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IEEE Transactions on Robotics and Automation

Issue 1 • Date Feb 1989

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Displaying Results 1 - 12 of 12
  • Force and position control of manipulators during constrained motion tasks

    Publication Year: 1989, Page(s):30 - 46
    Cited by:  Papers (158)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1424 KB)

    Trajectory control of a manipulator constrained by the contact of the end-effector with the environment represents an important class of control problems. A method is proposed whereby both contact force exerted by the manipulator, and the position of the end-effector while in contact with the surface are controlled. The controller parameters are derived based on a linearized dynamic model of the m... View full abstract»

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  • Dual redundant arm configuration optimization with task-oriented dual arm manipulability

    Publication Year: 1989, Page(s):78 - 97
    Cited by:  Papers (68)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1404 KB)

    It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids and that task-oriented dual-arm manipulability (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TO... View full abstract»

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  • A pseudo-interferometric laser range finder for robot applications

    Publication Year: 1989, Page(s):98 - 105
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (900 KB)

    A description is given of a low-cost laser ranger suitable for robot applications. The region to be observed is illuminated by a sinusoidal intensity distribution generated by an optical projection system with a laser source. The deformation of the sine-wave pattern is detected by a phase-sensing method widely used in optical interferometry, and can be easily related to the shape and range informa... View full abstract»

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  • Operational analysis of an autonomous assembly robotic station

    Publication Year: 1989, Page(s):4 - 15
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (968 KB)

    The authors present operational analysis models of autonomous assembly robotic stations. Robotized assembly systems are programmable and therefore provide a cost-effective solution for the assembly of small batch sizes. Assembly-tasks completions and quality considerations require task repetition and rework of a certain portion of the assembled items within the station. Concepts from stochastic pr... View full abstract»

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  • Shape matching utilizing indexed hypotheses generation and testing

    Publication Year: 1989, Page(s):70 - 77
    Cited by:  Papers (16)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB)

    The authors develop an indexing mechanism, which is part of an overall scheme called SMITH (shape matching utilizing indexed hypothesis generation and testing) for 2-D model-based object recognition. Their approach is based on a dynamic programming implementation of attributed string matching, is computationally efficient, and works effectively for both nonoccluded as well as occluded shapes. Anot... View full abstract»

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  • Improving the efficiency of time-optimal path-following algorithms

    Publication Year: 1989, Page(s):118 - 124
    Cited by:  Papers (69)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    A method is presented which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. Characteristics switching points are identified and characterized analytically as functions of the single parameter defining the position along the path. Limit curves are then constructed from the characteristic swi... View full abstract»

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  • A hierarchical strategy for path planning among moving obstacles [mobile robot]

    Publication Year: 1989, Page(s):61 - 69
    Cited by:  Papers (78)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (944 KB)

    A method is presented for planning a path in the presence of moving obstacles. Given a set of polygonal moving obstacles, the authors focus on generating a path for a mobile robot that navigates in the two-dimensional plane. Their methodology is to include time as one of the dimensions of the model world. This enables the authors to regard the moving obstacles as being stationary in the extended w... View full abstract»

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  • Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB

    Publication Year: 1989, Page(s):16 - 29
    Cited by:  Papers (130)  |  Patents (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1104 KB)

    To use a wrist-mounted sensor (such as a camera) for a robot task, the position and orientation of the sensor with respect to the robot wrist frame must be known. The sensor mounting position can be found by moving the robot and observing the resulting motion of the sensor. This yields a homogeneous transform equation of the form AX=XB , where A is the change in the robo... View full abstract»

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  • Minimization of energy in quasi-static manipulation

    Publication Year: 1989, Page(s):53 - 60
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    Energetic formulations of Newton's laws are valuable for mechanics problems involving multiple constraints. The following energic principle for quasistatic systems is discussed: a quasistatic system chooses that motion, from among all motions satisfying the constraints, which minimizes the instantaneous power. This minimum power principle states that a system chooses at every instant the lowest en... View full abstract»

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  • Teaching compliant motion strategies

    Publication Year: 1989, Page(s):112 - 118
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (748 KB)

    A description is given of a robot teaching system for compliant motion strategies, based on recent research in compliant motion planning. The teaching system accepts robot motion commands from a user, and attempts to build a compliant motion strategy from the specified motions. The teaching system has several advantages over previous robot teaching systems. The user is spared many low-level detail... View full abstract»

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  • The initial grasp liftability chart

    Publication Year: 1989, Page(s):47 - 52
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Engineering mechanics is used to develop the initial grasp liftability chart, or IGLIC. Its primary usefulness is in planning and analyzing grasps for lifting frictionless objects. Candidate grasp configurations can be mapped onto the IGLIC to determine, first, whether the grasp can be used to lift the object and, second, the nature of liftoff. Even though the development is undertaken for the two... View full abstract»

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  • Inverse kinematic functions for redundant spherical wrists

    Publication Year: 1989, Page(s):106 - 111
    Cited by:  Papers (7)  |  Patents (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    By upgrading to a manipulator with a three-axis wrist, it is possible to expand the workspace and largely eliminate the effects of singularities. The author achieves these goals using the inverse kinematic function approach to redundancy. He shows that an ideal wrist should be mounted with its first axis perpendicular to the major axis of the manipulator's forearm. With regard to commercially avai... 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