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Robotics and Automation, IEEE Transactions on

Issue 6 • Date Dec 1993

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Displaying Results 1 - 18 of 18
  • On the inertia duality of parallel-series connections of two robots in operational space

    Publication Year: 1993 , Page(s): 846 - 854
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (724 KB)  

    The inertias of the parallel and serial connections of two robots in the operational space are studied in this paper. First, it is reviewed that the symmetry between the velocity and force in a robotic chain results in velocity-force duality of the parallel and serial connections. The possible duality in the operational inertia matrix is then investigated. From the dynamic equations of the two con... View full abstract»

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  • Exponential control law for a mobile robot: extension to path following

    Publication Year: 1993 , Page(s): 837 - 842
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (496 KB)  

    A piecewise smooth feedback control law for path following for the kinematic model of a nonholonomic mobile robot is proposed. The resulting motion can consist of stopping and reversing phases. The desired path is supposed to be composed of straight lines and arcs of circles joined at intermediate configurations. The proposed feedback control law yields exponential convergence to configurations re... View full abstract»

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  • Vectorization of robot inverse dynamics on a pipelined vector processor

    Publication Year: 1993 , Page(s): 858 - 863
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (564 KB)  

    This paper presents a computational scheme on a pipelined vector processor for robot inverse dynamics. Vectorization of the inverse dynamics computation is achieved while the dynamics formulation still remains within the general linear recursive framework. Parametric studies are conducted on a commercially available pipelined vector processor. The 1.82 speedup is achieved through vectorization for... View full abstract»

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  • Significant line segments for an indoor mobile robot

    Publication Year: 1993 , Page(s): 801 - 815
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1284 KB)  

    New algorithms for detecting and interpreting linear features of a real scene as imaged by a single camera on a mobile robot are described. The low-level processing stages are specifically designed to increase the usefulness and the quality of the extracted features for indoor scene understanding. In order to derive 3-D information from a 2-D image, we consider only lines with particular orientati... View full abstract»

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  • Optimal robust path planning in general environments

    Publication Year: 1993 , Page(s): 775 - 784
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1136 KB)  

    We address robust path planning for a mobile agent in a general environment by finding minimum cost source-destination paths having prescribed widths. The main result is a new approach that optimally solves the robust path planning problem using an efficient network flow formulation. Our algorithm represents a significant departure from conventional shortest-path or graph search based methods; it ... View full abstract»

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  • Direct kinematics of parallel manipulators

    Publication Year: 1993 , Page(s): 842 - 846
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (408 KB)  

    The determination of the direct kinematics of fully parallel manipulators is in general a difficult problem but has to be solved for any practical use. Various methods are presented to solve this problem: two kinds of iterative schemes, a reduced iterative scheme, and a polynomial method. The computation time of these methods are compared and their various advantages are shown View full abstract»

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  • Representation and learning of nonlinear compliance using neural nets

    Publication Year: 1993 , Page(s): 863 - 867
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (392 KB)  

    A new approach to compliant motion control using neural networks is presented. In the paper, “compliance” is treated as a nonlinear mapping from a measured force to a corrected motion. The nonlinear mapping by a multilayer neural network is outlined, this allows one to deal with complex control strategies that cannot be represented by linear compliance, such as in stiffness and damping... View full abstract»

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  • Design of a singularity-free articulated arm subassembly

    Publication Year: 1993 , Page(s): 816 - 824
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (616 KB)  

    Adding a redundant degree of freedom to the shoulder pointing system complex of an articulated arm subassembly makes it possible to achieve a maximal workspace that is free of singularities. This paper derives a functional constraint between three of the four joints of this new type of arm, achieving a singularity-free workspace encompassing the entire reachable volume between the maximal- and min... View full abstract»

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  • Controllability of a multibody mobile robot

    Publication Year: 1993 , Page(s): 755 - 763
    Cited by:  Papers (43)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (628 KB)  

    This paper presents a proof of controllability for a multibody mobile robot (e.g., a car pulling and pushing trailers like a luggage carrier in an airport). Such systems appear as canonical systems to illustrate the tools from differential geometric control theory required by nonholonomic motion planning. Three modeling steps are considered: geometric, differential, and control steps. The author d... View full abstract»

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  • Compliant motion control of kinematically redundant manipulators

    Publication Year: 1993 , Page(s): 831 - 836
    Cited by:  Papers (21)  |  Patents (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (528 KB)  

    Two control schemes, termed extended hybrid control and extended impedance control, respectively, are proposed for compliant motion control of redundant manipulators. In the two control schemes, the basic compliant motion task is accomplished while the redundancy is utilized to realize some additional constraints that optimize any user-defined objective function. Some experimental results on a thr... View full abstract»

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  • A passivity approach to controller-observer design for robots

    Publication Year: 1993 , Page(s): 740 - 754
    Cited by:  Papers (151)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1052 KB)  

    Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper the authors propose a design strategy that ut... View full abstract»

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  • Real-time vision-based robot localization

    Publication Year: 1993 , Page(s): 785 - 800
    Cited by:  Papers (56)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1624 KB)  

    This paper describes an algorithm for determining robot location from visual landmarks. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a stored map, and computes the location of the robot using those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe obs... View full abstract»

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  • Knowledge-based control of grasping in robot hands using heuristics from human motor skills

    Publication Year: 1993 , Page(s): 709 - 722
    Cited by:  Papers (29)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1308 KB)  

    The development of a grasp planner for multifingered robot hands is described. The planner is knowledge-based, selecting grasp postures by reasoning from symbolic information on target object geometry and the nature of the task. The ability of the planner to utilize task information is based on an attempt to mimic human grasping behavior. Several task attributes and a set of heuristics derived fro... View full abstract»

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  • A robust adaptive robot controller

    Publication Year: 1993 , Page(s): 825 - 830
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (428 KB)  

    A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter des... View full abstract»

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  • Ultrasonic transducers with Bessel function distribution of vibrational amplitude on their surfaces

    Publication Year: 1993 , Page(s): 732 - 739
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (504 KB)  

    In this paper the far field and near field of an ultrasonic circular transducer with a Bessel distribution of vibrational amplitude on its surface are calculated. The practical realizations of approximate Bessel-like amplitude distribution on the transducer surface are known. In this paper the vibrational characteristics of ultrasonic transducers consisting of a ceramic ring filled with a plastic ... View full abstract»

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  • Optimal design of robot accuracy compensators

    Publication Year: 1993 , Page(s): 854 - 857
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (352 KB)  

    The problem of optimal design of robot accuracy compensators is addressed. Robot accuracy compensation requires that actual kinematic parameters of a robot be previously identified. Additive corrections of joint commands, including those at singular configurations, can be computed without solving the inverse kinematics problem for the actual robot. This is done by either the damped least-squares (... View full abstract»

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  • Position and constraint force control of a vehicle with two or more steerable drive wheels

    Publication Year: 1993 , Page(s): 723 - 731
    Cited by:  Papers (12)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (732 KB)  

    Since a vehicle with two or more steerable drive wheels is always traveling in a circle about an instantaneous center of rotation, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate th... View full abstract»

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  • Motion planning in stereotaxic radiosurgery

    Publication Year: 1993 , Page(s): 764 - 774
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1092 KB)  

    Stereotaxic radiosurgery is a procedure that uses a beam of radiation as an ablative surgical instrument to destroy brain tumors (or more generally, brain lesions). The beam is produced by a linear accelerator that is moved by a mechanical gantry. Radiation is concentrated by crossfiring at the tumor from multiple directions, to reduce the amount of energy deposited in healthy tissues. Because acc... 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