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Robotics and Automation, IEEE Transactions on

Issue 2 • Date Apr 1991

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Displaying Results 1 - 6 of 6
  • Dynamic motion planning of autonomous vehicles

    Publication Year: 1991 , Page(s): 241 - 249
    Cited by:  Papers (67)  |  Patents (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (904 KB)  

    A method for planning the motions of autonomous vehicles moving on general terrains is presented that obtains the geometric path and vehicle speeds that minimize motion time considering vehicle dynamics, terrain topography, obstacles, and surface mobility. The terrain is represented by a smooth cubic B patch, and the geometric path consists of a B spline curve mapped to the surfa... View full abstract»

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  • A versatile PC-based range finding system

    Publication Year: 1991 , Page(s): 250 - 256
    Cited by:  Papers (21)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (916 KB)  

    The authors present an active triangulation-based range finding system composed of an independent laser system generating a sheet of light projected on the object to be measured, which is placed on a linear or a rotary table driven by a personal computer. This computer includes a video digitizer board to which two cameras, looking at the scene from both sides of the sheet of light, are connected. ... View full abstract»

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  • Representations of mechanical assembly sequences

    Publication Year: 1991 , Page(s): 211 - 227
    Cited by:  Papers (9)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1488 KB)  

    Five types of representations for assembly sequences are reviewed: the directed graph of feasible assembly sequences; the AND/OR graph of feasible assembly sequences; the set of establishment conditions, and two types of precedence relationships namely those between the establishment of one connection between parts and the establishment of another connection, and those between the establishment of... View full abstract»

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  • A correct and complete algorithm for the generation of mechanical assembly sequences

    Publication Year: 1991 , Page(s): 228 - 240
    Cited by:  Papers (148)  |  Patents (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1260 KB)  

    An algorithm for the generation of all mechanical assembly sequences for a given product is presented. It uses a relational model of assemblies. In addition to the geometry of the assembly, this model includes a representation of the attachments that bind parts together. The problem of generating the assembly sequences is transformed into the problem of generating disassembly sequences in which th... View full abstract»

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  • Blanche-an experiment in guidance and navigation of an autonomous robot vehicle

    Publication Year: 1991 , Page(s): 193 - 204
    Cited by:  Papers (160)  |  Patents (4)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1080 KB)  

    The principal components and capabilities of Blanche, an autonomous robot vehicle, are described. Blanche is designed for use in structured office or factory environments rather than unstructured natural environments, and it is assumed that an offline path planner provides the vehicle with a series of collision-free maneuvers, consisting of line and arc segments, to move the vehicle to a desired p... View full abstract»

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  • Kinetic limitations on the use of redundancy in robotic manipulators

    Publication Year: 1991 , Page(s): 205 - 210
    Cited by:  Papers (23)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (528 KB)  

    The kinematic specification of motion for redundant manipulators has relied primarily on a formulation that treats the redundant degrees of freedom as independent of those required to maintain a desired end effector trajectory. While such a formulation is conceptually appealing, it has been shown to be physically inaccurate when applied to the kinetic behavior of redundant manipulators. The kineti... View full abstract»

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Aims & Scope

This Transactions ceased production in 2004. The current retitled publications areIEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope