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Robotics and Automation, IEEE Journal of

Issue 6 • Date December 1987

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Displaying Results 1 - 20 of 20
  • [Front cover and table of contents]

    Publication Year: 1987 , Page(s): c1
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    Freely Available from IEEE
  • Interprocess communication for distributed robotics

    Publication Year: 1987 , Page(s): 493 - 504
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1727 KB)  

    Robot tasks have come to demand flexible sensory-based "intelligent" behavior. The single robot has given way to multiple robots cooperating in three-dimensional dynamic environments which allow them to accomplish complex and intricate tasks. Because of the complex nature of the tasks performed, centralized control is no longer practical; workcells have become centers of distributed computing. Thi... View full abstract»

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  • Position verification of a mobile robot using standard pattern

    Publication Year: 1987 , Page(s): 505 - 516
    Cited by:  Papers (54)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1170 KB)  

    As mobile robots are taking on more and more of the tasks that were normally delegated to humans, they need to acquire higher degrees of autonomous operation, which calls for accurate and efficient position determination and/or verification. The critical geometric dimensions of a standard pattern are used here to locate the relative position of the mobile robot with respect to the pattern; by doin... View full abstract»

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  • Minimum operations and minimum parameters of the dynamic models of tree structure robots

    Publication Year: 1987 , Page(s): 517 - 526
    Cited by:  Papers (44)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (865 KB)  

    An efficient method for the calculation of the inverse dynamic models of tree structure robots is presented. The given method reduces significantly the computational burden such that the inverse dynamics can be computed in real time at servo rate. The method leads almost directly to models with a minimum number of arithmetic operations. The method is based on a Newton-Euler formulation that is lin... View full abstract»

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  • Segmented descriptions of 3-D surfaces

    Publication Year: 1987 , Page(s): 527 - 538
    Cited by:  Papers (57)  |  Patents (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1624 KB)  

    A method to segment and describe visible surfaces of three-dimensional (3-D) objects is presented by first segmenting the surfaces into simple surface patches and then using these patches and their boundaries to describe the 3-D surfaces. First, distinguished points are extracted which will comprise the edges of segmented surface patches, using the zero-crossings and extrema of curvature along a g... View full abstract»

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  • Positioning error analysis for robot manipulators with all rotary joints

    Publication Year: 1987 , Page(s): 539 - 545
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (772 KB)  

    Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provides users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the c... View full abstract»

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  • Force interaction and allocation for the legs of a walking vehicle

    Publication Year: 1987 , Page(s): 546 - 555
    Cited by:  Papers (28)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1003 KB)  

    Force is often used in the control of the legs of a walking machine to allow a vehicle to adapt to terrain irregularity. However, interactions in force among the legs have the capability of causing control system instabilities if not properly treated. Different criteria for allocating forces to the legs of a walking machine are considered, properties of force-induced instability modes are studied,... View full abstract»

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  • Pipelined computation of manipulator modeling matrices

    Publication Year: 1987 , Page(s): 556 - 566
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1221 KB)  

    It is essential for the robust control of a dynamic system to employ a characterization of its inertia content in the control formulation. One such characterization is described for the nonlinear time-varying system of a robotic manipulator in the form of pipelined modeling software which is implemented on a medium-sized array processor to run in real time. The time-varying inertia content of the ... View full abstract»

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  • Normal forms of stiffness and compliance matrices

    Publication Year: 1987 , Page(s): 567 - 572
    Cited by:  Papers (29)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (640 KB)  

    A generalized spring associates potential energy with each position and orientation of a rigid body. The stiffness of such a spring can be represented by a 6 × 6 symmetric matrix. This matrix can be brought to a normal form by a particular choice of the coordinate frame. Analogous but independent results hold for compliance matrices. These results, obtained by using a Lie group approach, also... View full abstract»

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  • MOGRER: A vehicle study and realization for in-pipe inspection tasks

    Publication Year: 1987 , Page(s): 573 - 582
    Cited by:  Papers (24)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1203 KB)  

    A three-wheeled vehicle for in-pipe monitoring tasks is described. The vehicle is basically composed of two hinged arms building what is hereafter referenced as a scissor structure. The arms are joined at one end. Another joint connects the middle points of the lower parts, called links. A wheel located at the pivot of the scissor structure is driven by an electric dc motor. Two other wheels locat... View full abstract»

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  • Analysis of discrete dynamic robot models

