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Robotics & Automation Magazine, IEEE

Issue 2 • Date June 1994

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Displaying Results 1 - 3 of 3
  • Analysis and experimental verification of a forth order plant model for manipulator force control

    Page(s): 4 - 13
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (888 KB)  

    The analysis and experimental verification of a fourth order model of the arm/sensor/environment system plant, to be used in evaluation of force control strategies are presented. Both the undamped and underdamped eases are investigated. Approximations and qualifications, based on the reality of our experimental system, help reduce the solution to just a few dominant terms. Comparing these terms with experimental data of the system undergoing small oscillations yields approximate values for all of the parameters in the model. To justify the obtained values and thereby the approximations used, two measures are taken. First, a simulation of the fourth order model is performed, and compared against experimental data obtained from the CMU DD Arm II system. Second, a stability analysis of several force control schemes acting on the modelled plant is reviewed and compared against experimental tests of the controllers. In both cases, the simulation and analysis match closely with the experimental results, confirming the validity of the plant model.<> View full abstract»

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  • A subject-indexed bibliography of discrete event dynamic systems

    Page(s): 14 - 20
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (869 KB)  

    A subject-indexed bibliography of discrete event dynamic systems is given. Each subject is briefly described and some characteristic topics and references for each subject are listed. The complete reference list is provided on the ftp-site and instructions how to retrieve related files are given.<> View full abstract»

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  • Robots in Japan: present and future

    Page(s): 22 - 26
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (281 KB)  

    The would-wide slackening of business activities appears to have also slowed the pace of the industrial robot business. It is often said that we are now entering an epoch where the industrial robot is to be succeeded by the "service robot". The designation "service robot," however still remains to be clearly defined. As yet, the image evoked by this term varies very widely from person to person, in both the external appearance and the technological elements that constitute such a robot. The author considers the term service robot to be a generic term covering all robots that are not for industrial use. The author looks at the development of service robots in Japan.<> View full abstract»

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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma