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Robotics and Automation, IEEE Journal of

Issue 3 • Date September 1985

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

    Publication Year: 1985 , Page(s): c1
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    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1985 , Page(s): c4
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    Freely Available from IEEE
  • L-Q design of PID controllers for robot arms

    Publication Year: 1985 , Page(s): 152 - 159
    Cited by:  Papers (30)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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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  • Recursive computations of kinematic and dynamic equations for mechanical manipulators

    Publication Year: 1985 , Page(s): 124 - 131
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 computational complexities of the resulting equations are also evaluated and compared to some of the existing methods in each case. It is shown that the algorithms presented have certain computational advantages over most of the existing methods. 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 (41)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 minimal operator interaction is necessary. However, for very irregular terrain the operator may require a guidance mode that gives maximum resolution and flexibility in controlling body, leg, position, and orientation. Several automatic body regulation schemes that aid the operator in this important task are described. A major development is the use of an improved stability measure which can be automatically optimized. This measure, together with a consideration of constraints on the kinematic limits of individual legs, leads to the development of schemes for automatic body regulation. The automatic body regulation schemes are incorporated into the vehicle control algorithm to provide a high degree of vehicle maneuverability while reducing the operator's burden. 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 (3)
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    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 is demonstrated on a current industrial research problem; namely the lay-up of carbon-fiber profiles for assembly into satellite antenna dishes. 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 (6)
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    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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  • Efficient kinematic transformations for the PUMA 560 robot

    Publication Year: 1985 , Page(s): 142 - 151
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 attention is given to the arm configuration in both directions of the transformation. 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.

Full Aims & Scope