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IEEE Transactions on Robotics and Automation

Issue 4 • Date Aug 1993

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Displaying Results 1 - 17 of 17
  • Learning hybrid force and position control of robot manipulators

    Publication Year: 1993, Page(s):423 - 431
    Cited by:  Papers (65)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    The learning control is applied to hybrid force and position control of robot manipulators. When the geometry and position of a constraint surface is known, the hybrid force and position controller and the feedforward compensator can be designed in the constraint coordinates. When the operation is periodic, the learning hybrid force and position control enhance the control performance as the feedf... View full abstract»

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  • Exploiting nonholonomic redundancy of free-flying space robots

    Publication Year: 1993, Page(s):499 - 506
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    Nonholonomic redundancy is an intrinsic property of nonholonomic mechanical systems. A free-flying space robot is a nonholonomic mechanical system, and exhibits the presence of nonholonomic redundancy even in the absence of ordinary kinematic redundancy. Like ordinary kinematic redundancy, nonholonomic redundancy can also be utilized while planning trajectories for the system. In the paper, a traj... View full abstract»

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  • An analysis of the kinematics and dynamics of underactuated manipulators

    Publication Year: 1993, Page(s):411 - 422
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1012 KB)

    The dynamics and kinematics of manipulators that have fewer actuators than degrees of freedom are studied. These underactuated manipulators arise in a number of important applications such as free-flying space robots, hyperredundant manipulators, manipulators with structural flexibility, etc. In the analysis such underactuated manipulators are decomposed into component active and passive arms. Thi... View full abstract»

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  • Iterative inverse kinematics with manipulator configuration control

    Publication Year: 1993, Page(s):476 - 483
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    A new method, termed the offset modification method (OM method), for solving the manipulator inverse kinematics problem is presented. The OM method works by modifying the link offset values of a manipulator until it is possible to derive closed-form inverse kinematics equations for the resulting manipulator (termed the model manipulator). This procedure allows one to derive a set of three nonlinea... View full abstract»

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  • Robust impedance shaping telemanipulation

    Publication Year: 1993, Page(s):374 - 384
    Cited by:  Papers (116)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (920 KB)

    When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. Traditionally, a bilateral manipulator is designed for transparency; i.e. so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control”, introduced here, d... View full abstract»

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  • A tactile sensor system for universal joint sections of manipulators

    Publication Year: 1993, Page(s):512 - 517
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    It is very difficult to place tactile sensors around revolute joints of manipulators, since those joints and surrounding surfaces are not stationary and thus they remain insensitive to contact with obstacles. This interferes with the introduction of sensors for collision avoidance control in manipulators. This paper deals with a tactile sensor system for universal joint sections of manipulators in... View full abstract»

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  • Steering a robot with vanishing points

    Publication Year: 1993, Page(s):491 - 498
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    The paper analyzes the use of vanishing points for steering a robot. Parallel lines in the environment of the robot are used to compute vanishing points which serve as a reference for guiding the robot. To accomplish the steering task, three subtasks are performed: detection of straight lines, computation of vanishing points, and robot steering using vanishing points. Straight lines are detected b... View full abstract»

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  • Coordinated control of multiple manipulator systems

    Publication Year: 1993, Page(s):400 - 410
    Cited by:  Papers (58)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    A scheme for controlling multimanipulator systems is presented. The control objective is to coordinate the manipulators to perform parts-matching tasks such as screwing a nut onto a bolt. The task of moving a rigid object can be treated as a special case. Two secondary control objectives, internal force control and load distribution, can be accomplished within the structure of the control law. The... View full abstract»

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  • Control of flexible arms with friction in the joints

    Publication Year: 1993, Page(s):467 - 475
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (804 KB)

    The control of flexible arms with friction in the joints is studied. A method to identify the dynamics of a flexible arm from its frequency response (which is strongly distorted by Coulomb's friction) is proposed. A robust control scheme that minimizes the effects of this friction is presented. The scheme consists of two nested feedback loops: an inner loop to control the motor position and an out... View full abstract»

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  • Toward automatic robot instruction from perception-recognizing a grasp from observation

    Publication Year: 1993, Page(s):432 - 443
    Cited by:  Papers (58)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1120 KB)

    Deals with the programming of robots to perform grasping tasks. To do this, the assembly plan from observation (APO) paradigm is adopted, where the key idea is to enable a system to observe a human performing a grasping task, understand it, and perform the task with minimal human intervention. A grasping task is composed of three phases: pregrasp phase, static grasp phase, and manipulation phase. ... View full abstract»

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  • The parallel approach to force/position control of robotic manipulators

    Publication Year: 1993, Page(s):361 - 373
    Cited by:  Papers (142)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1232 KB)

    Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. In this paper the parallel approach to force/position control of robotic manipulators is presented. It shows a complete use of the available sensor measurements by operating the control action in a full-dimensional space without using selection matrices. Conflicting situa... View full abstract»

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  • Finding antipodal point grasps on irregularly shaped objects

    Publication Year: 1993, Page(s):507 - 512
    Cited by:  Papers (39)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    Two-finger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a finger contact space to the object surface. Conditions are developed to identify the feasible grasping region, F, in the finger contact space. A “grasping energy function”, E , is introduced which is proportional to the dista... View full abstract»

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  • Range-image-based calculation of three-dimensional convex object moments

    Publication Year: 1993, Page(s):484 - 490
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    In the paper, a novel method is proposed to calculate three-dimensional (3-D) moments. First, a discrete Gaussian theorem is proposed to convert the summation in a 3-D volume domain to that on a 2-D plane region, which decreases computational complexity from O(N3) to O(N2). Second, a Pascal triangle transform, a Pascal triangle matrix, and a systolic structure are proposed to... View full abstract»

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  • Segmentation of range images: an orthogonal moment-based integrated approach

    Publication Year: 1993, Page(s):385 - 399
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1656 KB)

    A new approach to range image segmentation is presented. The proposed approach involves two phases in which the region and edge information detected using a set of orthogonal Zernike moment-based operators are combined to provide robust segmentation of range images. In the first phase, each range image point is characterized by the surface normal vector and the depth value at that point. A surface... View full abstract»

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  • Path planning and the topology of configuration space

    Publication Year: 1993, Page(s):444 - 456
    Cited by:  Papers (27)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1136 KB)

    This work considers the path planning problem for planar revolute manipulators operating in a workspace of polygonal obstacles. This problem is solved by determining the topological characteristics of obstacles in configuration space, thereby determining where feasible paths can be found. A collision-free path is then calculated by using the mathematical description of the boundaries of only those... View full abstract»

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  • Viewpoint independent representation and recognition of polygonal faces in 3-D

    Publication Year: 1993, Page(s):457 - 463
    Cited by:  Papers (3)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    The recognition of polygons in 3-D space is an important task in robot vision. Two particular problems are addressed in the paper. First a new set of local shape descriptors for polygons are proposed that are invariant under affine transformation. Furthermore, they are complete in the sense that they allow the reconstruction of any polygon in 3-D space from three consecutive vertices. The second p... View full abstract»

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  • Regulation of flexible arms under gravity

    Publication Year: 1993, Page(s):463 - 467
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping... 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