Proceedings. 1985 IEEE International Conference on Robotics and Automation

25-28 March 1985

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Displaying Results 1 - 25 of 168
  • [Front cover and table of contents]

    Publication Year: 1985, Page(s):c1 - F1
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    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1985, Page(s): c2
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    Freely Available from IEEE
  • Toward a surface primal sketch

    Publication Year: 1985, Page(s):420 - 425
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (641 KB)

    This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call tile representation the Surface Primal Sketch by analogy with representations of intensity changes, image structure, and changes in curvature of planar curves. We describe an implemented program that detects, localizes, and symbolically describes: steps, where the surf... View full abstract»

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  • The significance of lighting in industrial inspection tasks

    Publication Year: 1985, Page(s):458 - 460
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (225 KB)

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  • A morphological approach to finished surface inspection

    Publication Year: 1985, Page(s):462 - 465
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (351 KB)

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  • Vision-guided robot for automotive assembly

    Publication Year: 1985, Page(s):686 - 690
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  • Fast generation of chain-code image descriptions

    Publication Year: 1985, Page(s):868 - 872
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    A method is described for the rapid reduction of intensity matrix image data to chain-coded descriptors. The method also yields some topographic and numerical information about regions in the image. In this method, the chain code is generated and stored in an array which is isomorphic to the image array. Computation other than that associated with the intensity classification (feature) operator is... View full abstract»

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  • A rule based decision system for the robotization or metal laser cutting

    Publication Year: 1985, Page(s):192 - 197
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    This paper deals with the conception of a rule based experimental system for the robotization of metal cutting using a 5 kW CO2continuous laser. The image of the melted metal pulsed out of the kerf during the cut has been processed on the fly by a special purpose vision system in order to estimate the cut quality. The reasons for the design of a rule based decision system are analysed. ... View full abstract»

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  • Calibration and use of a light stripe range sensor mounted on the hand of a robot

    Publication Year: 1985, Page(s):680 - 685
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    A three-dimensional sensing capability can be very useful in automating the robotic handling of industrial parts. This report describes a sensor that uses a Puma robot to carry a cage in which are mounted a light-stripe projector and a lightweight television camera in fixed relationship to each other. Calculation of the Cartesian coordinates of all points illuminated by the stripe is a straightfor... View full abstract»

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  • Parallel/Pipelined processor dedicated to visual recognition

    Publication Year: 1985, Page(s):100 - 107
    Cited by:  Papers (7)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    A parallel/pipelined processor has been developed for visual object recognition. It detects the position and orientation of the top workpiece in case workpieces are overlapping. The processor consists of a real-time edge detector and a high-speed image correlator. The real-time edge detector detects contours of workpieces at the video rate of a solid-state TV camera. It is relatively insensitive t... View full abstract»

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  • A new magnetoelastic force transducer

    Publication Year: 1985, Page(s):707 - 711
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    This paper describes a magnetoelastic based force transducer, one that may be used in the manner of a standard strain gage. The sensor appears to offer several advantages over resistance and semiconductor strain gages. In particular, it has a sensitivity more than an order of magnitude greater than semiconductor strain gages. View full abstract»

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  • Octree generation from silhouette views of an object

    Publication Year: 1985, Page(s):843 - 848
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Octrees are used in many 3-D representation problems because they provide a compact data structure, allow rapid access to information, and implement efficient data manipulation algorithms. The initial acquisition of the 3-D information, however, is a common problem. This paper describes an algorithm to construct the octree representation of a 3-D object from silhouette images of the object. The im... View full abstract»

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  • Dynamic and vibration modeling of a cartesian robot

    Publication Year: 1985, Page(s):990 - 995
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Quality of the dynamic response of a robotic manipulator is dependent upon a variety of factors. In this paper, we will discuss the effects on dynamic performance of robot system design and of structural resonant characteristics. A model of the actuator and controller system for a cartesian robot will be presented and its simulated performmance evaluated. Comparison will be made between performanc... View full abstract»

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  • Visual algorithms for autonomous navigation

    Publication Year: 1985, Page(s):856 - 861
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    The Computer Vision Laboratory at the University of Maryland is designing and developing a vision system for autonomous ground navigation. Our approach to visual navigation segments the task into three levels called long range, intermediate range and short range navigation. At the long range, one would first generate a plan for the day's outing, identifying the starting location, the goal, and a l... View full abstract»

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  • Software environments for CAD systems

