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Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

11-11 Nov. 2002

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Displaying Results 1 - 25 of 73
  • Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo'02 (IEEE Cat. No.02EX616)

    Publication Year: 2002
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  • Author index

    Publication Year: 2002, Page(s):447 - 448
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    Freely Available from IEEE
  • Analysis of smart electromagnetic sensor for robot effector positioning

    Publication Year: 2002, Page(s):249 - 254
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (403 KB) | HTML iconHTML

    Active robot-environment interaction leans on information about state of robot in workspace and environment objects features. The information can be obtained from external sensors. Many advanced sensors are concentrated in grippers or effectors and connected to computer measurement system. In the case of electromagnetic sensors, the computer-sensor interconnection is always required. However, the ... View full abstract»

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  • Design of the mechatronic system with help of UML diagrams

    Publication Year: 2002, Page(s):243 - 248
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (421 KB) | HTML iconHTML

    The Unified Modelling Language (UML) is a language that helps to visualize, design and document models of large and complex systems. Terminology and notation of visual modelling can be used as common high level object oriented language for design of the mechatronic systems. View full abstract»

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  • Model based roll axis control of a terrain adapting Mars rover

    Publication Year: 2002, Page(s):237 - 242
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (385 KB) | HTML iconHTML

    This paper uses aspects of dead reckoning for "terrain adapting" a mobile robot moving over a rocky terrain like that of Mars. Besides the use of wheel encoders, an accelerometer and a rate gyro is used to sense the motion of the rover chassis and stabilize it, along the roll axis with the terrain adapting system. The rate sensor data is fused with the wheel velocity data from the wheel encoder an... View full abstract»

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  • Low-cost GPS receivers in navigation of mobile robots

    Publication Year: 2002, Page(s):119 - 122
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (284 KB) | HTML iconHTML

    In the paper, the satellite navigation system using low-cost GPS receivers is presented. The aim of the presented research was to verify usefulness of such receivers in navigation systems of mobile robots. Results of positioning errors using single receivers and simple DGPS system are shown. View full abstract»

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  • Motion planning in endogenous configuration space

    Publication Year: 2002, Page(s):231 - 236
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (410 KB) | HTML iconHTML

    We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a nat... View full abstract»

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  • Regressor-free second order sliding mode control for exponential tracking of constrained robot manipulators

    Publication Year: 2002, Page(s):159 - 164
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (440 KB) | HTML iconHTML

    Constrained motion has been the subject of intensive study in the robotics community in the last decade, because it is a fundamental problem for a variety of robotic tasks, such as walking, dynamic simulation, hand manipulation, to mention a few. In the paper, a locally stable control for simultaneous exponential convergence of force and position trajectories is proposed. Within the framework of o... View full abstract»

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  • Optimization of power consumption of anthropomorphic robots driven by electromotor

    Publication Year: 2002, Page(s):113 - 117
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (310 KB) | HTML iconHTML

    The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of o... View full abstract»

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  • Stabilization of a nonlinear underactuated autonomous airship-a combined averaging and backstepping approach

    Publication Year: 2002, Page(s):223 - 229
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (397 KB) | HTML iconHTML

    A strategy to design a time-varying stabilizing controller of the position and the orientation of an underactuated autonomous airship is proposed. The dynamic modelling of the airship involves six equations with only three inputs. This airship cannot be stabilized to a point using continuous pure-state feedback law. However, the stabilization problem is solved with an explicit homogeneous time-var... View full abstract»

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  • Model reference tracking control for constrained robotic systems

    Publication Year: 2002, Page(s):153 - 158
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (380 KB) | HTML iconHTML

    The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed. View full abstract»

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  • Analysis and simulation of an electronic assembly line of SMT boards using MATLAB

    Publication Year: 2002, Page(s):107 - 112
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (567 KB) | HTML iconHTML

    The paper discusses the aspects taken into consideration for a generic manufacturing system problem and the analysis techniques used. MATLAB is used to finally simulate the system and find the results after comparisons and reports generated. The simulation revealed the savings in the form of manufacturing times, man hours, & investment in comparison with the conventional manufacturing environment.... View full abstract»

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  • Improved sliding mode robot control-a fuzzy approach

    Publication Year: 2002, Page(s):393 - 398
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (386 KB) | HTML iconHTML

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator.... View full abstract»

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  • Genetic programming for finding trajectories of underwater vehicle

    Publication Year: 2002, Page(s):217 - 222
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (430 KB) | HTML iconHTML

    Path planning for an underwater vehicle can be formulated as a multi-criterion optimization problem that can be solved by genetic programming. Two underwater vehicles are compared. For assessment of an underwater vehicle trajectory, three crucial criteria are used, a total length of a path, a smoothness of a trajectory, and a measure of safety. Some rules of genetic programming are described. View full abstract»