    Publication Year: 1987 , Page(s): 583 - 590
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (690 KB)  

    The discrete shift-transformation matrix of general orthogonal polynomials is introduced. The discrete shift-transformation matrix is employed to transform the difference equations, which describe the discrete dynamic robot model, into algebraic equations. Several lemmas are introduced which, together with the discrete shift-transformation matrix, solve for the joint positions and velocities of di... View full abstract»

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  • On-line compensation of mobile robot docking errors

    Publication Year: 1987 , Page(s): 591 - 598
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (973 KB)  

    One of the main problems of an unconstrained mobile robot (that is not limited to rails or tracks), that limits its industrial applications, is its docking accuracy. Because robot programs are executed relative to the robot base, inaccurate positioning of the mobile robot during docking must be accounted for in order to improve the accuracy of the mobile robot. In this paper, a method to compensat... View full abstract»

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  • Determining object motion in a sequence of stereo images

    Publication Year: 1987 , Page(s): 599 - 614
    Cited by:  Papers (20)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (2250 KB)  

    The motion of a three-dimensional object is determined from a sequence of stereo images by extracting three-dimensional features, establishing correspondences between these features, and finally, computing the rigid motion parameters. Three-dimensional features are extracted from the depth map of a scene. A two-pass relaxation method is developed for matching features extracted from successive dep... View full abstract»

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  • Dual-number transformation and its applications to robotics

    Publication Year: 1987 , Page(s): 615 - 623
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (905 KB)  

    In robotics, to deal with coordinate transformation in three-dimensional (3D) Cartesian space, the homogeneous transformation is usually applied. It is defined in the four-dimensional space, and its matrix multiplication performs the simultaneous rotation and translation. The homogeneous transformation, however, is a point transformation. In contrast, a line transformation can also naturally be de... View full abstract»

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  • Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics

    Publication Year: 1987 , Page(s): 624 - 639
    Cited by:  Papers (37)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1794 KB)  

    The inverse and forward dynamics problems for multilink serial manipulators are solved by using recursive techniques from linear filtering and smoothing theory. The pivotal step is to cast the system dynamics and kinematics as a two-point boundary-value problem. Solution of this problem leads to filtering and smoothing techniques similar to the equations of Kalman filtering and Bryson-Frazier fixe... View full abstract»

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  • Simplified generation of all mechanical assembly sequences

    Publication Year: 1987 , Page(s): 640 - 658
    Cited by:  Papers (135)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1921 KB)  

    Bourjault has presented a method which will generate all valid assembly sequences for the set of parts that constitute an assembly. A modification of Bourjault's method is presented which makes practical the application of this technique of assembly analysis to assemblies with greatly increased part count. The salient difference between the two methods is in the form and number of the questions wh... View full abstract»

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  • Task assignment and load balancing of autonomous vehicles in a flexible manufacturing system

    Publication Year: 1987 , Page(s): 659 - 671
    Cited by:  Papers (14)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1390 KB)  

    A graph-theoretic approach for determining an optimal task (or routing) assignment of p autonomous vehicles (AV's) among m workstations in a flexible manufacturing system which both minimizes the assignment completion time and balances the load among the AV's is presented. This task assignment problem is equivalent to an optimal routing assignmenl of destinating the m workstations to the p autonom... View full abstract»

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  • Robot navigation in unknown terrains using learned visibility graphs. Part I: The disjoint convex obstacle case

    Publication Year: 1987 , Page(s): 672 - 681
    Cited by:  Papers (48)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1115 KB)  

    The problem of navigating an autonomous mobile robot through unexplored terrain of obstacles is discussed. The case when the obstacles are "known" has been extensively studied in literature. Completely unexplored obstacle terrain is considered. In this case, the process of navigation involves both learning the information about the obstacle terrain and path planning. An algorithm is presented to n... View full abstract»

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  • Adaptive friction compensation in dc-motor drives

    Publication Year: 1987 , Page(s): 681 - 685
    Cited by:  Papers (72)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (565 KB)  

    A control scheme is proposed where the nonlinear effects of friction are compensated adaptively. When the friction is compensated, the motor drive can approximately be described by a constant coefficient linear model. Standard methods can be applied to design a regulator for such a model. This results in a control law which is a combination of a fixed linear controller and an adaptive part which c... View full abstract»

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  • [Back cover]

    Publication Year: 1987 , Page(s): c4 - 0
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    Freely Available from IEEE

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