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IEEE Journal on Robotics and Automation

Issue 4 • August 1987

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Displaying Results 1 - 12 of 12
  • [Front cover and table of contents]

    Publication Year: 1987, Page(s): c1
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    Freely Available from IEEE
  • Real-time DKS on a single chip

    Publication Year: 1987, Page(s):281 - 290
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1021 KB)

    The desire to add more intelligent functionality and enhanced real-time Control capability to robotic systems places a heavy demand on computational resources. Nascent application-specific VLSI technology offers an unprecedented opportunity to relieve this computational burden by implementing specific robotic functions directly in hardware. A VLSI architecture, designed to compute the direct kinem... View full abstract»

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  • An integral manifold approach to the feedback control of flexible joint robots

    Publication Year: 1987, Page(s):291 - 300
    Cited by:  Papers (258)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (951 KB)

    The control problem for robot manipulators with flexible joints is considered. The results are based on a recently developed singular perturbation formulation of the manipulator equations of motion where the singular perturbation parameter µ is the inverse of the joint stiffness. For this class of systems it is known that the reduced-order model corresponding to the mechanical system under th... View full abstract»

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  • Robotic manipulators and the geometry of real semialgebraic sets

    Publication Year: 1987, Page(s):301 - 307
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    Some modern techniques are applied from real semialgebraic geometry to the robotic manipulator problem. In particular, using the notion of "metric entropy," the complexity of maneuvering the manipulator from state to state is discussed. View full abstract»

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  • Redundancy resolution of manipulators through torque optimization

    Publication Year: 1987, Page(s):308 - 316
    Cited by:  Papers (291)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (821 KB)

    Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the effect of redundancy resolution on joint torque can be directly reflected. One method chooses the joint acceleration null-space vector to minimize joint torque in a least squares sense; ... View full abstract»

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  • Computer-aided joint error analysis of robots

    Publication Year: 1987, Page(s):317 - 322
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Various definitions of task-space tolerances, using geometric pseudoenvelopes, are introduced, and new approaches to "direct" and "inverse" joint-error analysis of robots are formulated. These error analyses lead to the development of a "feasible joint-tolerance domain" concept for use in computer-aided design of robots. View full abstract»

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  • A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses

    Publication Year: 1987, Page(s):323 - 344
    Cited by:  Papers (2468)  |  Patents (241)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3234 KB)

    A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-st... View full abstract»

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  • Robust linear compensator design for nonlinear robotic control

    Publication Year: 1987, Page(s):345 - 351
    Cited by:  Papers (91)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (777 KB)

    The motion control of robotic manipulators is investigated using a recently developed approach to linear multivariable control known as the stable factorization approach. Given a nominal model of the manipulator dynamics, the control scheme consists of an approximate feedback linearizing control followed by a linear compensator design based on the stable factorization approach. Using a multiloop v... View full abstract»

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  • A viewpoint independent modeling approach to object recognition

    Publication Year: 1987, Page(s):351 - 356
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (956 KB)

    A robotic vision system is being developed which uses three-dimensional laser range data to sense its environment. The recognition subsystem incorporates topological as well as geometric information to identify viewed objects. Theorem-proving techniques are used to produce symbolic pattern matches. The major contributions of the recognition subsystem are 1) the use of viewpoint independent descrip... View full abstract»

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  • Automatic evaluation of two-fingered grips

    Publication Year: 1987, Page(s):356 - 361
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (770 KB)

    Grip determination is essential to any task-level planning process. The complete force/moment equations are presented for grasping employing a rigid two-fingered gripper with a thin elastic layer on the contacting surface. The surface contact is modeled as a linear pressure variation. The quality measure of a grip is taken to be the coefficient of friction needed to keep the held object from slipp... View full abstract»

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  • Positioning three-dimensional objects using stereo images

    Publication Year: 1987, Page(s):361 - 373
    Cited by:  Papers (41)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3221 KB)

    A simple stereo algorithm is presented for determining the three-dimensional position of object points in a scene. In this algorithm two independent measures of similarity, the zero-crossing pattern and the intensity gradient, are combined to improve the matching process. Zero-crossing neighborhoods are classified into 16 possible patterns according to their local connectivity. In the matching pro... View full abstract»

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  • [Back cover]

    Publication Year: 1987, Page(s):c4 - 0
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    Freely Available from IEEE

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