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IEEE Transactions on Robotics and Automation

Issue 4 • Date Aug 1991

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Displaying Results 1 - 15 of 15
  • Nonholonomic path planning of space robots via a bidirectional approach

    Publication Year: 1991, Page(s):500 - 514
    Cited by:  Papers (111)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    The path planning of nonholonomic motion of space robot systems is discussed. A space vehicle with a 6-DOF (degrees of freedom) manipulator is described as a nine-variable system with six inputs. It is shown that, by carefully utilizing the nonholonomic mechanical structure, the vehicle orientation in addition to the joint variables of the manipulator can be controlled by actuating only the joint ... View full abstract»

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  • A combined optimization method for solving the inverse kinematics problems of mechanical manipulators

    Publication Year: 1991, Page(s):489 - 499
    Cited by:  Papers (147)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (780 KB)

    A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method is based on a combination of two nonlinear programming techniques and the forward recursion formulas, with the joint limitations of the robot being handled implicitly as simple boundary constraints. This method is numerically stable since it converges to the correct ans... View full abstract»

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  • An approximation schema for the estimation of buffer sizes for manufacturing facilities

    Publication Year: 1991, Page(s):551 - 562
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (976 KB)

    A unified approach to the production planning and scheduling problem of a flexible manufacturing system with failure-prone machines is considered. The proposed method is based on the concept of Gershwin's hedging point strategy. A hierarchical controller is proposed in which the upper levels use an inventory hedging point for production planning. At the lower level of the controller the concept of... View full abstract»

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  • Modeling impact on a one-link flexible robotic arm

    Publication Year: 1991, Page(s):479 - 488
    Cited by:  Papers (28)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (824 KB)

    A finite-element model for a single-link flexible robotic arm including the effects of beam damping, hub inertia and both Coulomb and viscous hub friction is derived. The initial conditions required to represent impact loading are determined, and the motion of the arm under impact loading is simulated. Simulation results are compared to experimental data. From the experimental results it is conclu... View full abstract»

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  • Recognizing and locating a known object from multiple images

    Publication Year: 1991, Page(s):434 - 448
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1312 KB)

    An approach to recognizing and locating a partially visible object from multiple images for a pile of parts is proposed. The image-to-model correspondence is established through an examination of the consistency between the surface patches extracted from the images and the patches described in an object model. To obtain the scene description, which is composed of parameterized surface patches, the... View full abstract»

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  • A distortion-correction scheme for industrial machine-vision applications

    Publication Year: 1991, Page(s):546 - 551
    Cited by:  Papers (11)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    Practical ways to measure and correct distortion in industrial vision systems are discussed with an emphasis on ease of use. Tests were conducted that showed that significant amounts of spatial distortion can exist in commercially available camera/lens/frame-grabber combinations. Even solid-state cameras are not immune to this phenomenon. Substantial reductions in distortion can result from a loca... View full abstract»

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  • Parallel and sequential mutual exclusions for petri net modeling of manufacturing systems with shared resources

    Publication Year: 1991, Page(s):515 - 527
    Cited by:  Papers (218)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1220 KB)

    A theoretical basis for Petri net synthesis methods is provided that can be used to model systems with shared resources, and to make the resulting nets bounded, live, and reversible. Two resource-sharing concepts, parallel mutual exclusion (PME) and sequential mutual exclusion (SME), are formulated in the context of the Petri net theory. A PME models a resource shared by distinct independent proce... View full abstract»

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  • Automated guided vehicle with absolute encoded guide-path

    Publication Year: 1991, Page(s):562 - 565
    Cited by:  Papers (9)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    An automated guided vehicle (AGV) having the ability to recover its absolute position anywhere on the guide-path is described. It uses an original guide-path encoding technique, based on the properties of pseudorandom binary sequences, resulting in a minimum code complexity of 1 bit per quantization step. An experimental AGV system was built to test the proposed absolute position measurement metho... View full abstract»

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  • Ultrasonic holography techniques for localizing and imaging solid objects

    Publication Year: 1991, Page(s):449 - 467
    Cited by:  Papers (16)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1688 KB)

    The theory of both the monofrequency and multifrequency modes of ultrasonic holographic imaging as suitable for the requirements of object recognition in robot assembly tasks is described. The theory was implemented experimentally. Results show that the monofrequency approach provides fairly good lateral but insufficient depth resolution. By contrast, with multifrequency holography, depth resoluti... View full abstract»

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  • Position control of manipulator with passive joints using dynamic coupling

    Publication Year: 1991, Page(s):528 - 534
    Cited by:  Papers (129)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    A method of controlling the position of a manipulator composed of active and passive joints is described. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While t... View full abstract»

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  • Adaptive PD controller for robot manipulators

    Publication Year: 1991, Page(s):565 - 570
    Cited by:  Papers (217)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    Referring to the point-to-point control problem, a proportional and derivative (PD) control algorithm is presented that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot ha... View full abstract»

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  • Simulation of cooperating robot manipulators on a mobile platform

    Publication Year: 1991, Page(s):468 - 478
    Cited by:  Papers (18)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (840 KB)

    The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, a... View full abstract»

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  • Histogramic in-motion mapping for mobile robot obstacle avoidance

    Publication Year: 1991, Page(s):535 - 539
    Cited by:  Papers (211)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Histogramic in-motion mapping (HIMM) is introduced as a new method for real-time map building with a mobile robot motion. HIMM represents data in a two-dimensional array, called a histogram grid, that is updated through rapid in-motion sampling of on-board range sensors. Rapid in-motion sampling results in a map representation that is well-suited to modeling inaccurate and noisy range-sensor data,... View full abstract»

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  • Time, Petri nets, and robotics

    Publication Year: 1991, Page(s):417 - 433
    Cited by:  Papers (71)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1576 KB)

    Based on the Petri net (PN) theory a particular class of condition/event nets called Ω, suitable for modeling repetitive workcell tasks, is defined. Nets ∈Ω are either deterministic or exhibit a restricted kind of conflict called choice among alternatives. It is shown how the repetitive behavior of such a net may be studied by decomposing this conflict into deterministic component... View full abstract»

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  • Adaptive force control of single-link mechanism with joint flexibility

    Publication Year: 1991, Page(s):540 - 545
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    An adaptive force control, scheme is presented that enables a single-link mechanism with joint flexibility to track a desired force trajectory. A dynamic model of the link system is derived, based on which a two-stage controller is constructed. It is shown that although all the system parameters including environment stiffness are unknown except for some of their bounds, all signals inside the clo... 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