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IEEE Transactions on Robotics and Automation

Issue 4 • Date Aug 1994

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Displaying Results 1 - 17 of 17
  • Force-assembly with friction

    Publication Year: 1994, Page(s):465 - 479
    Cited by:  Papers (36)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1224 KB)

    Previously, force-assembly has been defined as an assembly process for which a single admittance control law (i.e., a single nominal velocity in conjunction with a single mapping of forces to motions) can guarantee the proper assembly of a given pair of mating parts. As a testbed application of force-assembly, the insertion of a workpiece into a fixture consisting of multiple rigid fixture element... View full abstract»

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  • Behavior control for robotic exploration of planetary surfaces

    Publication Year: 1994, Page(s):490 - 503
    Cited by:  Papers (74)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1724 KB)

    This paper describes a series of robots developed at JPL to demonstrate the feasibility of using a behavior-control approach to control small robots on planetary surfaces. The round-trip light-time delay makes direct teleoperation of a mobile robot on a planetary surface impossible. Planetary rovers must therefore possess a certain degree of autonomy. However, small robots can only support small c... View full abstract»

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  • PD control with computed feedforward of robot manipulators: a design procedure

    Publication Year: 1994, Page(s):566 - 571
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    In the present paper, we propose an explicit design procedure for selecting the proportional and derivative gains of the PD control with computed feedforward of robot manipulators. The proposed procedure, which is easily obtained from the robot dynamics and desired trajectory, assures that the closed-loop system has an unique equilibrium point. In addition, this equilibrium turns out to be (locall... View full abstract»

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  • The dynamics and control of a haptic interface device

    Publication Year: 1994, Page(s):453 - 464
    Cited by:  Papers (57)  |  Patents (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1032 KB)

    Haptic interface devices are machines that are controlled by the human arm contact forces. These devices are necessary elements of virtual reality machines. These devices may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, these devices can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring ... View full abstract»

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  • A robust, automated alignment concept for robotics

    Publication Year: 1994, Page(s):530 - 534
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    A video-based pose sensor is presented that overcomes some of the common problems with typical robotic pose sensors. The Targeting and Reflective Alignment Concept (TRAC) sensor operates using the optics of reflection. TRAC is a robust sensor capable of both continuous and discrete pose sensing in the presence of a class of disturbance inputs (extraneous lighting). Key features of the sensor are i... View full abstract»

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  • State-space size estimation of Petri nets: a bottom-up perspective

    Publication Year: 1994, Page(s):555 - 561
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    Petri nets are a popular system modeling methodology, although the typical state-space explosion is problematic. An estimate of the state-space size has many uses: determining the appropriateness of a particular analysis technique; evaluating the trade-off between model detail and solution complexity; and providing data for state-space size reduction algorithms. This paper presents an estimation a... View full abstract»

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  • Automated partial pose measurement system for manipulator calibration experiments

    Publication Year: 1994, Page(s):430 - 440
    Cited by:  Papers (23)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    The work reported here is concerned with methods used to provide partial pose data for robot calibration tests. Rather than focussing on traditional, precision measurement techniques, the paper discusses calibration using end point motion constraints of various kinds. The preferred method consists of using a wire potentiometer attached to the robot tool by means of two specially designed fixtures.... View full abstract»

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  • A new family of omnidirectional and holonomic wheeled platforms for mobile robots

    Publication Year: 1994, Page(s):480 - 489
    Cited by:  Papers (163)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1532 KB)

    This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the “orthogonal-wheels” concept and the two major wheel assemblies on which these platforms are based. The authors then describe how a combination ... View full abstract»

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  • A portable instrument for 3-D dynamic robot measurements using triangulation and laser tracking

    Publication Year: 1994, Page(s):504 - 516
    Cited by:  Papers (13)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1048 KB)

    The paper describes the development and validation of a 3-D measurement instrument capable of determining the static and dynamic performance of industrial robots to ISO standards. Using two laser beams to track an optical target attached to the robot end-effector, the target position coordinates may be estimated, relative to the instrument coordinate frame, to a high accuracy using triangulation p... View full abstract»

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  • Reducing positioning uncertainty of objects by robot pushing

    Publication Year: 1994, Page(s):535 - 541
    Cited by:  Papers (10)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (664 KB)

    Robotic applications often involve manipulation of objects where position and orientation are not perfectly known. Pushing an object for instance by a fence, can be employed to accurately align parts, reducing uncertainty to only one degree of freedom. In this paper a pushing task involving two fingers that completely constrains an object in a plane is proposed. The stability of orientation and po... View full abstract»

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  • On singular time-optimal control along specified paths

    Publication Year: 1994, Page(s):561 - 566
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work by Bobrow-Dubowsky (1985) and Shin-McKay (1985) ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work by Shiller-Lu (1992) has shown that the time optimal control can be singular if one of the equations of ... View full abstract»

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  • Control of rolling contacts in multi-arm manipulation

    Publication Year: 1994, Page(s):441 - 452
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (980 KB)

    When multiple arms are used to manipulate a large object, it is beneficial and sometimes necessary to maintain and control contacts between the object and the effector (the contacting surface of an arm) through force closure. Rolling and/or sliding can occur at these contacts, and the system is, in general, characterized by holonomic as well as nonholonomic (including unilateral) constraints. In t... View full abstract»

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  • Blind approximation of planar convex sets

    Publication Year: 1994, Page(s):517 - 529
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1064 KB)

    The process of learning the shape of an unknown convex planar object through an adaptive process of simple measurements called line probings, which reveal tangent lines to the object, is considered. A systematic probing strategy is suggested and an upper bound on the number of probings it requires for achieving an approximation with a pre-specified precision to the unknown object is derived. A low... View full abstract»

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  • Modeling of robots in contact with a dynamic environment

    Publication Year: 1994, Page(s):542 - 548
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    A control-oriented modeling approach for describing kinematics and dynamics of robots in contact with a dynamic environment is presented. In many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. Conversely, modeling of robot-environment interactions through dynamic impedance may not fit the task layout. A suitable model structure is proposed ... View full abstract»

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  • Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX=YB

    Publication Year: 1994, Page(s):549 - 554
    Cited by:  Papers (60)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    The paper presents a linear solution that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot flange coordinate frames. The flange frame is defined on the mounting surface of the end-effector. It is assumed that the robot geometry, i.e., the transformation from the robot base frame to the robot flange frame, is known with sufficient ... View full abstract»

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  • A parallel algorithm and architecture for the control of kinematically redundant manipulators

    Publication Year: 1994, Page(s):405 - 414
    Cited by:  Papers (16)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    Kinematically redundant manipulators are inherently capable of more dextrous manipulation due to their additional degrees of freedom. To achieve this dexterity, however, one must be able to efficiently calculate the most desirable configuration from the infinite number of possible configurations that satisfy the end-effector constraint. It has been previously shown that the singular value decompos... View full abstract»

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  • Task-directed computation of qualitative decisions from sensor data

    Publication Year: 1994, Page(s):415 - 429
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1392 KB)

    Describes a novel approach to sensor-based decision making based on formulating and solving large systems of parametric constraints. The constraints describe both a model for sensor data and the criteria for correct decisions about the data. An incremental constraint solving technique that performs decision-directed model recovery is developed. This method is straightforward to apply, is easily pa... 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