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IEEE Transactions on Robotics and Automation

Issue 4 • Date Aug 1995

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Displaying Results 1 - 15 of 15
  • Observer based control for elastic joint robots

    Publication Year: 1995, Page(s):618 - 623
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    In this paper we present an approach to control elastic modes of the robot joints using only measurements of the variables on the rotor side of the transmission. First, a simple and robust observer is proposed to estimate link positions and velocities. The state estimates are used in a fast inner loop to damp oscillations in the joints. Simulations have shown good performance of the observer and t... View full abstract»

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  • Formal models for control of flexible manufacturing cells: physical and system model

    Publication Year: 1995, Page(s):558 - 570
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1228 KB)

    Most control implementations of flexible manufacturing cells have been developed specific to a particular facility, and no generic format or tools exist for the systematic planning and creation of control. This paper presents the first phase of research in automatic generation of control software. It focuses on the development of theoretical foundations and generic issues necessary to understand a... View full abstract»

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  • Alignment using an uncalibrated camera system

    Publication Year: 1995, Page(s):516 - 521
    Cited by:  Papers (24)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    We describe a method for the visual control of a robotic system which does not require the formulation of an explicit calibration between image coordinates and the world coordinates. By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration. We attach a camera system to a robot such that the camera system and the r... View full abstract»

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  • Adaptive control of robotic manipulators including motor dynamics

    Publication Year: 1995, Page(s):612 - 617
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Motor dynamics in a mechanical transmission chain of a robot are common in practice and may significantly affect the dynamic characteristics and stability of a robot. Synthesis of a robust controller for a robot, including motor dynamics, is essentially more complex than that for rigid-body manipulators. The controllers currently in existence require exact knowledge of both the robot and motor dyn... View full abstract»

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  • Manipulating algebraic parts in the plane

    Publication Year: 1995, Page(s):598 - 602
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    When manipulating parts, it is important to determine the orientation of the part with respect to the gripper. This orientation may not be known precisely or may be disturbed by the act of grasping. In some cases, it is possible to use mechanical compliance to orient parts during grasping. Goldberg (1993) showed that any part with polygonal boundary can be oriented and grasped in this manner using... View full abstract»

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  • First-order stability cells of active multi-rigid-body systems

    Publication Year: 1995, Page(s):545 - 557
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1296 KB)

    A stability cell is a subset of the configuration space (C-space) of a set of actively controlled rigid bodies (e.g., a manipulator) in contact with a passive body in which the contact state is guaranteed to be stable under Coulomb friction and external forces. A first-order stability cell is a subset of a stability cell with the following two properties: the state of contact uniquely determines t... View full abstract»

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  • Efficient computation of articulated-body inertias using successive axial screws

    Publication Year: 1995, Page(s):606 - 611
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    The articulated-body (AB) algorithm for dynamic simulation of chains of rigid bodies was developed by Featherstone (1983). The mast costly step in this algorithm is the computation of the AB inertias at each link which involves a spatial (6×6) congruence transformation. The amount of computation required is closely coupled to the kinematic modeling technique used. This paper examines this co... View full abstract»

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  • Diagonalized Lagrangian robot dynamics

    Publication Year: 1995, Page(s):571 - 584
    Cited by:  Papers (63)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1180 KB)

    A diagonal equation for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. Diagonalization implies that at each fixed time instant the equation at each joint is decoupled from all of the other joint equations. The equation involves two important variables: a vector of total joint rotational rates and a corresponding vector of working joi... View full abstract»

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  • On the geometry of contact formation cells for systems of polygons

    Publication Year: 1995, Page(s):522 - 536
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1448 KB)

    The efficient planning of contact tasks for intelligent robotic systems requires a thorough understanding of the kinematic constraints imposed on the system by the contacts. In this paper, we derive closed-form analytic solutions for the position and orientation of a passive polygon moving in sliding and rolling contact with two or three active polygons whose positions and orientations are indepen... View full abstract»

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  • Automatic maintenance of robot programs

    Publication Year: 1995, Page(s):603 - 606
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    After writing programs for a production robot, an operator must manually teach hundreds or thousands of poses. Teaching poses is extremely time consuming and, unfortunately, periodic reteaching is necessary. The need to reteach is commonly due to: wear, repair, slight movements of workpieces, or replacement of the robot and its tools. Our experience has shown that conventional methods of adjusting... View full abstract»

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  • A dynamic fault tolerance framework for remote robots

    Publication Year: 1995, Page(s):477 - 490
    Cited by:  Papers (109)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1292 KB)

    This paper presents a layered fault tolerance framework containing new fault detection and tolerance schemes. The framework is divided into servo, interface, and supervisor layers. The servo layer is the continuous robot system and its normal controller. The interface layer monitors the servo layer for sensor or motor failures using analytical redundancy based fault detection tests. A newly develo... View full abstract»

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  • Base-invariant symmetric dynamics of free-flying manipulators

    Publication Year: 1995, Page(s):585 - 597
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (968 KB)

    The freedom of choice in designating a base-body for free-flying manipulators gives these manipulators a base-invariance symmetry that is not encountered in fixed-base manipulators. This paper analyzes the relationship between this natural symmetry and the dynamical equations for free-flying manipulators. The base-invariance symmetry is used to develop a new formulation of the manipulator dynamics... View full abstract»

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  • Design and development of high-performance torque-controlled joints

    Publication Year: 1995, Page(s):537 - 544
    Cited by:  Papers (58)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    Dynamic decoupling, motion and force control of manipulators rely on the ability of the actuation system to provide accurate joint torques. However, this ability is considerably restricted by the nonlinearities and friction inherent in the actuator-transmission systems of most industrial robots. This paper is concerned with the development of high-performance torque controlled joints and focuses o... View full abstract»

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  • The kinematics of multi-fingered manipulation

    Publication Year: 1995, Page(s):491 - 503
    Cited by:  Papers (62)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1060 KB)

    In this paper, we derive a configuration-space description of the kinematics of the fingers-plus-object system. To do this, we first formulate contact kinematics as a “virtual” kinematic chain. Then, the system can be viewed as one large closed kinematic chain composed of smaller chains, one for each finger and one for each contact point. We examine the underlying configuration space a... View full abstract»

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  • Specifying and achieving passive compliance based on manipulator structure

    Publication Year: 1995, Page(s):504 - 515
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1028 KB)

    We explore the possibility of achieving passive compliance through the structure of the manipulator itself. The emphasis is on passive compliance because a minimum of passive compliance to prevent jamming will always be required even when active stiffness control is employed. Particular attention is given to the large class of robots with nonbackdrivable actuators, where the actuator must be comma... 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