IEEE Journal on Robotics and Automation

Issue 2 • April 1987

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Displaying Results 1 - 11 of 11
  • [Front cover and table of contents]

    Publication Year: 1987, Page(s): c1
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  • A survey and the future

    Publication Year: 1987, Page(s): 89
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (120 KB)

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  • Intertask communications in an integrated multirobot system

    Publication Year: 1987, Page(s):90 - 100
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1449 KB)

    An integrated multirobot system (IMRS) consists of two or more robots, machinery, and sensors and is capable of executing almost all industrial processes with efficiency, flexibility, and reliability. Although the IMRS is motivated by an interesting application, it is essentially a distributed real-time processing system with various heterogeneous processes. To support a distributed modular archit... View full abstract»

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  • Robot path planning using intersecting convex shapes: Analysis and simulation

    Publication Year: 1987, Page(s):101 - 108
    Cited by:  Papers (29)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (919 KB)

    An automated path planning algorithm for a mobile robot in a structured environment is presented. An algorithm based on the Quine-McCluskey method of finding prime implicants in a logical expression is used to isolate all the largest rectangular free convex areas in a specified environment. The free convex areas are represented as nodes in a graph, and a graph traversal strategy that dynamically a... View full abstract»

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  • The effect of joint position errors of industrial robots on their performance in manufacturing operations

    Publication Year: 1987, Page(s):109 - 114
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (647 KB)

    To position and orient the hand of an industrial robot to perform a particular manufacturing process, the joints are commanded to assume certain angles and/or displacements. However, due to position errors at joints, the assumed positions are almost always different from those commanded. These deviations induce a random error to the position and orientation of the hand. The ability of the hand to ... View full abstract»

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  • A concept for manipulator trajectory planning

    Publication Year: 1987, Page(s):115 - 123
    Cited by:  Papers (196)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (646 KB)

    A way to find the optimal trajectory of an arbitrary manipulator following a prescribed path is described. The method takes advantage of the fact that in this case overall motion takes place with one degree of freedom (DOF) only. Transforming the equations of motion to this one DOF results in a set of equations which defines the phase space of admissible motion constrained by path geometry and joi... View full abstract»

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  • A visual navigation system for autonomous land vehicles

    Publication Year: 1987, Page(s):124 - 141
    Cited by:  Papers (124)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3726 KB)

    A modular system architecture has been developed to support visual navigation by an autonomous land vehicle. The system consists of vision modules performing image processing, three-dimensional shape recovery, and geometric reasoning, as well as modules for planning, navigating, and piloting. The system runs in two distinct modes, bootstrap and feedforward. The bootstrap mode requires analysis of ... View full abstract»

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  • Morphologic edge detection

    Publication Year: 1987, Page(s):142 - 156
    Cited by:  Papers (182)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2058 KB)

    Edge operators based on gray-scale morphologic operations are introduced. These operators can be efficiently implemented in near real time machine vision systems which have special hardware support for gray-scale morphologic operations. The simplest morphologic edge detectors are the dilation residue and erosion residue operators. The underlying motivation for these and some of their combinations ... View full abstract»

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  • Sensor-based control of robotic manipulators using a general learning algorithm

    Publication Year: 1987, Page(s):157 - 165
    Cited by:  Papers (191)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1142 KB)

    A practical learning control system is described which is applicable to the control of complex robotic systems involving multiple feedback sensors and multiple command variables during both repetitive and nonrepetitive operations. In the controller, a general learning algorithm is used to learn to reproduce the relationship between the sensor outputs and the system command variables over particula... View full abstract»

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  • Introduction to robotics: Mechanics and control

    Publication Year: 1987, Page(s): 166
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  • [Back cover]

    Publication Year: 1987, Page(s):c4 - 0
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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