IEEE Journal on Robotics and Automation

Issue 6 • Dec. 1988

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Displaying Results 1 - 11 of 11
  • The motion of a pushed, sliding workpiece

    Publication Year: 1988, Page(s):569 - 598
    Cited by:  Papers (125)  |  Patents (1)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (3022 KB)

    It occurs frequently in robotic applications that a robot manipulates a workpiece which is free to slide on a work surface. Because the pressure distribution supporting the workpiece on the work surface cannot in general be known, the motion of the workpiece cannot be calculated uniquely. The authors find the locus of centers of rotation of a workpiece for all possible pressure distributions. The ... View full abstract»

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  • Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method

    Publication Year: 1988, Page(s):599 - 609
    Cited by:  Papers (16)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (790 KB)

    An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation g... View full abstract»

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  • Fixed-axis tool positioning with built-in global interference checking for NC path generation

    Publication Year: 1988, Page(s):610 - 621
    Cited by:  Papers (18)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1164 KB)

    An algorithm for generating tool positions for three-axis mill cutter paths on parametric surfaces is presented. The novelty of this algorithm is in its use of a surface subdivision technique as an alternative to the traditional APT-style iterative approaches based on local tangent-plane extensions. The algorithm presented provides global interference checking and does not exhibit the convergence ... View full abstract»

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  • A group-theoretic approach to the computation of symbolic part relations

    Publication Year: 1988, Page(s):622 - 634
    Cited by:  Papers (41)  |  Patents (1)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (950 KB)

    When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages hav... View full abstract»

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  • Omnidirectional supervisory control of a multilegged vehicle using periodic gaits

    Publication Year: 1988, Page(s):635 - 642
    Cited by:  Papers (15)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (797 KB)

    A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits. The vehicle model is chosen from a hexapod robot vehicle, named the Adaptive Suspension Vehicle, which is under development. To implement periodic gaits for omnidirectional control, the notion of the constrained working volume (CWV) is introduced on the basis of reachability of the leg a... View full abstract»

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  • Robot calibration and compensation

    Publication Year: 1988, Page(s):643 - 656
    Cited by:  Papers (74)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1429 KB)

    A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experim... View full abstract»

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  • Force distribution in closed kinematic chains

    Publication Year: 1988, Page(s):657 - 664
    Cited by:  Papers (127)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (692 KB)

    The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. The special case in which the contact interaction can be modeled by three components of forces (zero moments) is particularly interesting. The Moore-Penrose generalized inverse solution for such a model (point contact) is shown to yield a solu... View full abstract»

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  • Efficient modeling and computation of manipulator dynamics using orthogonal Cartesian tensors

    Publication Year: 1988, Page(s):665 - 676
    Cited by:  Papers (27)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1101 KB)

    The authors use orthogonal second-order Cartesian tensors to formulate the Newton-Euler dynamic equations for a robot manipulator. Based on this formulation, they develop two efficient recursive algorithms for computing the joint actuator torques/forces. The proposed algorithms are applicable to all rigid-link manipulators with open-chain kinematic structures with revolute and/or prismatic joints.... View full abstract»

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  • On the stability of manipulators performing contact tasks

    Publication Year: 1988, Page(s):677 - 686
    Cited by:  Papers (140)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1036 KB)

    Manipulation requires contact with the object being manipulated, and the full potential of robots can only be realized when they are applied to contact tasks. One of the difficulties engendered by contact tasks is that they require intimate dynamic interaction between the robot and its environment. That interaction changes the performance of the robot and can jeopardize the stability of its contro... View full abstract»

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  • Real-time control of robot manipulators in the presence of obstacles

    Publication Year: 1988, Page(s):687 - 698
    Cited by:  Papers (9)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (843 KB)

    A novel approach is suggested to the problem of obstacle avoidance for a point robot moving among circular or elliptical/spherical or ellipsoid obstacles. The obstacle avoidance strategy (OAS) translates each state constraint (obstacle) into a state-dependent control constraint (SDCC). Each SDCC defines a hyperplane in the control space u. The intersection of the SDCC sets with the hard control bo... View full abstract»

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  • Dynamic hybrid position/force control of robot manipulators-controller design and experiment

    Publication Year: 1988, Page(s):699 - 705
    Cited by:  Papers (113)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (663 KB)

    An approach to designing controllers for dynamic hybrid position/force control of robot manipulators is presented, and preliminary experimental results are given. Dynamic hybrid control is an extension of an approach proposed by M.H. Raibert and J.J. Craig (1981) to the case where the full manipulator dynamics is taken into consideration and the end-effector constraint is explicitly given by the c... 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