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Robotics and Automation, IEEE Transactions on

Issue 2 • Date April 1997

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Displaying Results 1 - 17 of 17
  • Modeling and Control of Robot Manipulators [Book Reviews]

    Publication Year: 1997 , Page(s): 315 - 316
    Cited by:  Papers (2)
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  • Modeling manufacturing dependability

    Publication Year: 1997 , Page(s): 161 - 168
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (704 KB)  

    In this paper, an analytical approach for the availability evaluation of cellular manufacturing systems is presented, where a manufacturing system is considered operational as long as its production capacity requirements are satisfied. The advantage of the approach is that constructing a system level Markov chain (a complex task) is not required. A manufacturing system is decomposed into two subsy... View full abstract»

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  • Optimal obstacle avoidance based on the Hamilton-Jacobi-Bellman equation

    Publication Year: 1997 , Page(s): 305 - 310
    Cited by:  Papers (42)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (500 KB)  

    This paper solves the online obstacle avoidance problem using the Hamilton-Jacobi-Bellman (HJB) theory. Formulating the shortest path problem as a time optimal control problem, the shortest paths are generated by following the negative gradient of the return function, which is the solution of the HJB equation. To account for multiple obstacles, we avoid obstacles optimally one at a time. This is e... View full abstract»

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  • An articulated-body model for a free-flying robot and its use for adaptive motion control

    Publication Year: 1997 , Page(s): 264 - 277
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (480 KB)  

    We synthesize an adaptive motion control law for a free-flying robot with no external forces or moments. The basic idea is to make use of the articulated part of the space robot to control the position and orientation of the end-effector in an inertial frame. The inertia parameters for the robot end-effector and load are assumed to be a priori unknown. The articulated-body model is linear in the u... View full abstract»

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  • Deterministic timed event graphs for performance optimization of cyclic manufacturing processes

    Publication Year: 1997 , Page(s): 169 - 181
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (592 KB)  

    A model of a cyclic manufacturing system representable as a deterministic timed event graph is considered in this paper. It is possible to apply analytical techniques for performance evaluation of such systems. On this basis, a two-level optimization problem is considered. The higher level refers to the maximization of the system productivity with respect to the assignment of operations to machine... View full abstract»

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  • Hitting from any direction in 3-D space by a robot with a flexible link hammer

    Publication Year: 1997 , Page(s): 296 - 301
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (388 KB)  

    This paper describes a hammering robot with a flexible link which can hit an object from an arbitrary direction in a 3-D space. A dynamical equation of a flexible link hammer is presented by taking gravity into consideration. The conditions that the hammer can strike an object flatwise with only a normal velocity to its face are investigated, and a manipulating method to satisfy the hitting condit... View full abstract»

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  • Repetitive and adaptive control of robot manipulators with velocity estimation

    Publication Year: 1997 , Page(s): 204 - 217
    Cited by:  Papers (67)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (776 KB)  

    This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator's joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective throug... View full abstract»

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  • Performance measures for constrained systems

    Publication Year: 1997 , Page(s): 278 - 289
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (700 KB)  

    We present a geometric theory of the performance of robot manipulators, applicable to systems with constraints, which may be nonholonomic. The performance is quantified by a geometrical object, the induced metric tensor, from which scalars may be constructed by invariant tensor operations to give performance measures. The measures thus defined depend on the metric structure of configuration and wo... View full abstract»

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  • A decomposition of the manipulator inertia matrix

    Publication Year: 1997 , Page(s): 301 - 304
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (184 KB)  

    A decomposition of the manipulator inertia matrix is essential, for example, in forward dynamics, where the joint accelerations are solved from the dynamical equations of motion. To do this, unlike a numerical algorithm, an analytical approach is suggested in this paper. The approach is based on the symbolic Gaussian elimination of the inertia matrix that reveal recursive relations among the eleme... View full abstract»

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  • Liquid crystal polarization camera

    Publication Year: 1997 , Page(s): 195 - 203
    Cited by:  Papers (27)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (748 KB)  

    We present a fully automated system which unites CCD camera technology with liquid crystal technology to create a polarization camera capable of sensing the partial linear polarization of reflected light from objects at pixel resolution. As polarization sensing not only measures intensity but also additional physical parameters of light, it can therefore provide a richer set of descriptive physica... View full abstract»

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  • Scheduling messages on controller area network for real-time CIM applications

    Publication Year: 1997 , Page(s): 310 - 316
    Cited by:  Papers (54)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (244 KB)  

    Scheduling messages on the controller area network (CAN) corresponds to assigning identifiers (ID's) to messages according to their priorities. In this paper we present the mixed traffic scheduler (MTS) which provides higher schedulability than fixed-priority schemes, like deadline-monotonic (DM), while incurring less overhead than dynamic earliest-deadline (ED) scheduling. Through simulations, we... View full abstract»

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  • Stability of frictional contact in constrained rigid-body dynamics

    Publication Year: 1997 , Page(s): 230 - 236
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (240 KB)  

    The use of rigid-body models during frictional contact is often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and body-to-body contacts are modeled using springs and dampers. A singular perturbation analysis reveals addition... View full abstract»

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  • Modeling closed-loop mechanisms in robots for purposes of calibration

    Publication Year: 1997 , Page(s): 218 - 229
    Cited by:  Papers (9)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (376 KB)  

    A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipul... View full abstract»

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  • Model-based planning of optimal sensor placements for inspection

    Publication Year: 1997 , Page(s): 182 - 194
    Cited by:  Papers (46)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (684 KB)  

    We report a system for sensor planning, GASP, which is used to compute the optimal positions for inspection tasks using known imaging sensors and feature-based object models. GASP (general automatic sensor planning) uses a feature inspection representation (the FIR), which contains the explicit solution for the simplest sensor positioning problem. The FIR is generated off-line, and is exploited by... View full abstract»

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  • Mobile robot localization using landmarks

    Publication Year: 1997 , Page(s): 251 - 263
    Cited by:  Papers (152)  |  Patents (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (524 KB)  

    We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmar... View full abstract»

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  • Collision-free path planning for a diamond-shaped robot using two-dimensional cellular automata

    Publication Year: 1997 , Page(s): 237 - 250
    Cited by:  Papers (33)  |  Patents (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1332 KB)  

    This paper presents a new parallel algorithm for collision-free path planning of a diamond-shaped robot among arbitrarily shaped obstacles, which are represented as a discrete image, and its implementation in VLSI. The proposed algorithm is based on a retraction of free space onto the Voronoi diagram, which is constructed through the time evolution of cellular automata, after an initial phase duri... View full abstract»

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  • 3-D polyhedral face computation from two perspective views with the aid of a calibration plate

    Publication Year: 1997 , Page(s): 290 - 295
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (196 KB)  

    The 3-D reconstruction of visible polyhedral faces from a pair of general perspective views with the aid of a calibration plate is addressed. A polyhedron is placed on a planar calibration plate and two side views of both the polyhedron and the calibration plate are taken. Through proper arrangements we may assume that in the two views a number of polyhedral edges lying on the calibration plate an... 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