By Topic

Robotics and Automation, IEEE Transactions on

Issue 5 • Date Oct 1990

Filter Results

Displaying Results 1 - 11 of 11
  • Using camera motion to estimate range for robotic parts manipulation

    Publication Year: 1990 , Page(s): 509 - 521
    Cited by:  Papers (11)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1296 KB)  

    A technique is described for determining a depth map of parts in bins using optical flow derived from camera motion. Simple programmed camera motions are generated by mounting the camera on the robot end effector and directing the effector along a known path. The results achieved using two simple trajectories, where one is along the optical axis and the other is in rotation about a fixation point,... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Relationship between payload and speed in legged locomotion systems

    Publication Year: 1990 , Page(s): 570 - 577
    Cited by:  Papers (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (648 KB)  

    The dependency of payload on vehicle operating speed, which is a problem peculiar to legged locomotion, is examined via a case study of a hexapod using wave gaits. The treatment presented is confined to systems using quasi-statically stable gaits. A set of closed-form analytic expressions describing the payload-speed relationship has been obtained. The solution is based on the assumption of equal ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • LP problem formulation of extremal path accelerations for a rigid body handled by multiple linkages

    Publication Year: 1990 , Page(s): 533 - 539
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (532 KB)  

    The minimum traveling time of a rigid body along a specified geometric path can be achieved by switching between extremal allowable accelerations. A linear programming (LP) problem is formulated to obtain such extreme accelerations for a body handled by multiple robotic manipulators or robotic fingers. Both rigid grasping and grasping with point contacts have been treated View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Torque-limited path following by online trajectory time scaling

    Publication Year: 1990 , Page(s): 554 - 561
    Cited by:  Papers (64)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (684 KB)  

    A feedback scheme for path following by trajectory time scaling is presented. The scheme is used in execution of fast trajectories along a geometric path, where the motion is limited by torque constraints. The time scaling is done by using a secondary controller that modifies a nominal trajectory during motion. The nominal, high-performance trajectory typically leads to torques that are at the lim... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A natural modal expansion for the flexible robot arm problem via a self-adjoint formulation

    Publication Year: 1990 , Page(s): 601 - 603
    Cited by:  Papers (6)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (200 KB)  

    The equations of motion of a flexible robot arm consist of a coupled partial differential equation describing the arm's transverse vibrations and an ordinary differential equation describing the hub's rigid motion. Many researchers obtained a solution using a modal expansion based on the arm's equation alone, which has erroneous eigenfunctions and eigenvalues. A novel method is presented for obtai... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A free gait for generalized motion

    Publication Year: 1990 , Page(s): 597 - 600
    Cited by:  Papers (6)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (396 KB)  

    A method is presented for the generation of a locally optimal free gait for 2-D generalized motion of a quadruped walking machine. It employs a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fast collision avoidance for manipulator arms: a sequential search strategy

    Publication Year: 1990 , Page(s): 522 - 532
    Cited by:  Papers (29)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (880 KB)  

    A novel sequential strategy is presented to plan collision-free motions for a manipulator arm (such as PUMA 260). The basic idea behind the approach is to plan the motion of each link successively, starting from the base link. Suppose that the motion of links until link i (including link i) has been planned. This already determines the path of one end (the proximal end) of link ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal grid-free path planning across arbitrarily contoured terrain with anisotropic friction and gravity effects

    Publication Year: 1990 , Page(s): 540 - 553
    Cited by:  Papers (15)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1252 KB)  

    The authors address anisotropic friction and gravity effects as well as ranges of impermissible-traversal headings due to overturn danger or power limitations. The method does not require imposition of a uniform grid, nor does it average effects in different directions, but reasons about a polyhedral approximation of terrain. It reduces the problem to a finite but provably optimal set of possibili... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Affine invariant model-based object recognition

    Publication Year: 1990 , Page(s): 578 - 589
    Cited by:  Papers (87)  |  Patents (22)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1252 KB)  

    New techniques are described for model-based recognition of the objects in 3-D space. The recognition is performed from single gray-scale images taken from unknown viewpoints. The objects in the scene may be overlapping and partially occluded. An efficient matching algorithm, which assumes affine approximation to the prospective viewing transformation, is proposed. The algorithm has an offline mod... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Symmetrically actuated double pointing systems: the basis of singularity-free robot wrists

    Publication Year: 1990 , Page(s): 562 - 569
    Cited by:  Papers (8)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (600 KB)  

    An analysis is conducted of symmetrically actuated double pointing systems, which are two spherical pointing systems connected serially with a common center. The double pointing systems have four degrees of freedom interrelated by two constraint functions, reducing the systems to two independent degrees of freedom. Together, these constraint functions result in a symmetry in the motion of correspo... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Dynamic digital distance maps in two dimensions

    Publication Year: 1990 , Page(s): 590 - 597
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1056 KB)  

    An efficient means for dealing with obstacles in motion is provided to extend the usefulness of digital distance maps. An algorithm is presented that allows one to compute what portions of a map will probably be affected by an obstacle's motion. The algorithm is based on an analysis of the distance transform as a problem in wave propagation. The regions that must be checked for possible updates wh... 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