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Robotics and Automation, IEEE Journal of

Issue 1 • Date Feb. 1988

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Displaying Results 1 - 13 of 13
  • Coordination of two planar robots in lifting

    Publication Year: 1988 , Page(s): 77 - 85
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (690 KB)  

    The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control str... View full abstract»

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  • The dexterous workspace of simple manipulators

    Publication Year: 1988 , Page(s): 99 - 103
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (408 KB)  

    A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W1(4), where W1(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis... View full abstract»

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  • Robot control using adaptive transformations

    Publication Year: 1988 , Page(s): 104 - 108
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (388 KB)  

    A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling ... View full abstract»

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  • A joint-space command generator for Cartesian control of robotic manipulators

    Publication Year: 1988 , Page(s): 70 - 76
    Cited by:  Papers (17)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (520 KB)  

    Many recently developed control schemes for robotic manipulators require as inputs the desired position, velocity, and in some cases, acceleration of each joint of the manipulator. However, it is most natural to specify the desired trajectory of the end effector in Cartesian coordinates. Thus it is desirable to have a command generator which has as input a desired Cartesian trajectory, and as outp... View full abstract»

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  • On the iterative learning control theory for robotic manipulators

    Publication Year: 1988 , Page(s): 14 - 22
    Cited by:  Papers (132)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (656 KB)  

    An iterative learning technique is applied to robot manipulators, using an inherently nonlinear analysis of the learning procedure. In particularly, a `high-gain feedback' point of view is utilized to prove the possibility of setting up uniform upper bounds to the trajectory errors occurring at each trial. The subsequent analysis of convergence shows that apart from minor conditions, the existence... View full abstract»

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  • An agile stereo camera system for flexible image acquisition

    Publication Year: 1988 , Page(s): 108 - 113
    Cited by:  Papers (12)  |  Patents (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (572 KB)  

    An agile stereo camera system designed for flexible image acquisition under a wide variety of viewing conditions and scenes is presented. A host processor sends commands to three microprocessors controlling, through 11 servomotors, the position and optical parameters of the camera, and the scene illumination. The weaknesses of the system are acknowledged and future improvements are outlined View full abstract»

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  • Generation of configuration space obstacles: the case of a moving sphere

    Publication Year: 1988 , Page(s): 94 - 99
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (664 KB)  

    Algebraic algorithms are presented for generating the boundary of configuration space obstacles arising from the motion of a sphere among obstacles. The boundaries of the obstacles are given by patches of algebraic surfaces. Algorithms are given for both implicit and parametric surface patches. Both convex and nonconvex obstacles are considered. In the case of convex obstacles, the topology of con... View full abstract»

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  • Multirobot plan generation in a continuous domain: planning by use of plan graph and avoiding collisions among robots

    Publication Year: 1988 , Page(s): 2 - 13
    Cited by:  Papers (12)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (656 KB)  

    A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual... View full abstract»

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  • A nonlinear observer for elastic robots

    Publication Year: 1988 , Page(s): 45 - 52
    Cited by:  Papers (40)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (428 KB)  

    Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and available techniques to build nonlinear observers generally do not apply. A procedure to construct approximate nonlinear observers is proposed that uses a recent approach to deriving observers based on geometric nonlinear control theory together with an app... View full abstract»

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  • Uncertain geometry in robotics

    Publication Year: 1988 , Page(s): 23 - 31
    Cited by:  Papers (55)  |  Patents (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (772 KB)  

    The author suggests that to operate efficiently, a robot system must be able to represent, account for, and reason about the effects of uncertainty in areas in which geometric analysis also plays an important part. He proposed that uncertainty be represented as an intrinsic part of all geometric descriptions. Toward this goal he develops a description of uncertain geometric features as families of... View full abstract»

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  • The acceleration radius: a global performance measure for robotic manipulators

    Publication Year: 1988 , Page(s): 60 - 69
    Cited by:  Papers (34)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (768 KB)  

    The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm... View full abstract»

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  • Control methodology for FMS

    Publication Year: 1988 , Page(s): 53 - 59
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (676 KB)  

    Intelligent real-time control of a flexible manufacturing system (FMS) is a complicated task. The scheduling of machines and routing of jobs are nonpolynomial problems that have to be solved fast and accurately to obtain the advantages of an FMS. Such control is done hierarchically: part routing is considered in the cell level and the equipment control strategy is reviewed in the workstation level... View full abstract»

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  • Task-oriented optimal grasping by multifingered robot hands

    Publication Year: 1988 , Page(s): 32 - 44
    Cited by:  Papers (153)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (992 KB)  

    The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task-oriented and needs the development of a procedure for modeling tasks as ellipsoids in t... 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