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# IEEE Journal on Robotics and Automation

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Displaying Results 1 - 15 of 15
• ### Analog matrix inversion [robot kinematics]

Publication Year: 1988, Page(s):157 - 162
Cited by:  Papers (37)
| | PDF (440 KB)

The enhancement of robot dynamic performance can be aided by high-speed and, in some cases, low-accuracy calculation of matrices and their inverses. Analog techniques for the calculation of robot kinematics are reviewed and a method for fast matrix inversion is proposed. Tradeoffs in speed and accuracy in such computations are also examined View full abstract»

• ### Analysis of robot drive train errors, their static effects, and their compensations

Publication Year: 1988, Page(s):117 - 128
Cited by:  Papers (27)
| | PDF (732 KB)

A mathematical model of the kinematic nonlinear drive-train errors, which reduce the absolute static positioning accuracy of robot arms, is presented. This kinematic inaccuracy renders robot manipulators less effective when programmed offline, though they might be programmed to successfully perform the same task by teach playback schemes. The kinematic drive-train inaccuracy model presented can be... View full abstract»

• ### An adaptive approach to video tracking

Publication Year: 1988, Page(s):228 - 236
Cited by:  Papers (7)
| | PDF (764 KB)

A video tracking system based on the principles of optimalizing control is presented. This system is designed such that expensive segmentation procedures are not necessary, and is well suited for fast hardware implementation. At the image received from the camera a perturbation procedure is performed, simulating the variations on the intensity values that would occur if the camera were moved. An i... View full abstract»

• ### Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints

Publication Year: 1988, Page(s):174 - 185
Cited by:  Papers (35)
| | PDF (892 KB)

A minimum time trajectory planner is proposed for a manipulator arm. A totally discrete approach is adopted, in contrast to other models which use continuous-time but resort to discretization in the computation. The Neuman and Tourassis discrete-dynamic robot model is used to model the robot dynamics. The proposed trajectory planner includes joint-torque constraints to fully utilize the joint actu... View full abstract»

• ### The kinematics of spatial robotic bevel-gear trains

Publication Year: 1988, Page(s):150 - 156
Cited by:  Papers (46)  |  Patents (1)
| | PDF (484 KB)

A systematic approach is developed for the kinematic analysis of multi-degree-of-freedom robotic bevel-gear trains. The approach is based on the idea that the motion of a bevel-gear-type and effector can be described by an equivalent open-loop chain and that the relative rotation between every two adjacent links in the equivalent open-loop chain can be derived from a set of fundamental circuit equ... View full abstract»

• ### Force control of servomechanism using adaptive control

Publication Year: 1988, Page(s):223 - 228
Cited by:  Papers (15)
| | PDF (516 KB)

It is shown that a servomechanism with only position/velocity functions can obtain a force control function using the adaptive theory (model-referenced adaptive system and model-referenced control). Experimental results of both the servomechanism and the single-degree-of-freedom force control of the manipulator show that this method leads to suitable force control when the object stiffness changes... View full abstract»

• ### Dynamics and simulation of compliant motion of a manipulator

Publication Year: 1988, Page(s):163 - 173
Cited by:  Papers (62)  |  Patents (1)
| | PDF (880 KB)

A rigid body model for compliant motion of a manipulator is derived. The model is formulated in the joint coordinate frame, and then transformed into the constraint frame to reduce the dimensionality of the model. The proposed model is useful in the simulation of force-controlled manipulators. Examples considering the tasks of a peg in a hole' and turning a crank' are given. The basic structure ... View full abstract»

• ### Image analysis methods for solderball inspection in integrated circuit manufacturing

Publication Year: 1988, Page(s):129 - 139
Cited by:  Papers (12)  |  Patents (4)
| | PDF (1384 KB)

Machine vision methods are presented for the analysis of solder balls in integrated circuits. The algorithms are founded on counter fitting using a multiparameter Hough transform and on polynomial-classifier-based pattern recognition. The first method is used to show the complexity of the inspection problem, especially in the presence of high-precision requirements. In this connection, it is shown... View full abstract»

• ### A simple procedure to solve motion and structure from three orthographic views

Publication Year: 1988, Page(s):236 - 239
Cited by:  Papers (11)
| | PDF (304 KB)

In his work on motion analysis, Ullman (1979) showed that for the orthographic case, four-point correspondences over three views are sufficient to determine motion and structure of the four-point rigid configuration. However, his method is nonlinear and the conditions of uniqueness and convergence of his algorithm are not made clear. A simple linear algorithm to solve Ullman's problem of determini... View full abstract»

• ### Manipulator kinematics and the epsilon algebra

Publication Year: 1988, Page(s):186 - 192
Cited by:  Papers (10)
| | PDF (532 KB)

An algebra is defined for use in problems of manipulator kinematics. With this algebra, one can program the solution to the kinematics in position problems, and use this same program to solve the kinematics problems in velocity and acceleration. The inverse kinematics part of the program can be used to obtain any order time-derivative of the joint positions. Some of the properties of the algebra a... View full abstract»

• ### Time-optimal control for a robotic contour following problem

Publication Year: 1988, Page(s):140 - 149
Cited by:  Papers (52)  |  Patents (14)
| | PDF (732 KB)

A mathematical formulation for the time-optimal contour following problem, defined by a unilaterally constrained manipulator, is presented. The formulation includes a careful development of the manipulator dynamics and of conditions for avoidance of impact between the end effector and the constraint surface. By a priori specification of the paths for the unconstrained motion segments, a parameteri... View full abstract»

• ### A fast procedure for computing the distance between complex objects in three-dimensional space

Publication Year: 1988, Page(s):193 - 203
Cited by:  Papers (460)  |  Patents (15)
| | PDF (1052 KB)

An algorithm for computing the Euclidean distance between a pair of convex sets in Rm is described. Extensive numerical experience with a broad family of polytopes in R3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a va... View full abstract»

• ### The kinematics of motion planning for multilegged vehicles over uneven terrain

Publication Year: 1988, Page(s):204 - 212
Cited by:  Papers (20)
| | PDF (852 KB)

A motion planning algorithm for uneven-terrain locomotion for a multilegged vehicle is described. The algorithm has been developed based on the vehicle/terrain kinematic relationships. The vehicle model is chosen from a hexapod vehicle, named the Adaptive Suspension Vehicle (ASV), which has been constructed at Ohio State University (OSU) and is currently being tested. A simple body-regulation plan... View full abstract»

• ### Obstacle avoidance with ultrasonic sensors

Publication Year: 1988, Page(s):213 - 218
Cited by:  Papers (191)  |  Patents (2)
| | PDF (540 KB)

A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described. Since this strategy depends heavily on the performance of the ultrasonic range finders, these sensors and ... View full abstract»

• ### The analysis of equilateral grip of a prismatic and convex workpiece

Publication Year: 1988, Page(s):218 - 223
| | PDF (584 KB)

Certain facets of the gripping problem in robotics are discussed. A gripper with a single degree of freedom is considered, which consists of three equal-length fingers. The set of workpieces under consideration are modeled by prismatic and convex polyhedra. This leads to a planar-geometric formulation. The computational geometric problem of inscribing, in a given convex polygon, an equilateral tri... View full abstract»

## Aims & Scope

This Journal ceased production in 1988. The current retitled publications are IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope