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IEEE Transactions on Robotics and Automation

Issue 6 • Date Dec. 1996

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Displaying Results 1 - 10 of 10
  • Sensors for Mobile Robots: Theory and Application [Book Review]

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (235 KB)
    Freely Available from IEEE
  • 1996 Index IEEE Transactions on Robotics and Automation Vol. 12

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (1252 KB)
    Freely Available from IEEE
  • Heuristic solutions for loading in flexible manufacturing systems

    Publication Year: 1996, Page(s):858 - 868
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1168 KB)

    Production planning in flexible manufacturing system deals with the efficient organization of the production resources in order to meet a given production schedule. It is a complex problem and typically leads to several hierarchical subproblems that need to be solved sequentially or simultaneously. Loading is one of the planning subproblems that has to be addressed. It involves assigning the neces... View full abstract»

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  • Deadlock avoidance policies for automated manufacturing cells

    Publication Year: 1996, Page(s):845 - 857
    Cited by:  Papers (111)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1404 KB)

    This paper suggests a framework for developing provably correct and scalable avoidance policies for the automated manufacturing cell (AMC) model. We provide a formal description of the AMC operation and establish its correspondence to a finite state automaton (FSA). The AMC model's deadlock characteristics are studied with the aid of the FSA state transition diagram. We provide a new characterizat... View full abstract»

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  • Measurement and correction of systematic odometry errors in mobile robots

    Publication Year: 1996, Page(s):869 - 880
    Cited by:  Papers (316)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1236 KB)

    Odometry is the most widely used method for determining the momentary position of a mobile robot. This paper introduces practical methods for measuring and reducing odometry errors that are caused by the two dominant error sources in differential-drive mobile robots: 1) uncertainty about the effective wheelbase; and 2) unequal wheel diameters. These errors stay almost constant over prolonged perio... View full abstract»

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  • Single machine scheduling with chain: structured precedence constraints and separation time windows

    Publication Year: 1996, Page(s):835 - 844
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (976 KB)

    We consider a single machine scheduling problem which we studied to improve the efficiency of an automated medical laboratory. In this problem, there are not only chain structured precedence constraints, but also minimal and maximal times separating successive jobs in the same chain (separation time windows). The criterion to be minimized is the makespan. Potential applications are not restricted ... View full abstract»

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  • Effects of input shaping on two-dimensional trajectory following

    Publication Year: 1996, Page(s):881 - 887
    Cited by:  Papers (50)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    Input shaping is a method of reducing residual vibrations in computer-controlled machines. Input shaping is implemented by convolving the desired command signal with a sequence of impulses. The result of the convolution is then used to drive the system. Because input shaping alters the commanded trajectory, it has had questionable utility for trajectory following applications such as painting, cut... View full abstract»

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  • Growth distances: new measures for object separation and penetration

    Publication Year: 1996, Page(s):888 - 903
    Cited by:  Papers (44)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1616 KB)

    Quantitative measures for the separation and penetration of two convex objects are formulated, These measures, called separation and penetration growth distances, are closely related to traditional translational distance measures and share many of their desirable properties. The solution of a single optimization problem yields both the separation and penetration distances. For 3D polytopes the opt... View full abstract»

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  • On the stability of grasped objects

    Publication Year: 1996, Page(s):904 - 917
    Cited by:  Papers (95)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1192 KB)

    A grasped object is defined to be in equilibrium if the sum of all forces and moments acting on a body equals zero. An equilibrium grasp may be stable or unstable. Force closed grasps are a well-known subset of equilibrium grasps, and they are known to be stable. However, not all stable grasps are force closed, including many common and easily obtainable grasps. In this paper, we classify the cate... View full abstract»

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  • Camera calibration with a near-parallel (ill-conditioned) calibration board configuration

    Publication Year: 1996, Page(s):918 - 921
    Cited by:  Papers (18)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    Tsai's radial alignment constraint (RAC) method has been shown as a viable candidate for camera calibration. The solution procedure, however, will fail if the camera plane is parallel to the plane defined by a calibration board which is used to provide calibration data. Tsai also devised an algorithm that handled the exactly parallel case. In this paper, we show that by a slight modification of th... View full abstract»

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Aims & Scope

This Transactions ceased production in 2004. The current retitled publications areIEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope