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Robotics and Automation, IEEE Transactions on

Issue 3 • Date June 1999

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Displaying Results 1 - 20 of 20
  • Foreword special section on virtual reality in robotics and automation

    Publication Year: 1999 , Page(s): 397 - 399
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    Freely Available from IEEE
  • Programming contact tasks using a reality-based virtual environment integrated with vision

    Publication Year: 1999 , Page(s): 423 - 434
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (844 KB)  

    We present an integrated system in which an operator uses a simulated environment to program part-mating and contact tasks. Generation of models within this virtual environment is facilitated using a fast, occlusion tolerant, 3D grey-scale vision system which can recognize and accurately locate objects within the work site. A major goal of this work is to make robotic programming easy and intuitiv... View full abstract»

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  • Projective virtual reality: bridging the gap between virtual reality and robotics

    Publication Year: 1999 , Page(s): 411 - 422
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1124 KB)  

    The new paradigm of projective virtual reality is presented as a sophisticated new approach to the control and supervision of robotic and automation systems. The idea behind projective virtual reality is to “project” actions that are carried out by users in the virtual world into the real world, primarily by means of robots but also by other means of automation. Robot control technolog... View full abstract»

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  • Stable haptic interaction with virtual environments

    Publication Year: 1999 , Page(s): 465 - 474
    Cited by:  Papers (187)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (176 KB)  

    This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circu... View full abstract»

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  • Computer vision assisted virtual reality calibration

    Publication Year: 1999 , Page(s): 450 - 464
    Cited by:  Papers (13)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1444 KB)  

    A computer vision assisted semi-automatic virtual reality (VR) calibration technology has been developed that can accurately match a virtual environment of graphically simulated 3D models to the video images of the real task environment. We have developed a new 20-variable weighted least-squares algorithm that updates both camera and object models simultaneously for given two camera views of two m... View full abstract»

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  • Interactive evaluation of assembly sequences using augmented reality

    Publication Year: 1999 , Page(s): 435 - 449
    Cited by:  Papers (21)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1040 KB)  

    This paper describes an interactive tool for evaluating assembly sequences using the novel human-computer interface of augmented reality. The goal is to be able to consider various sequencing alternatives of the manufacturing design process by manipulating both virtual and real prototype components. The augmented reality-based assembly evaluation tool would allow a manufacturing engineer to intera... View full abstract»

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  • A high integrity IMU/GPS navigation loop for autonomous land vehicle applications

    Publication Year: 1999 , Page(s): 572 - 578
    Cited by:  Papers (121)  |  Patents (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (316 KB)  

    This paper describes the development and implementation of a high integrity navigation system, based on the combined use of the Global Positioning System (GPS) and an inertial measurement unit (IMU), for autonomous land vehicle applications. The paper focuses on the issue of achieving the integrity required of the navigation loop for use in autonomous systems. The paper highlights the detection of... View full abstract»

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  • Invited review: the synergy between virtual reality and robotics

    Publication Year: 1999 , Page(s): 400 - 410
    Cited by:  Papers (40)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (540 KB)  

    To a large extent the robotics and the newer virtual reality (VR) research communities have been working in isolation. This article reviews three areas where integration of the two technologies can be beneficial. First, we consider VR-enhanced CAD design, robot programming, and plant layout simulation. Subsequently, we discuss how VR is being used in supervisory teleoperation, for single operator-... View full abstract»

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  • Heuristics for a tool provisioning problem in a flexible manufacturing system with an automatic tool transporter

    Publication Year: 1999 , Page(s): 488 - 496
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (192 KB)  

    This paper considers a tool provisioning problem in a flexible manufacturing system (FMS) with an automatic tool transporter. The problem considered here is that of determining the number of copies of each tool type for a limited budget with the objective of minimizing makespan. This problem should be solved to decide the (additional) purchase of required tools when the FMS should be reconfigured ... View full abstract»

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  • An architecture for immersive evaluation of complex human tasks

    Publication Year: 1999 , Page(s): 475 - 485
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (816 KB)  

    We investigate how the movement measurement technologies developed for virtual reality applications can be applied to track in real-time the full body posture of a human being. The accuracy of this information is of definite importance to evaluate the feasibility of complex tasks involving human beings. We present a full body movement measurement approach. It provides a realistic conversion in rea... View full abstract»

