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Robotics & Automation Magazine, IEEE

Issue 4 • Date Dec 1999

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  • A robotic approach to fault-tolerant, precision pointing

    Publication Year: 1999 , Page(s): 24 - 31, 37
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (776 KB)  

    Future spaceborne optical interferometers and laser satellite communication systems are two space applications that require a precision pointing function in order to meet mission goals. Spaceborne interferometers provide a promising means to discover Earth-like planets in other solar-like systems. The laser communication systems provide a low-power, low-cost, lightweight means of data relay between ground and space and for deep-space communications to interplanetary probes. Both applications share the need to acquire and track a target. The interferometry application requires pointing errors to be submicroradian while the laser communication application requires microradian-level errors. In order to meet the precision pointing requirements found in these applications, a precision pointing strategy has been developed. The strategy employs a hexapod as the pointing platform to reject vibrations from a noisy spacecraft bus over all frequencies: at low frequency using 2- or 3-axis pointing and at high frequency using 6-axis vibration isolation. The benefits include broadband pointing stability without a high-bandwidth pointing sensor or destabilizing excitation of high-frequency structural modes, as well as tolerance to failures. This article outlines this approach to pointing View full abstract»

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  • Research relevance of mobile robot competitions

    Publication Year: 1999 , Page(s): 32 - 37
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (616 KB)  

    A look at the scope, rules, robot designs, and robot evolution over the years for three of what the authors suggest are most prominent event series; the Micromouse Contest, the AAAI Mobile Robot Competition, and RoboCup Robot Soccer View full abstract»

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  • Modular dynamic virtual-reality modeling of robotic systems

    Publication Year: 1999 , Page(s): 13 - 23
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1480 KB)  

    This article presents the results of research into the field of dynamic simulation of mechanical and robotic systems. The main goal of the whole project is to achieve an efficient modular approach to modeling, in order to make the modeling process easier, ensure its traceability and inspectability, and support model reuse. This is achieved through the declarative definition of models, the standardization of model interfaces, and the object-oriented approach to model development and model data management. The article presents the specific features ofa general-purpose simulation environment, including an overview of the 3D solid modeling software interfaces. The modeling and simulation of a 3-DOF gripper designed for Space robotics applications is also discussed to show the performance of the whole simulation environment in terms of complexity management, efficiency, and accuracy View full abstract»

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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma