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IEEE Transactions on Robotics and Automation

Issue 3 • Date June 1995

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Displaying Results 1 - 21 of 21
  • Comments on "A practical approach to job shop scheduling problems" [with reply]

    Publication Year: 1995, Page(s):469 - 470
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (225 KB)

    The author states that, in the original paper (D.L. Hoitomt and P.B. Luh ibid., vol. 9, no. 1, p. 1-13, 1993), the model formulation of the scheduling problem is highly irregular. If one were to consider the formulation by itself it would seem that since neither the precedence nor processing time constraints are linked to time, we could set all /spl delta//sub ijkh/=0 and obtain a feasible solutio... View full abstract»

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  • Comments on "A sliding mode controller with bound estimation for robot manipulators"

    Publication Year: 1995, Page(s):471 - 473
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (214 KB)

    In the above paper by Su-Leung (IEEE Trans. Robot Automat., vol.9, no.2, p.208-14 (1993)), an adaptive sliding mode control scheme for the trajectory control of robot manipulators is developed. The proof of Theorem 1 in the paper is accomplished by resorting to the Lasalle theorem. It is well known that the Lasalle theorem can be applied to either autonomous systems or periodic nonautonomous syste... View full abstract»

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  • Time-minimum routes in time-dependent networks

    Publication Year: 1995, Page(s):343 - 351
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    Route planning for mobile robots in time-dependent networks is investigated. The mobile robot is constrained to move in a prespecified network of roads. The environment contains a set of moving obstacles which are not necessarily constrained to move along arcs of the network and whose motions are assumed to be known. Due to dynamic objects in the environment, connectivity in the network changes ov... View full abstract»

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  • Inertial navigation systems for mobile robots

    Publication Year: 1995, Page(s):328 - 342
    Cited by:  Papers (315)  |  Patents (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1164 KB)

    A low-cost solid-state inertial navigation system (INS) for mobile robotics applications is described. Error models for the inertial sensors are generated and included in an extended Kalman filter (EKF) for estimating the position and orientation of a moving robot vehicle. Two different solid-state gyroscopes have been evaluated for estimating the orientation of the robot. Performance of the gyros... View full abstract»

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  • Synthesis using resource control nets for modeling shared-resource systems

    Publication Year: 1995, Page(s):317 - 327
    Cited by:  Papers (69)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (908 KB)

    This paper proposes a general approach to synthesize a class of Petri nets that model shared-resource automated manufacturing systems. The approach imposes minimal restrictions on the interactions among subsystems initially so that the modeler is given significant freedom. To modularize the synthesis procedure, a shared-resource system is formulated from the processes. i.e., the subsystems, that c... View full abstract»

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  • Learning control for robot tasks under geometric endpoint constraints

    Publication Year: 1995, Page(s):432 - 441
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    A learning control scheme for a class of robot manipulators whose endpoint is moving under geometrical constraints on a surface is proposed. In this scheme, the input torque command is composed of two different signals updated separately at every trial by different ways. One is updated by the angular velocity error vector which is projected to the tangent plane of the constraint surface in joint s... View full abstract»

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  • Hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators

    Publication Year: 1995, Page(s):426 - 432
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    In this paper a hybrid adaptive/robust control scheme is proposed for rigid-link electrically-driven robot manipulators in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. In contrast to the known methods, the presented design requires at most the joint velocity feedback and does not rely on the knowledge of the bounds of com... View full abstract»

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  • Gravitational stability of frictionless assemblies

    Publication Year: 1995, Page(s):374 - 388
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1296 KB)

    The stability of an assemblage of contacting rigid bodies without friction is investigated. A method is presented for finding an orientation of the assembly so that the assembly remains motionless under gravity. If no stable orientation exists for an assembly, the method finds the “least” unstable orientation. The metric used to measure stability is based on the second time-rate of cha... View full abstract»

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  • Graph-theoretic deadlock detection and resolution for flexible manufacturing systems

    Publication Year: 1995, Page(s):413 - 421
    Cited by:  Papers (88)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (804 KB)

    Flexible manufacturing systems are capable of producing a broad variety of products and changing their characteristics quickly and frequently. This flexibility provides for more efficient use of resources, but makes control of these systems more difficult. Control problems previously unstudied now require practical resolution, like system deadlock. A system deadlock is a situation that arises due ... View full abstract»

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  • Closed-loop kinematic calibration of the RSI 6-DOF hand controller

    Publication Year: 1995, Page(s):352 - 359
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets a... View full abstract»

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  • Primitives for smoothing mobile robot trajectories

