By Topic

IEEE Transactions on Robotics and Automation

Issue 3 • Date Jun 1990

Filter Results

Displaying Results 1 - 14 of 14
  • Parallel process decomposition of a dynamic manipulation task: robotic sewing

    Publication Year: 1990, Page(s):357 - 367
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1060 KB)

    Parallel decomposition of manipulation tasks that involve interaction with a dynamic environment is investigated. A methodology for developing concurrent process controllers for such tasks is outlined. A concurrent process control system was developed for a robotic sewing cell that produced an edge seam on a fabric panel with arbitrary edge curvature. Although a conventional sewing machine sewed u... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robustness analysis of nonlinear decoupling for elastic-joint robots

    Publication Year: 1990, Page(s):373 - 377
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    A robustness analysis of feedback linearization or nonlinear decoupling is proposed for a class of elastic-joint robot manipulator control loops. It is shown that by splitting the modeling-error nonlinearities of incomplete feedback linearization or nonlinear decoupling by a suitable transformation, a robustness analysis becomes feasible under weak assumptions without the necessity of estimating b... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experiments in assembly using a dexterous hand

    Publication Year: 1990, Page(s):342 - 347
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Dexterous hands have the ability to grasp arbitrary objects and impart arbitrary motions and forces to those objects. These forces and motions can be coupled, and generalized stiffness of a grasped workpiece, with an associated center of compliance, can be realized. For a given assembly operation, the workpiece stiffness can be specified so that the reaction force guides the assembly. An implement... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Compliant coordination control of two moving industrial robots

    Publication Year: 1990, Page(s):322 - 330
    Cited by:  Papers (65)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (960 KB)

    When two robots execute coordinated motion in industrial application such as assembly, not only is the specification of the desired motion of each robot's end effector required, but also that of the desired contact force exerted on the end effectors. The involvement of the forces is the motivation for a consideration of compliance. The compliant coordination control scheme of two moving robots is ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A computational analysis of screw transformations in robotics

    Publication Year: 1990, Page(s):348 - 356
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    A computational analysis and a comparison of line-oriented representations of general (i.e. rotational and translational) spatial displacements of rigid bodies are presented. Four mathematical formalisms for effecting a general spatial screw displacement are discussed and analyzed in terms of computational efficiency in performing common operations needed in kinematic analysis of multilinked spati... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Direct calculation of minimum set of inertial parameters of serial robots

    Publication Year: 1990, Page(s):368 - 373
    Cited by:  Papers (147)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    The determination of the minimum set of inertial parameters of robots contributes to the reduction of the computational cost of the dynamic models and simplifies the identification of the inertial parameters. These parameters can be obtained from the classical inertial parameters by eliminating those that have no effect on the dynamic model and by regrouping some others. A direct method is present... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stiffness mapping for parallel manipulators

    Publication Year: 1990, Page(s):377 - 382
    Cited by:  Papers (193)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Mechanical systems containing closed-loop kinematic chains can exhibit special types of singularities that result in a loss of controllability of the element of interest (output link or gripper link). Therefore, it is very important for the designer to be able to predict this type of behavior. The approach used by the author is to establish stiffness or conditioning maps of the workspace of the ma... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Path planning in the presence of vertical obstacles

    Publication Year: 1990, Page(s):331 - 341
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1144 KB)

    Consideration is given to the problem of finding a shortest path between two points in 3-D space with a restricted class of polyhedral obstacles (vertical buildings with a fixed number k of distinct heights). For the case when all the obstacles have equal heights, a shortest-path algorithm is presented with complexity O(n 2), i.e. the same complexity as for th... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • On homogeneous transforms, quaternions, and computational efficiency

    Publication Year: 1990, Page(s):382 - 388
    Cited by:  Papers (55)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    Three-dimensional modeling of rotations and translations in robot kinematics is most commonly performed using homogeneous transforms. An alternate approach, using quaternion-vector pairs as spatial operators, is compared with homogeneous transforms in terms of computational efficiency and storage economy. The conclusion drawn is that quaternion-vector pairs are as efficient as, more compact than, ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A proof of the structure of the minimum-time control law of robotic manipulators using a Hamiltonian formulation

    Publication Year: 1990, Page(s):388 - 393
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    A Hamiltonian canonical formulation that yields a new and straightforward proof of the structure of the minimum-time control (MTC) law for m-link robotic manipulators is used. It is shown that the structure of the MTC law requires that at least one of the actuators always be in saturation. A numerical algorithm is presented. The algorithm converts the original problem, possibly a partiall... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Singularity analysis of closed-loop kinematic chains

    Publication Year: 1990, Page(s):281 - 290
    Cited by:  Papers (660)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (772 KB)

    The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Collision detection by four-dimensional intersection testing

    Publication Year: 1990, Page(s):291 - 302
    Cited by:  Papers (51)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (988 KB)

    The collision-detection problem is to decide, given two objects and desired motions, whether the objects will come into collision over a given time span. The solution of this problem is useful, both in robotics and in other problem domains. A method is described for solving collision detection that involves transforming the problem into an intersection-detection problem over space time. The theore... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Uncertainty bound-based hybrid control for robot manipulators

    Publication Year: 1990, Page(s):303 - 311
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    The hybrid (position and force) control problem of a robot manipulator has been cast into the framework of control of dynamical systems whose mathematic model contains uncertainties. The uncertainties involved can be due to imperfect modeling, friction, payload change, and external disturbances. Based solely on the bound of these uncertainties, controllers can be constructed. A two-joint SCARA-typ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Base parameters of manipulator dynamic models

    Publication Year: 1990, Page(s):312 - 321
    Cited by:  Papers (121)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    A base parameter set as a minimum set of inertial parameters whose values can determine a dynamic model uniquely is investigated for a general parallel and perpendicular manipulator with rotational joints only. The notion of a base parameter is useful for an efficient and accurate identification of the manipulator dynamic model. A set of inertial parameters described in linear combinations of link... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

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