IEEE Transactions on Robotics and Automation

Issue 2 • Apr 1989

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Displaying Results 1 - 15 of 15
  • Motion planning in a plane using generalized Voronoi diagrams

    Publication Year: 1989, Page(s):143 - 150
    Cited by:  Papers (179)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    An algorithm for planning a collision-free path for a rectangle in a planar workspace populated with polygonal obstacles is presented. Heuristic techniques are used to plan the motion along a nominal path obtained from a generalized Voronoi diagram (GVD). The algorithm was demonstrated to be quite fast with execution times comparable to, or exceeding, those of the freeway method. Unlike the freewa... View full abstract»

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  • A general photogrammetric method for determining object position and orientation

    Publication Year: 1989, Page(s):129 - 142
    Cited by:  Papers (114)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1096 KB)

    The author presents a general method for determining the three-dimensional position and orientation of an object relative to a camera based on a two-dimensional image of known feature points located on the object. In contrast to the conventional approach, the method does not make use of the collinearity condition. Instead, the algebraic structure of the problem is fully exploited in arriving at a ... View full abstract»

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  • Analysis and design of robotic manipulators with multiple interchangeable wrists

    Publication Year: 1989, Page(s):223 - 230
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    The concept of multiple interchangeable wrist mechanisms is introduced as a cost-effective, practical method to improve the flexibility of a robot system without increasing the complexity of the wrist design. The interchangeable wrist concept is a natural extension of interchangeable tooling. The feasibility of the proposed concept for real-time applications is demonstrated by an analytical framew... View full abstract»

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  • Automatic program generation from teaching data for the hybrid control of robots

    Publication Year: 1989, Page(s):166 - 173
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    An efficient method is developed to generate programs for the hybrid position/force control of robots from teaching data. An operator's motion is measured in terms of the force exerted by the operator and the position of the end-effector. The acquired data are then analyzed in order to understand what the operator intended to do, and necessary information is obtained to generate the hybrid control... View full abstract»

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  • Decentralized adaptive control of manipulators: theory, simulation, and experimentation

    Publication Year: 1989, Page(s):183 - 201
    Cited by:  Papers (140)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1256 KB)

    The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedba... View full abstract»

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  • Automatic design of a deep-drawn circumscribing preform

    Publication Year: 1989, Page(s):208 - 222
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1244 KB)

    The authors describe a procedure for the automatic design of a preform based on circumscription algorithms. The procedure is defined in general terms and applied to preforms realized by axisymmetric deep-drawing processes. The automatic design procedure is supervised by a `generate, test, and rectify' tactic. The `generate' stage hypothesizes a deep-drawn preform that either contains the finished ... View full abstract»

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  • An adaptive controller for a one-legged mobile robot

    Publication Year: 1989, Page(s):253 - 259
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    An adaptive controller based upon the online minimization of a performance criterion is described. The adaptive controller is used to improve the performance of a one-legged mobile robot, removing problems experienced with previous controllers. Specifically, this controller eliminates the problem of a bias in the forward velocity experienced with the nonadaptive controller and, at the same time, p... View full abstract»

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  • Evaluation of dynamic models for PUMA robot control

    Publication Year: 1989, Page(s):242 - 245
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    The first step in the creation of a robotic manipulator controller performance database has been completed. Experimental evaluation of the trajectory-tracking performance of a PUM-600 under computed-torque control has provided valuable engineering insight into the role of dynamics compensation for manipulators with high torque amplification drive systems. Experimental results validate the assumpti... View full abstract»

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  • Computing and controlling compliance of a robotic hand

    Publication Year: 1989, Page(s):151 - 165
    Cited by:  Papers (205)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1192 KB)

    The authors express the compliance of the grasp of a robotic hand as a function of grasp geometry, contact conditions between the fingers and the grasped object, and mechanical properties of the fingers. It is argued that the effects of structural compliance and small changes in the grasp geometry should be included in the computation. Factors are then examined that can lead a grasp to become unst... View full abstract»

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  • The nature of drift in pseudoinverse control of kinematically redundant manipulators

    Publication Year: 1989, Page(s):231 - 234
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The control of kinematically redundant manipulators using only pseudoinverse control is known to produce drift in joint space when a cyclic task is performed in rectilinear space. The properties of this drift are examined by performing numerical experiments. This drift has predictable properties including a numerically stable limit in some situations. At this limit the arc length of the path in jo... View full abstract»

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  • Replacing a PID controller by a lat-lead compensator for a robot-a frequency-response approach

    Publication Year: 1989, Page(s):174 - 182
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (788 KB)

    Because of their simplicity, PD (Proportional-derivative) or PID (proportional-integral-derivative) controllers are widely used with various robot control strategies. For dynamic control of robots, this algorithm can be shown to lead to unsatisfactory tradeoffs between static accuracy, system stability, and insensitivity to disturbances. These tradeoffs become more serious as the sampling rate dec... View full abstract»

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  • An optimal algorithm for finding all visible edges in a simple polygon

    Publication Year: 1989, Page(s):202 - 207
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    By treating the floor plan of the building as a polygon, the authors study the problem of locating a camera for surveillance. A polygon P is point-visible if there exists a point x in P such that every other point in P is visible from x. If the polygon is point-visible then only one camera is needed. A visible edge corresponds to the wall on which the c... View full abstract»

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  • Real-time implementation and evaluation of the computed-torque scheme

    Publication Year: 1989, Page(s):245 - 253
    Cited by:  Papers (40)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (768 KB)

    Experimental results on the real-time performance of model-based control algorithms are presented. The computed-torque scheme which utilizes the complete dynamics model of the manipulator was compared to the independent joint control scheme, which assumes a decoupled and linear model of the manipulator dynamics. The two manipulator control schemes have been implemented on the Carnegie-Mellon Unive... View full abstract»

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  • Swing-free transport of suspended objects: a general treatment

    Publication Year: 1989, Page(s):234 - 236
    Cited by:  Papers (42)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    It is shown that there is a family of control strategies that result in swing-free movement of objects suspended from a movable point (e.g. a bridge crane). While it is possible to control the swing with acceleration periods of arbitrary length, it is necessary in that case to know the period of the suspended object, which requires knowledge of the location of the object's center of mass. In a pra... View full abstract»

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  • Coordination of dual robot arms using kinematic redundancy

    Publication Year: 1989, Page(s):236 - 242
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    A novel method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of on... 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