    Publication Year: 1995, Page(s):441 - 448
    Cited by:  Papers (47)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    Clothoids are very useful for smoothing the motion of a mobile robot moving along a trajectory. This paper addresses the problem of smoothing mobile robot motions when cusps, i.e., changes of motion direction along the trajectory, are imposed. We pinpoint some special curves (that we call “anticlothoids”) and we discuss how they can be used together with clothoids in order to smooth a ... View full abstract»

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  • Parallel O(log N) algorithms for computation of manipulator forward dynamics

    Publication Year: 1995, Page(s):389 - 400
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1060 KB)

    These parallel algorithms described are based on a new O(N) solution to the problem. The underlying feature of this O(N) method is a different strategy for decomposition of interbody force which results in a new factorization of mass matrix (M). Specifically, a factorization of inverse of the mass matrix in the form of Schur complement is derived as M-1=C-DtA-1B wh... View full abstract»

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  • Local optimization of weighted joint torques for redundant robotic manipulators

    Publication Year: 1995, Page(s):422 - 425
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    In this article, stable local solutions with global characteristics are developed for the weighted joint torque optimization in redundant manipulator. Conditions for these symmetric weight matrices are found that can guarantee that the local optimization of joint torque weighted by these matrices will have the same stability and optimality as the local optimization for the inertia inverse weighted... View full abstract»

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  • Minimal linear combinations of the inertia parameters of a manipulator

    Publication Year: 1995, Page(s):360 - 373
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (976 KB)

    This paper deals with the problem of identifying the inertia parameters of a manipulator. We begin by introducing the terminology of minimal linear combinations (MLC's) of the inertia parameters that are linearly independent of one another and determine the manipulator dynamics while keeping the number of linear combinations of the inertia parameters to a minimum. The problem is then to find an id... View full abstract»

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  • Real-time collision avoidance for redundant manipulators

    Publication Year: 1995, Page(s):448 - 457
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    This paper presents a simple and robust approach to achieving collision avoidance for kinematically redundant manipulators at the control-loop level. The proposed scheme represents the obstacle avoidance requirement as inequality constraints in the manipulator workspace, and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is th... View full abstract»

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  • A normal form of singular kinematics of robot manipulators with smallest degeneracy

    Publication Year: 1995, Page(s):401 - 404
    Cited by:  Papers (12)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    We study singular kinematics of robot manipulators around internal configurations at which the manipulator Jacobian drops rank by 1. Conditions are presented under which such kinematics can be transformed to a simple quadratic normal form. The conditions are proved using standard methods of singularity theory, and illustrated with an example View full abstract»

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  • A new adaptive control algorithm for robot manipulators in task space

    Publication Year: 1995, Page(s):457 - 462
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    Adaptive control of robotic manipulators in task space coordinates is considered in this paper. A new composite adaptive control law, which uses the prediction error and tracking error to drive parameter estimation, is developed based on sliding mode and a general Lyapunov-like concept. It is shown that global stability and convergence can be achieved for the adaptive control algorithm. The algori... View full abstract»

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  • Generalized inverse kinematic functions for the Puma manipulators

    Publication Year: 1995, Page(s):404 - 408
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    This paper presents a new approach for the computation of generalized positioning inverse kinematic functions for Puma manipulators. This new approach leads to real solutions of the joint variables for any set of Cartesian coordinates located inside or outside the robot's workspace. Therefore, the inverse kinematic functions derived are termed “generalized inverse kinematic functions”.... View full abstract»

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  • Robot manipulability

    Publication Year: 1995, Page(s):462 - 468
    Cited by:  Papers (83)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    This paper demonstrates fundamental problems with dexterity measures found throughout the robotics literature and offers a methodology for correcting those problems. Measures of robot dexterity derived from eigenvalues, eigenvectors, similarity transformations, singular-value decompositions and the Moore-Penrose inverse of the manipulator Jacobian do not have invariant physical meaning. The paper ... View full abstract»

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  • Computation of configuration-space obstacles using the fast Fourier transform

    Publication Year: 1995, Page(s):408 - 413
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the configuration space is a convolution of the workspace and the robot. This convolution is computed with the use of the fast Fourier transform (FFT) algorithm. Th... View full abstract»

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  • A note on “On single-scanline camera calibration” [and reply]

    Publication Year: 1995, Page(s):470 - 471
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (176 KB)

    In this correspondence, the single-scanline camera model proposed in the original paper (R. Horaud, R. Mohr and B. Lorecki, ibid., vol. 8, no. 1, p. 71-5, 1993) is modified to include a lens distortion coefficient. The authors say that, by this modification, the calibration approach presented will become more practical. The original authors accept that the improvement is sensible but say that the ... 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