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Robotics and Automation, IEEE Transactions on

Issue 5 • Date Oct 1997

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Displaying Results 1 - 15 of 15
  • Least inventory control of multistorage systems with non-stochastic unknown inputs

    Publication Year: 1997 , Page(s): 633 - 645
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (520 KB)  

    We consider multiinventory production systems with control and state constraints dealing with unknown demand or supply levels. Unlike most contributions in the literature concerning this class of systems, we cope with uncertainties in an “unknown-but-bounded” fashion, in the sense that each unknown quantity may take any value in an assigned interval. For these situations, we perform a ... View full abstract»

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  • Postural stability of a human riding a unicycle and its emulation by a robot

    Publication Year: 1997 , Page(s): 709 - 720
    Cited by:  Papers (30)  |  Patents (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (228 KB)  

    A unicycle is an inherently unstable system in three dimensions. As shown by a human riding a unicycle, the rider's complicated successive dynamic control actions are needed for the postural stability control of the unicycle, and the rider's actions for stability are quite nonlinear and jerky. By emulating the performance of a human riding unicycle, we can do tests of different classic and modern ... View full abstract»

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  • Petri nets for modeling automated manufacturing systems with error recovery

    Publication Year: 1997 , Page(s): 752 - 760
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (208 KB)  

    This paper enhances a Petri net synthesis theory with the capability to deal with reversibility, which is an important property related to the concept of error recovery in manufacturing. The theory has been proposed to synthesize a class of Petri nets for modeling shared-resource automated manufacturing systems. The class of nets has been shown to be conservative (bounded) and possess structural l... View full abstract»

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  • Removing singularities of resolved motion rate control of mechanisms, including self-motion

    Publication Year: 1997 , Page(s): 741 - 751
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (376 KB)  

    Resolved motion rate control is an algorithm for solving the path-tracking problem in robotic control which can fail at singular points of the kinematic function. The questions of existence and smoothness of solutions to the path tracking problem at singular points have not heretofore been addressed. In this paper we find a new second-order condition which, when satisfied, ensures the existence of... View full abstract»

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  • Time-optimal motion of two omnidirectional robots carrying a ladder under a velocity constraint

    Publication Year: 1997 , Page(s): 721 - 729
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (296 KB)  

    We consider the problem of computing a time-optimal motion for two omnidirectional robots carrying a ladder from an initial position to a final position in a plane without obstacles. At any moment during the motion, the distance between the robots remains unchanged and the speed of each robot must be either a given constant υ, or O. A trivial lower bound on time for the robots to complete the... View full abstract»

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  • Selective stabilization of images acquired by unmanned ground vehicles

    Publication Year: 1997 , Page(s): 693 - 708
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (552 KB)  

    This paper studies the problem of selective stabilization of images acquired by a camera mounted on a vehicle navigating a rough terrain. Selective stabilization is defined here as the separation of rotational components into smooth and residual oscillatory rotations. We consider both kinematic and kinetic models suitable for capturing these phenomena and achieve their separation. A scheme for det... View full abstract»

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  • Dynamic global path planning with uncertainty for mobile robots in manufacturing

    Publication Year: 1997 , Page(s): 760 - 767
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (260 KB)  

    We propose a probabilistic approach to the problem of global path planning with uncertainty for mobile robots in a dynamic manufacturing environment. To model the changing environment, we use a topological graph weighted by scalar cost functions. The cost functions consist of two elements: a deterministic cost for the known part of the robot's environment, and an uncertainty cost for the unknown p... View full abstract»

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  • Robust control of robot manipulators based on dynamics decomposition

    Publication Year: 1997 , Page(s): 783 - 789
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (260 KB)  

    This paper presents a new robust saturation-based control method for robot manipulators and related experimental results. The proposed method distinguishes between uncertainty in the inertia, Coriolis and centripetal forces, gravity and friction. A robust compensator is designed for each type of uncertainty, and each control parameter is directly related to a specific behavior of the closed-loop r... View full abstract»

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  • Nonholonomic behavior in redundant robots under kinematic control

    Publication Year: 1997 , Page(s): 776 - 782
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (260 KB)  

    We analyze the behavior of redundant robots when the joint motion is generated by inverting task velocity commands through a kinematic control scheme. Depending on the chosen inversion scheme, the robot motion is subject to differential constraints that may or may not be integrable. Accordingly, we give a classification in terms of holonomic, partially nonholonomic, and completely nonholonomic beh... View full abstract»

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  • Design of assembly systems for modular products

    Publication Year: 1997 , Page(s): 646 - 655
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (340 KB)  

    To respond to the challenge of agile manufacturing, companies are striving to provide a large variety of products at a low cost. Product modularity allows production of different products by combining standard components. One of the characteristics of modular products is that they share the same assembly operations for a part of their structure. The special structure of modular products provides c... View full abstract»

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  • Ultrasound-based robot position estimation

    Publication Year: 1997 , Page(s): 682 - 692
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (244 KB)  

    A novel 3-D ultrasound position sensor provides low-cost, high-precision measurements of the Cartesian position of a robot wrist within a the robot's workspace. These measurements can, for instance, be used in a taskspace feedback loop to reduce the kinematic error. The basic idea is to mount ultrasound senders on the manipulator wrist and compute the 3-D Cartesian position of these sensors using ... View full abstract»

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  • A framed-quadtree approach for determining Euclidean shortest paths in a 2-D environment

    Publication Year: 1997 , Page(s): 668 - 681
    Cited by:  Papers (25)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (436 KB)  

    In this paper we investigate the problem of finding a Euclidean (L 2) shortest path between two distinct locations in a planar environment. We propose a novel cell decomposition approach which calculates an L2 distance transform through the use of a circular path-planning wave. The proposed method is based on a new data structure, called the framed-quadtree, which combines to... View full abstract»

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  • Minimum effort inverse kinematics for redundant manipulators

    Publication Year: 1997 , Page(s): 767 - 775
    Cited by:  Papers (36)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (268 KB)  

    This paper investigates the use of an infinity norm in formulating the optimization measures for computing the inverse kinematics of redundant arms. The infinity norm of a vector is its maximum absolute value component and hence its minimization implies the determination of a minimum effort solution as opposed to the minimum-energy criterion associated with the Euclidean norm. In applications wher... View full abstract»

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  • A linear space of admittance control laws that guarantees force-assembly with friction

    Publication Year: 1997 , Page(s): 656 - 667
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (408 KB)  

    Force-assembly has been defined as an assembly process for which the use of a single, properly designed, admittance control law will guarantee the proper assembly of a given pair of mating parts. In previous work in workpart-into-fixture insertion, the conditions on a manipulators accommodation control law that ensure proper insertion despite infinitesimal positional error and finite (but bounded)... View full abstract»

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  • Optimal robot excitation and identification

    Publication Year: 1997 , Page(s): 730 - 740
    Cited by:  Papers (69)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (292 KB)  

    This paper discusses experimental robot identification based on a statistical framework. It presents a new approach toward the design of optimal robot excitation trajectories, and formulates the maximum-likelihood estimation of dynamic robot model parameters. The differences between the new design approach and the existing approaches lie in the parameterization of the excitation trajectory and in ... 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