    Publication Year: 1985, Page(s):354 - 357
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    A high-level structure for a CAD modelling system development environment is proposed based on the thesis that domain independent and domain dependent modelling system functions can and should be separated. The thesis is supported by example functions drawn from a solid modelling system and a VLSI layout system. View full abstract»

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  • Finding points of high curvature and critical curves from a volume model

    Publication Year: 1985, Page(s):436 - 441
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    This paper presents a method to evaluate surface curvature at points on the three-dimensional shell of an object using a volume representation. By considering points where the curvature is significantly high to be feature points, curves may be constructed on the surface of the object model. Such descriptive curves will become useful in finding orientation or making identification in robotics appli... View full abstract»

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  • Robustness issues in robot control

    Publication Year: 1985, Page(s):656 - 661
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    A scheme is presented for the accurate trajectory control of robot manipulators in the presence of model uncertainty and disturbances. Based on the suction control methodology (an extension of sliding mode control), the scheme addresses the following problem: given the extent of parametric uncertainty (such as imprecisions or inertias, geometry, loads) and the frequency range of unmodeled dynamics... View full abstract»

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  • A hierarchical-orthogonal-space approach to collision-free path planning

    Publication Year: 1985, Page(s):506 - 511
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    We present a methodology for 3-D collision-free path planning in which planning is done in the 3-orthogonal 2-D projections of a 3-D environment. Suboptimal path searching is done in each of the 3 orthogonal 2-D subspaces using primitive path segments. A hierarchical path searching method is introduced to speed up the search process. This approach lends applications to spatial planning in environm... View full abstract»

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  • A multiprocessor for dynamic control of multilink systems

    Publication Year: 1985, Page(s):295 - 300
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    A loosely coupled multiprocessor system dedicated to dynamic control of multilink system is designed. The multiprocessor system includes one central processor and a group of satellite processors. For the simplicity and flexibility of the design, both the system hardware and software are designed in a modular fashion. How to use this multiprocessor to control a multilink system is also presented in... View full abstract»

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  • Dynamics modelling of a single-link flexible robot

    Publication Year: 1985, Page(s):984 - 989
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    The dynamics modelling of a single-link flexible robot with a rigid mass attached to the tip is addressed. The flexibility is represented by lateral bending motion of the robot link. The model is obtained using a Newton-Euler formulation and the natural frequencies and mode shapes are obtained using a constrained mode approach. The paper models the flexibility effects as an internal disturbance to... View full abstract»

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  • Generating detailed scene descriptions from range images

    Publication Year: 1985, Page(s):426 - 431
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    Techniques for extracting detailed, complete descriptions of polyhedral objects from light-stripe rangefinder data are described. The descriptions are in the form of 3D faces, edges, vertices, and their topology and geometry. A range image is first segmented into edge points. A line drawing is then obtained by fitting linear segments to the points in the image, and refining the segments to elimina... View full abstract»

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  • Visual navigation of roadways

    Publication Year: 1985, Page(s):862 - 867
    Cited by:  Papers (25)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (992 KB)

    This paper describes ongoing work at the Computer Vision Laboratory, in support of the Autonomous Land Vehicle project of the Defense Advanced Research Projects Agency's Strategic Computing Program. A visual navigation system is being developed to enable a vehicle to follow roads which, for the time being, are free of obstacles. We have developed an approach which consists of a boot-strap phase an... View full abstract»

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  • On motion planning with six degrees of freedom: Solving the intersection problems in configuration space

    Publication Year: 1985, Page(s):536 - 541
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    The Movers' problem is to find a continuous, collision-free path for a moving object through an environment containing obstacles. The classical formulation of the three-dimensional Movers' problem is as fellows: given an arbitrary rigid polyhedral moving object P with three translational and three rotational degrees of freedom, find a contineous, collision-free path taking P from some initial conf... View full abstract»

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  • High performance conformal skin for robots

    Publication Year: 1985, Page(s): 700
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (10 KB)

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  • Real-time cartesian coordinate hybrid control of a PUMA 560 manipulator

    Publication Year: 1985, Page(s):608 - 613
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    Real time hybrid control results with resolved motion force control (RMFC) and task coordinate pole-placement self-tuning (TST) are given. The control methods calculate corrective forces in a Cartesian coordinate frame to eliminate position and force errors. These forces are transformed to equivalent joint inputs for actuation. RMFC uses stochastic approximation to adapt to changing manipulator dy... View full abstract»

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