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IEEE Robotics & Automation Magazine

Issue 2 • June 1997

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Displaying Results 1 - 6 of 6
  • Discrete event and hybrid systems in robotics and automation: an overview

    Publication Year: 1997, Page(s):16 - 19
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (787 KB)

    Discrete event and hybrid systems modeling has been used extensively in automation, robotics, and manufacturing applications. Different frameworks for dynamic supervisory controllers are used in flexible manufacturing systems (FMS) and automated processes. This article presents an overview of some existing strategies that are used to control systems in real-time based on sensory data. View full abstract»

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  • Hybrid dynamic modeling and control of constrained manipulation systems

    Publication Year: 1997, Page(s):27 - 44
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2488 KB)

    Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modeling and control synthesis for robot manipulation. Additionally, methods for the effective monitoring of the process based on the detection and identification of discrete events are given. The effectiveness and versatility of th... View full abstract»

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  • Hybrid control approach to the peg-in hole problem

    Publication Year: 1997, Page(s):52 - 60
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (924 KB)

    Since the whole assembly process has typical phase transitions between control laws driven by the environment event, the techniques of hybrid control can be employed to specify the hybrid control properties. Finally a hybrid controller and corresponding hybrid control programs are designed using the HCSP language to describe a peg-in-hole problem View full abstract»

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  • Automatic regeneration of sequence programs for operating plants

    Publication Year: 1997, Page(s):20 - 26
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1864 KB)

    Today, many plants built in the 1960s will probably be replaced or maintained. However, it is difficult to replace or maintain them because the installed sequential control logic documents are seldom still in existence. Therefore, we have proposed an automatic regeneration method (SPAIR) in order to solve this problem. SPAIR regenerates sequential control logic that is expressed on a ladder diagra... View full abstract»

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  • In the footsteps of Leonardo [articulated anthropomorphic robot]

    Publication Year: 1997, Page(s):12 - 14
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Leonardo da Vinci's powerful approach of linking kinesiology and anatomy, and translating them into kinematics and structure is a model for future lines of research. This application of Leonardo's approach has lead to the development of a new kinematic architecture that is being used to meet NASA's requirements for a robotic surrogate to aid astronauts in space station construction, maintenance an... View full abstract»

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  • Hybrid modeling and simulation for the design of an advanced industrial robot controller

    Publication Year: 1997, Page(s):45 - 51
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1440 KB)

    This paper proposes the application of discrete event and hybrid modeling in the architectural design of a new commercial robot controller featuring force control capabilities. A case study is considered and architectural aspects, such as distribution of functions over a multiprocessor structure, communication among processors and sensors and task scheduling and synchronization, are modeled and si... View full abstract»

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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

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Meet Our Editors

Editor-in-Chief

Bram Vanderborght
Vrije Universiteit Brussel
Faculty of Applied Sciences
Department of Mechanical Engineering