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Robotics and Automation, IEEE Transactions on

Issue 4 • Date Aug 1990

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Displaying Results 1 - 13 of 13
  • Determining shape and reflectance of hybrid surfaces by photometric sampling

    Publication Year: 1990 , Page(s): 418 - 431
    Cited by:  Papers (78)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1284 KB)  

    A method is presented for determining the shapes of hybrid surfaces without prior knowledge of the relative strengths of the Lambertian and specular components of reflection. The object surface is illuminated using extended light sources and is viewed from a single direction. Surface illumination using extended sources makes it possible to ensure the detection of both Lambertian and specular refle... View full abstract»

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  • Recognition of planar objects in 3-D space from single perspective views using cross ratio

    Publication Year: 1990 , Page(s): 432 - 437
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (464 KB)  

    An approach for recognition of a planar polygon from a single 2-D perspective projection using the basic viewpoint invariant cross-ratio (CR) is presented. The shape CR-descriptor of a spatial planar polygon, i.e. the CR sequence extracted from its single projective image, is proposed. The minimum mean square error is used as the matching criterion. Examples are given. The approach can be directly... View full abstract»

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  • Acquisition and interpretation of 3-D sensor data from touch

    Publication Year: 1990 , Page(s): 397 - 404
    Cited by:  Papers (43)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (956 KB)  

    The use of touch sensing as part of a large system being built for 3D shape recovery and object recognition using touch and vision methods is described. The authors focus on three exploratory procedures they have devised to acquire and interpret sparse 3D touch data: grasping by containment, planar surface exploration, and surface contour exploration. Experimental results for each of these procedu... View full abstract»

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  • Programmed compliance for error corrective assembly

    Publication Year: 1990 , Page(s): 473 - 482
    Cited by:  Papers (64)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1020 KB)  

    The following problem is addressed. Suppose that before an assembly task commences, one can specify at will the manipulator's response to assembly forces by providing a single compliance (or damping) matrix to be used for the duration of the operation. Can one choose the matrix elements so that the force that characterizes every possible error condition maps into a motion that reduces it? If so, i... View full abstract»

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  • On a new torque sensor for tendon drive fingers

    Publication Year: 1990 , Page(s): 501 - 507
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (660 KB)  

    A new type of torque sensor is proposed for finger actuation with N actuators and tendons per N external degrees of freedom. The finger joint around a drive pulley is proportional to the tension difference on both ends of the pulley. Using a coupling mechanism between tendons, this tension difference can be measured directly without sensing individual tendon tensions. On the basi... View full abstract»

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  • Direct kinematic solution of a Stewart platform

    Publication Year: 1990 , Page(s): 438 - 444
    Cited by:  Papers (60)  |  Patents (18)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (412 KB)  

    The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. Although its inverse kinematics have been extensively studied, no solutions to the direct position kinematics problem have been previously presented in the literature. A solution of the direct kinematics problem of the case in which the six limbs form three concurrent pairs at either the base or the hand member ... View full abstract»

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  • Evidence accumulation using binary frames of discernment for verification vision

    Publication Year: 1990 , Page(s): 405 - 417
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1124 KB)  

    Vision sensor output can be processed to yield a multitude of low-level measurements, where each is inherently uncertain, which must somehow be combined to verify the locations of an object. It is shown that this combination can be accomplished via Dempster-Shafer theory using binary frames of discernment (BFODs). A special advantage of BFODs is the computational ease with which they allow informa... View full abstract»

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  • An exponentially stable adaptive control law for robot manipulators

    Publication Year: 1990 , Page(s): 491 - 496
    Cited by:  Papers (28)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (480 KB)  

    An exponentially stable direct adaptive control law for motion control of robot manipulators is presented. This control law utilizes the desired trajectory information instead of the actual manipulator joint signals for feedforward compensations and parameter adaptation. Computationally, it is extremely efficient. The exponential stability of the adaptive control algorithm is proven without requir... View full abstract»

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  • Remote mission specialist: a study in real-time, adaptive planning

    Publication Year: 1990 , Page(s): 455 - 461
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (604 KB)  

    A high-level planning architecture for robotic operations is presented. The remote mission specialist (RMS) integrates high-level directives with low-level primitives executable by a runtime controller for command of autonomous servicing activities. The planner has been designed to address such issues as adaptive plan generation, real-time performance, and operator intervention View full abstract»

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  • Dynamic path planning in sensor-based terrain acquisition

    Publication Year: 1990 , Page(s): 462 - 472
    Cited by:  Papers (59)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1156 KB)  

    The terrain acquisition problem is formulated as that of continuous motion planning, and no constraints are imposed on obstacle geometry. Two algorithms are described for acquiring planar terrains with obstacles of arbitrary shape. Estimates of the algorithm performance are derived as upper bounds on the lengths of generated paths View full abstract»

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  • Autonomous navigation in a manufacturing environment

    Publication Year: 1990 , Page(s): 445 - 454
    Cited by:  Papers (51)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1580 KB)  

    Current approaches towards achieving mobility in the workplace are reviewed. The role of automatic guided vehicles (AGVs) and some of the preliminary work of other groups in autonomous vehicles are described. An overview is presented of the autonomous robot architecture (AuRA), a general-purpose system designed for experimentation in the domain of intelligent mobility. The means by which navigatio... View full abstract»

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  • Dynamics of the manipulator with closed chains

    Publication Year: 1990 , Page(s): 496 - 501
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (512 KB)  

    The concept of dynamic equilibrium is used to derive a relation with which the actuator forces of a manipulator with a closed kinematic chain can be calculated in the same way as those of a manipulator with an open chain. Although the result is equivalent to that of J.Y.S. Luh and Y.F. Zheng (1985) the method provides physical insight into the dynamics of manipulators with closed kinematic chains.... View full abstract»

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  • Adaptive control of robot manipulator motion

    Publication Year: 1990 , Page(s): 483 - 490
    Cited by:  Papers (32)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (560 KB)  

    Algorithms for continuous-time direct adaptive control of robot manipulators are presented. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are also presented 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