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IEEE Journal on Robotics and Automation

Issue 3 • September 1985

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Displaying Results 1 - 8 of 8
  • [Front cover and table of contents]

    Publication Year: 1985, Page(s): c1
    Request permission for commercial reuse | PDF file iconPDF (158 KB)
    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1985, Page(s): c4
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    Freely Available from IEEE
  • Efficient kinematic transformations for the PUMA 560 robot

    Publication Year: 1985, Page(s):142 - 151
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (840 KB)

    Efficient solutions for the kinematic positions, velocities, and accelerations for the six-degree-of-freedom PUMA 560 robot are presented. The kinematic problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The solution method is based on a method that fully exploits the special geometry of the robot in the derivation of the solution. Special attentio... View full abstract»

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  • Recursive computations of kinematic and dynamic equations for mechanical manipulators

    Publication Year: 1985, Page(s):124 - 131
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB)

    Computational kinematics and dynamics of robot manipulators are dealt with. A recursive method based on the vector form of Rodrigues' equation is presented for the computation of the associated coordinate transformations. The method allows for forward, backward, and two-way recursions and is applied to the computations of the Jacobian matrices and dynamic equations for mechanical manipulators. The... View full abstract»

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  • A kalman filter approach to sensor-based robot control

    Publication Year: 1985, Page(s):159 - 162
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    A means of controlling a sensor-based industrial robot using the C programming language is presented. A special purpose C function is described that allows robot move instructions to be qualified by desired sensor readings and uses the total applied correction to update the estimate of pre-taught locations using a Kalman filter. The system allows rapid specification of sensory feedback tasks and i... View full abstract»

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  • Automatic body regulation for maintaining stability of a legged vehicle during rough-terrain locomotion

    Publication Year: 1985, Page(s):132 - 141
    Cited by:  Papers (101)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1440 KB)

    The evolution of legged vehicles has progressed significantly in recent years. These vehicles offer the potential of increased mobility for traversing rough terrain. The ability to maintain stability is an important consideration in the development of any control algorithm for a legged vehicle. Previous work on legged vehicle control generally assumes that the terrain is regular enough that only m... View full abstract»

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  • L-Q design of PID controllers for robot arms

    Publication Year: 1985, Page(s):152 - 159
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances. View full abstract»

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  • Future uses of machine intelligence and robotics for the space station and implications for the U.S. economy

    Publication Year: 1985, Page(s):117 - 123
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    The exciting possibilities for advancing the technologies of artificial intelligence, robotics, and automation on the space station is summarized. How these possibilities will be realized and how their realization can benefit the U.S. economy are described. Plans, research programs and preliminary designs that will lead to the realization of many of these possibilities are being formulated. View full abstract»

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Aims & Scope

This Journal ceased production in 1988. The current retitled publications are IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

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