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Robotics and Automation, IEEE Transactions on

Issue 3 • Date Jun 1993

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Displaying Results 1 - 14 of 14
  • Thermal tactile sensing

    Publication Year: 1993 , Page(s): 313 - 318
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (668 KB)  

    The measurement of temperature change as an indication of a material's relative thermal conductivity has often been utilized as a means of tactile sensing. Unfortunately, the long time response of most thermal sensors makes such a technique too slow for normal industrial robotic uses. The authors consider human tactile performance with particular regard to temperature sensing and introduce a means... View full abstract»

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  • Dynamic calibration and compensation of a 3D laser radar scanning system

    Publication Year: 1993 , Page(s): 318 - 323
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (512 KB)  

    LIDAR (laser radar) is used to measure three-dimensional (3-D) object positions. It produces a range and an intensity image of the measured object and relies on the range image to determine the 3-D positions of the object. Because the range image is frequently corrupted with noise, a dynamic method to improve the LIDAR accuracy, based on a polynomial calibration model and an autoregressive moving-... View full abstract»

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  • Representing and analyzing action plans as networks of concurrent processes

    Publication Year: 1993 , Page(s): 241 - 256
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1588 KB)  

    The problem of constructing a plan representation that can deal with the complexity of representing and analyzing robot behavior in uncertain and dynamic environments is addressed. A concurrent-process based representation is developed which represents both the plan (or controller) and the uncertain and dynamic environment in which the plan operates. A methodology is outlined for analyzing the beh... View full abstract»

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  • MARVEL: a system that recognizes world locations with stereo vision

    Publication Year: 1993 , Page(s): 303 - 308
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (528 KB)  

    MARVEL is a system that supports autonomous navigation by building and maintaining its own models of world locations and using these models and stereo vision input to recognize its location in the world and its position and orientation within that location. The system emphasizes the use of simple, easily derivable features for recognition, whose aggregate identifies a location, instead of complex ... View full abstract»

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  • Control design of robot for compliant manipulation on dynamic environments

    Publication Year: 1993 , Page(s): 286 - 296
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1000 KB)  

    The problem of designing the control for a robot that performs compliant manipulation on dynamic environments is studied. Compliant manipulation requires the controlled robot not only to follow the input trajectory exactly in free motion space, but also to manipulate adaptively on dynamic environments while making compliant contact with the environment's dynamic constrained space. An original mode... View full abstract»

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  • The Lie bracket condition as a test of stable, drift-free pseudoinverse trajectories

    Publication Year: 1993
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (92 KB)  

    C. Klein and K. Kee (1989) showed numerically that pseudoinverse control, while generally being nonconservative, in some cases appears to give conservative results and described a numerical procedure for finding stable, drift-free trajectories. T. Shamir and Y. Yomdin (1988) discuss using the Lie bracket condition (LBC) as a test of the repeatability of redundant manipulator control. The present a... View full abstract»

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  • Controlling the impact response of a one-link flexible robotic arm

    Publication Year: 1993 , Page(s): 346 - 351
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (596 KB)  

    An open-loop control system is designed using frequency-domain techniques to compute a desired hub torque profile. The motion of the arm after tip impact, including hub actuation, is simulated. Simulation results are compared to experimental data. It is shown that the controller damps vibration caused by the impact and allows the steady-state tip deflection to be predetermined View full abstract»

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  • Position and force control for constrained manipulator motion: Lyapunov's direct method

    Publication Year: 1993 , Page(s): 308 - 313
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (548 KB)  

    A design procedure for simultaneous position and force control is developed, using Lyapunov's direct method, for manipulators in contact with a rigid environment that can be described by holonomic constraints. Many manipulators that interact with their environment require taking into account the effects of these constraints in the control design. The forces of constraint play a critical role in co... View full abstract»

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  • Task translation and integration specification in intelligent machines

    Publication Year: 1993 , Page(s): 257 - 271
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1320 KB)  

    Intelligent machines are defined to be hierarchically intelligent control systems composed of three levels: the organization level, the coordination level, and the execution level. The authors present an analytical model for the coordination level of intelligent machines, which, together with the established mathematical formulation for the organization level and the well-developed control theory ... View full abstract»

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  • On the numerical kinematic analysis of general parallel robotic manipulators

    Publication Year: 1993 , Page(s): 272 - 285
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1104 KB)  

    A systematic two-part approach for the numerical kinematic analysis of general parallel robotic manipulators, is presented. The first part deals with structural analysis. Based on graph theory and the depth first search algorithm, a method for identifying and orienting the dependent kinematic loops of the robot is developed. This method not only facilitates the assignment of the local coordinate s... View full abstract»

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  • Scheduling with alternative operations

    Publication Year: 1993 , Page(s): 297 - 303
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (584 KB)  

    The incorporation of alternative operations in a scheduling system increases the utilization rate of resources and reduces the makespan of manufacturing products. A heuristic algorithm is developed for a scheduling problem with and without alternative operations. The effect of alternative operations on the performance of schedules generated are studied with five dispatching rules. The testing effo... View full abstract»

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  • Regressor formulation of robot dynamics: computation and applications

    Publication Year: 1993 , Page(s): 323 - 333
    Cited by:  Papers (29)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (680 KB)  

    Two approaches to the evaluation of the manipulator regressor of a general n-degree-of-freedom (DOF) robot are presented. The first method is an energy-based approach using the Lagrangian formulation of robot dynamics as a starting point. A key fact used in deriving the solution is that the manipulator Lagrangian is linkwise additive. The second approach generates an iterative algorithm f... View full abstract»

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  • Stability and control of robotic manipulators during contact/noncontact task transition

    Publication Year: 1993 , Page(s): 335 - 345
    Cited by:  Papers (16)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (812 KB)  

    A control methodology that addresses the problem of control of robotic manipulators during a general class of task that requires the manipulator to make a transition from noncontact motion to contact motion and contact motion to noncontact motion is proposed. During noncontact motion, a control suitable for the noncontact phase of motion is applied; during contact, another control, suitable for co... View full abstract»

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  • Extending the DEVS-Scheme knowledge-based simulation environment for real-time event-based control

    Publication Year: 1993 , Page(s): 351 - 356
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (504 KB)  

    An implementation of real-time simulation and control in DEVS-Scheme, a knowledge-based, discrete-event environment, is described. A methodology is illustrated in which the plant and its actuators and sensors are described by discrete-event models developed within the event-based control paradigm. A model of the controller is employed to validate its design in a plant/actuator/sensor experimental ... 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