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IEEE Journal on Robotics and Automation

Issue 4 • Date December 1985

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Displaying Results 1 - 10 of 10
  • [Front cover and table of contents]

    Publication Year: 1985, Page(s): c1
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  • Performance sensitivity to routing changes in queuing networks and flexible manufacturing systems using perturbation analysis

    Publication Year: 1985, Page(s):165 - 172
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (887 KB)

    A new approach for estimating the throughput sensitivity with respect to routing probabilities in queueing networks and flexible manufacturing systems is proposed. The approach converts the problem to a problem of calculating the sensitivity of throughput with respect to service distributions using perturbation analysis. View full abstract»

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  • A multiprocessor-based controller for the control of mechanical manipulators

    Publication Year: 1985, Page(s):173 - 182
    Cited by:  Papers (63)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1073 KB)

    A cost-effective architecture for the control of mechanical manipulators based on a functional decomposition of the equations of motion of a manipulator are described. The Lagrange-Euler and the Newton-Euler formulations were considered for this decomposition. The functional decomposition separates the inertial, Coriolis and centrifugal, and gravity terms of the Lagrange-Euler equations of motion.... View full abstract»

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  • A hexapod walking machine with decoupled freedoms

    Publication Year: 1985, Page(s):183 - 190
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1145 KB)

    Legged locomotion over irregular terrain is composed of body-propelling motion and terrain-adapting motion. Although conventional walking machines with three degrees-of-freedom for each leg can adapt their feet on irregular ground using flexible leg freedom, such machines generally require a tremendously complex control scheme for the body-propelling motion. A walking machine with decoupled freedo... View full abstract»

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  • Feature extraction techniques for recognizing solid objects with an ultrasonic range sensor

    Publication Year: 1985, Page(s):191 - 205
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1545 KB)

    Ultrasonic range sensing has attracted attention in the robotics community because of it simplicity in construction and low cost. However, determining range direction rather than just range magnitude is made difficult by the expanding signal beam of the sensor. This direction ambiguity can be reduced to some extent by increasing the operating frequency or diameter of the sensor, but some ambiguity... View full abstract»

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  • Computing the friction forces associated with a three-fingered grasp

    Publication Year: 1985, Page(s):206 - 210
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (422 KB)

    A procedure is presented for computing the friction forces required to satisfy static equilibrium, given a set of normal contact forces exerted by a three-fingered mechanical hand. The contact between the fingers and the object is modeled as "point contact with friction. "This means the fingertip is free to rotate about the point of contact, but sliding along its surface is resisted by a friction ... View full abstract»

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  • On grasping planar objects with two articulated fingers

    Publication Year: 1985, Page(s):211 - 214
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (349 KB)

    The grasps attainable by mechanical hands with two opposing articulated fingers are examined. Such grasps are called planar, since all forces lie in plane defined by the contact points and the center of mass of the object. Assuming that the contact interaction can be modeled by point contact with Coulomb friction, the equilibrium equations for the grasped object are obtained. Satisfaction of force... View full abstract»

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  • Introduction to robotics

    Publication Year: 1985, Page(s): 215
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    Freely Available from IEEE
  • Recent advances in robotics

    Publication Year: 1985, Page(s): 215
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (122 KB)

    First Page of the Article
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  • [Back cover]

    Publication Year: 1985, Page(s): c4
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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