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  • Kinematic manipulability of general constrained rigid multibody systems

    Publication Year: 1999 , Page(s): 558 - 567
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (296 KB)  

    This paper extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multileg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality e... View full abstract»

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  • Runway obstacle detection by controlled spatiotemporal image flow disparity

    Publication Year: 1999 , Page(s): 537 - 547
    Cited by:  Papers (2)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (840 KB)  

    This paper proposes a method for detecting obstacles on a runway by controlling their expected flow disparities. The runway is modeled as a planar surface. By approximating the runway by a planar surface, the initial model flow field (MFF) corresponding to an obstacle-free runway is described by the data from on-board sensors (OBS). The initial residual flow field (RFF) is obtained after warping (... View full abstract»

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  • Conformational switching in self-assembling mechanical systems

    Publication Year: 1999 , Page(s): 510 - 520
    Cited by:  Papers (7)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (840 KB)  

    A study of 1D self-assembly of a type of mechanical conformational switches, minus devices is presented where assembly occurs via the sequential mating of a random pair of parts selected from a part bin, referred to as sequential random bin-picking. The minus devices facilitate the robust yield of a desired assembly against the variation in the initial fraction of the part types, by specifying a f... View full abstract»

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  • Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse

    Publication Year: 1999 , Page(s): 548 - 557
    Cited by:  Papers (44)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (220 KB)  

    This article presents impact dynamic analysis of a free-floating space robot, subject to a force impulse at the hand. We study the joint and the base reactions in terms of finite velocity changes and clarify their role for the post-impact motion behavior of the robot. The analysis makes use of a joint-space orthogonal decomposition procedure involving the so called reaction null space. The article... View full abstract»

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  • Deadlock avoidance for production systems with flexible routing

    Publication Year: 1999 , Page(s): 497 - 509
    Cited by:  Papers (53)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (248 KB)  

    The objective of this work is to characterize the deadlock avoidance problem for systems with flexible routing capabilities. Specifically, the paper addresses deadlock avoidance for single capacity systems (each machine has a single unit of buffer capacity), and mixed capacity systems (some machines have multiple units of buffer capacity). For each of these, we characterize deadlock and prove the ... View full abstract»

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  • Vision guided navigation for a nonholonomic mobile robot

    Publication Year: 1999 , Page(s): 521 - 536
    Cited by:  Papers (76)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (372 KB)  

    Theoretical and analytical aspects of the visual servoing problem have not received much attention. Furthermore, the problem of estimation from the vision measurements has been considered separately from the design of the control strategies. Instead of addressing the pose estimation and control problems separately, we attempt to characterize the types of control tasks which can be achieved using o... View full abstract»

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  • Path planning using hardware time delays

    Publication Year: 1999 , Page(s): 588 - 592
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (496 KB)  

    The computation of shortest paths as a basic task in robotics can be accomplished by graph-searching algorithms. Attempts have been made to accelerate a part of these algorithms-the computation of potential vectors-using fine-grained parallel hardware. As shown in this paper, the complexity of digital path-planning circuits can be enormously reduced, if distances are encoded by hardware time delay... View full abstract»

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  • Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots

    Publication Year: 1999 , Page(s): 578 - 587
    Cited by:  Papers (141)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (492 KB)  

    Nonholonomic mobile robots have constraints imposed on the motion that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates. The position control of nonholonomic mobile robots has been an important class of control problems. In this paper, we propose a robust tracking control of nonholonomic wheeled mobile robots using slid... View full abstract»

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  • End-effector position-orientation measurement

    Publication Year: 1999 , Page(s): 592 - 595
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (192 KB)  

    A low-cost device is presented for noncontact measurement of robot position and orientation. It consists of an optical sensor and three laser scanners. The sensor is attached to the end-effector while the laser scanners cast light planes to trace the sensor movement. The device measures equations of the light planes from which end-effector position and orientation are obtained. Accurate measuremen... View full abstract»

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  • Assemblability based on maximum likelihood configuration of tolerances

    Publication Year: 1999 , Page(s): 568 - 572
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (104 KB)  

    An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both pos... 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