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  • Discrete sliding mode control with uncertain modelling applied to robot manipulator

    Publication Year: 2002, Page(s):147 - 151
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (309 KB) | HTML iconHTML

    This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the feature... View full abstract»

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  • Control of climbing robot for rough surfaces

    Publication Year: 2002, Page(s):101 - 105
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (394 KB) | HTML iconHTML

    The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robot control algorithms and design parameters allows adapting to unevenness of motion surface. Control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results are presented. View full abstract»

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  • Voice control of dual-drive mobile robots-survey of algorithms

    Publication Year: 2002, Page(s):387 - 392
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (551 KB) | HTML iconHTML

    Presents a survey of the algorithms applied to voice control of electromechanical appliances, especially voice controlled mobile robots or intelligent wheelchairs for handicapped people. The second part of the paper is devoted to voice recognition algorithms. Besides a short voice processing algorithms review, the need of voice recognition results verification method was pointed out. The method pr... View full abstract»

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  • Dynamic analysis of airships with small deformations

    Publication Year: 2002, Page(s):209 - 215
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (452 KB) | HTML iconHTML

    The theory of modelling and control of airships was mostly imported from the fields of science and engineering of underwater vehicles. However the main hypothesis of rigidity of the structure may be improved to take into account the flexibility of the hull of an airship. We present an approach for analysing dynamic elastic deformable airships in an ideal fluid. Our model uses the updated Lagrangia... View full abstract»

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  • Machine vision for 3D mechanical part recognition in intelligent manufacturing environments

    Publication Year: 2002, Page(s):441 - 446
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (390 KB) | HTML iconHTML

    A 3D machine vision method used in intelligent manufacturing environments is presented. In this method, the neural network technology is used to provide effective methodologies for solving difficult computational problems in 3D recognition processes. The recognition processes can be divided into two parts. First, a 3D reconstruction. approach based on wavelet analysis is presented. The stereo matc... View full abstract»

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  • Robots and agents in basic computer science curricula

    Publication Year: 2002, Page(s):309 - 317
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (666 KB) | HTML iconHTML

    The present day changes in applications of computers are fundamental and modify our global understanding of computers and computing. The coming change of the basic computational paradigm must be reflected in teaching computer science and engineering. This contribution sketches a proposal of how to achieve this on the basis of multi-agent systems and relatively simple robots and by transformation o... View full abstract»

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  • Managing advanced manufacturing and automated systems. Some concepts and results of their implementation

    Publication Year: 2002, Page(s):261 - 268
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (491 KB) | HTML iconHTML

    Hybrid automation, robotics and computer-based technologies have changed the organization of production. This requires a new approach in company management. In this paper a set of new management concepts is presented as well as some results of survey concerning the popularity, objectives and effectiveness of use of these concepts in manufacturing companies. View full abstract»

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  • Numerical solution of time dependent magnetic fields taking into account the motion of parts of construction

    Publication Year: 2002, Page(s):133 - 136
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (299 KB) | HTML iconHTML

    In many technical devices, such as magnetic systems, switches etc., the knowledge of time dependent field distribution is of great importance for the constructor. It makes it possible to investigate the behavior of the device under different operating conditions before it is built and gives valuable insights of the function. By this approach improvements can be determined and the time and cost can... View full abstract»

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  • Modelling the B-spline surface uncertainties when localizing work objects with complicated surfaces

    Publication Year: 2002, Page(s):405 - 410
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (468 KB) | HTML iconHTML

    In this paper we propose a method to model the spatial uncertainties of the B-spline surface patch and consider the effect of work object localization uncertainties. The spatial uncertainties are analysed by studying the error covariance matrix: eigenvalues in the direction of the eigenvectors. The methods are tested with an actual robot system and Monte Carlo simulation. We also give results from... View full abstract»

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  • Noninvasive optoelectronic monitoring of the living tissues vitality

    Publication Year: 2002, Page(s):13 - 19
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (525 KB) | HTML iconHTML

    The subject of this paper relates to the measurable effects of light behavior in biological materials. Contribution is focused on problems connected with noninvasive evaluation of the arterial blood oxygenation using pulse oximetry. Its concept allows extending areas of application, exceeding over the continuous defection of changes in oxygenation of blood in arterial peripheral vessels. Some exam... View full abstract»

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  • Robot motions in task space with control constraints

    Publication Year: 2002, Page(s):141 - 146
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (396 KB) | HTML iconHTML

    This paper considers the problem of position control of robotic manipulators in task space. Based on Lyapunov stability theory, it is shown that the control strategy proposed is asymptotically convergent to the task error whose ultimate bound can be made arbitrarily small. As opposed to most other existing approaches, our algorithm also takes into account actuator constraints when positioning the ... View full abstract»

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