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Robotics and Automation, IEEE Journal of

Issue 2 • Date June 1985

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Displaying Results 1 - 8 of 8
  • [Front cover and table of contents]

    Publication Year: 1985 , Page(s): c1
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    Freely Available from IEEE
  • King Sun Fu (1930-1985)

    Publication Year: 1985 , Page(s): 69 - 70
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    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1985 , Page(s): c4
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    Freely Available from IEEE
  • Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures

    Publication Year: 1985 , Page(s): 86 - 94
    Cited by:  Papers (60)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1424 KB)  

    The basic concept of an adaptable fixturing system and its hardware implementation are described. The system employs reconfigurable fixture elements that are used to locate and hold various workparts for assembly. The fixture configuration can be changed automatically depending upon the workpart geometry and the assembly operations required. Analytic tools are developed for designing fixture layouts. Kinematic modeling, analysis, and characterization of workpart fixturing are presented. The condition for a fixture layout to locate a given workpart uniquely at a desired location is derived. Desirable fixture layout characteristics are obtained for loading and unloading the workpart successfully despite errors in workpart manipulation. The fixturing of a plastic cover of an electrical appliance with complex shape is used as an example to verify the analytic results and for demonstrating the concept. View full abstract»

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  • Computation of input generalized forces for robots with closed kinematic chain mechanisms

    Publication Year: 1985 , Page(s): 95 - 103
    Cited by:  Papers (55)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (928 KB)  

    In some comercially available industrial robots such as the Cincinnati T3, and the Bendix MA-510, the actuator of the third joint, which is one of the larger actuators, is mounted on the same platform as that of the second joint in order to reduce the load on the second joint. With this arrangement, the torque that moves the third moving link is transmitted through a four-bar or five-bar linkage mechanism, which is a closed-chain structure having a planar motion. Although a variety of computational schemes for the input joint torques/forces of industrial robots having open-chain mechanisms can be found in the literature, an efficient method of computation for robots with closed kinematic chain mechanisms is not available. A computationally efficient scheme is presented for industrial robots having three-dimensional closed-chain linkages. First the closed-chain is virtually cut open, and the kinematics of the virtual open-chain mechanism are analyzed. The holonomic constraints are applied to the virtually cut joint. As a result, the spatial closed-chain linkage can be considered as a tree-structured open-chain mechanism with kinematic constraints. Based on the known recursive Newton-Euler formulation, a computational scheme is developed for industrial robots having three-dimensional closed kinematic chain mechanisms. Two examples are given illustrating the approach. View full abstract»

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  • Real-time gray-scale video processing using a moment- generating chip

    Publication Year: 1985 , Page(s): 79 - 85
    Cited by:  Papers (9)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (968 KB)  

    A system for performing visual processing on gray-scale images in real time (60 Hz) has been constructed. The custom VLSI moment generator chip computes area, center of gravity, orientation, and size. An image preprocessor allows separate moments to be computed for separate regions. A standard set of buses allows new processing elements to be easily added. The system is expected to find application in real-time sensor-based electronic assembly and in automated inspection and registration tasks. A simple application to a real-time visually servoed robot task is summarized. View full abstract»

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  • Control algorithms for stiffening an elastic industrial robot

    Publication Year: 1985 , Page(s): 71 - 78
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (848 KB)  

    An industrial robot (IR) position-control algorithm will be presented that was developed at the Fraunhofer Institute for the highly accurate cutting of geometrically complex metal surfaces. In the past the extreme tolerance requirements for hard alloy workpieces had to be met manually or by means of expensive specialized machine tools. It is shown that this advanced manufacturing task can be solved by a conventional IR if its elastic behavior can be sufficiently stiffened by the introduction of a more sophisticated control concept. Experiences with the design and the practical implementation will be discussed. View full abstract»

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  • Parallel processing of robot-arm control computation on a multimicroprocessor system

    Publication Year: 1985 , Page(s): 104 - 113
    Cited by:  Papers (69)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1112 KB)  

    A parallel-processing scheme is described for robot-arm control computation on any number of parallel processors. The scheme employs two multiprocessor scheduling algorithms called, respectively, depth first/implicit heuristic search (DF/IHS) and critical path/most immediate successors first (CP/MISF); these were recently developed by the authors. The scheme is applied to the parallel processing of dynamic control computation for the Stanford manipulator. In particular, the proposed algorithms are applied to the computation of the Newton-Euler equations of motion for the Stanford manipulator and implemented on a multimicroprocessor system. The test result was so successful that the use of six processor pairs in parallel could attain the processing time of 5.37 ms. It is also shown that the proposed parallel-processing scheme is applicable to an arbitrary number of processors. 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