1985, Page(s):432 - 435
    Cited by:  Papers (91)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    There are situations in which one would like to know a good sequence of range-image views for obtaining a complete model of a scene. This paper describes two algorithms which use partial octree models to determine the "best" next view to take. 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 (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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  • Tuning of a multivariable controller for a robot manipulator

    Publication Year: 1985, Page(s):290 - 294
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    A linear multivariable PI-controller that can be designed based on step responses is presented. Choice of fine tuning parameters for the controller is discussed and solved as an optimization problem. Optimization results suggest that fine tuning can be chosen very simply. The problem of performing step response experiments with manipulators is brought up. Because of the unstability of the open loo... View full abstract»

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  • Manipulability and redundancy control of robotic mechanisms

    Publication Year: 1985, Page(s):1004 - 1009
    Cited by:  Papers (86)
    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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