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IEEE Journal on Robotics and Automation

Issue 5 • Date Oct 1988

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Displaying Results 1 - 13 of 13
  • Road boundary detection in range imagery for an autonomous robot

    Publication Year: 1988, Page(s):515 - 523
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1312 KB)

    The authors describe a road-following system for an autonomous land vehicle, based on range image analysis. The system is divided into two parts: low-level data-driven analysis, followed by high-level model-directed search. The sequence of steps performed in order to detect three-dimensional (3-D) road boundaries is as follows. Range data are first converted from spherical into Cartesian coordinat... View full abstract»

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  • Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism

    Publication Year: 1988, Page(s):561 - 565
    Cited by:  Papers (25)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    A Stewart-platform-based six-degree-of-freedom parallel mechanism is presented that can be used as a general-purpose spatial manipulator arm. The system consists of an output platform which is connected to a fixed base by means of three PRPS (parameters P, R, and S denote the prismatic, revolute, and spherical joints) subchains. All prismatic joints in this mechanism are active inputs which contro... View full abstract»

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  • Traffic control of multiple robot vehicles

    Publication Year: 1988, Page(s):491 - 497
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    The author addresses the control of traffic when there are large numbers of automatic guided vehicles (AGVs) in a factory. Several possible policies for managing AGVs to minimize the impact of traffic jams were analyzed. In a grid-iron network of roads, it is shown that traffic contention can have a large effect on the collective performance of AGVs. It is shown that a particular traffic policy pe... View full abstract»

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  • Planning robotic manipulation strategies for workpieces that slide

    Publication Year: 1988, Page(s):524 - 531
    Cited by:  Papers (58)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    The authors consider the automated planning of manipulation strategies for workpieces able to slide on their work surface. The aim is to generate open-loop (i.e. sensorless) strategies which succeed in aligning or grasping a workpiece, in the face of two kinds of uncertainty: (1) the initial configuration of the workpiece may have some bounded error, and (2) the details of the contact between work... View full abstract»

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  • Multivariable self-tuning control of redundant manipulators

    Publication Year: 1988, Page(s):498 - 507
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (780 KB)

    An efficient self-tuning control design method for redundant robotic manipulators is presented. With the nominal torques compensating the nonlinear interactions among the joints, the complex nonlinear dynamic equations are linearized and a linear input-output perturbation difference model is developed. Based on which two self-tuning control schemes are proposed in joint and Cartesian spaces. The c... View full abstract»

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  • Dynamic modeling and control by utilizing an imaginary robot model

    Publication Year: 1988, Page(s):532 - 540
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative exa... View full abstract»

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  • Hybrid impedance control of robotic manipulators

    Publication Year: 1988, Page(s):549 - 556
    Cited by:  Papers (83)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    The inclusion of force information in the control of robots increases their adaptability to uncertain environments, such as are found in deburring, grinding, and assembly tasks. The authors present a foundation for force control strategies, in view of the fact that the type of control strategy that is employed depends fundamentally on the characteristics of the environment. A general control appro... View full abstract»

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  • Structured light patterns for robot mobility

    Publication Year: 1988, Page(s):541 - 548
    Cited by:  Papers (9)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (972 KB)

    The authors describe some of the important operational considerations and image processing tasks required to utilize a nonscanning structured-light range sensor in path planning for robot mobility. The efforts have concentrated on the geometric design of the projectional grid with regard to smoothing of fine-scale range texture, and the development of image processing techniques in order to extrac... View full abstract»

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  • An iterative learning control method with application to robot manipulators

    Publication Year: 1988, Page(s):508 - 514
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation is performed in the domain of an iterative sequence of operations with the time frozen. A sufficient condition for the convergence of the proposed algorithm is given. It is also shown that the proposed learning controller can be applied to the continuous path control of robot ma... View full abstract»

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  • A variable structure model following control design for robotics applications

    Publication Year: 1988, Page(s):556 - 561
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    A variable structure model following control (VSMFC) design method is proposed for robotics applications. The method allows the designer to model the nonlinear dynamic interactions among the different mechanical components of the robot system even when an adaptive control solution is called for to satisfy stringent performance requirements. A VSMFC design for a planar two-link robot arm is conside... View full abstract»

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  • Terminal-link parameter estimation of robotic manipulators

    Publication Year: 1988, Page(s):485 - 490
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    The authors present a manipulator terminal-link parameter estimation method. The estimation equations are linear in the unknown terminal-link parameters. These unknown parameters are estimated using an instrument variable method (IVM). It is verified theoretically and experimentally that the IVM asymptotically yields consistent estimates. The number of operations required to estimate the terminal-... View full abstract»

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  • Planar and finger-shaped optical tactile sensors for robotic applications

    Publication Year: 1988, Page(s):472 - 484
    Cited by:  Papers (41)  |  Patents (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1260 KB)

    Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed... View full abstract»

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  • Decomposition of manufacturing systems

    Publication Year: 1988, Page(s):457 - 471
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (916 KB)

    An approach to decomposition of manufacturing systems known as the group technology (GT) is surveyed. GT makes it possible to cluster machines into machine cells and parts into part families. There are two basic methods used for solving the GT problem: classification and modeling. Two variations of the classification method, visual and coding, are briefly discussed. The matrix and mathematical pro... View full abstract»

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Aims & Scope

This Journal ceased production in 1988. The current retitled publications are IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope