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Robotics & Automation Magazine, IEEE

Issue 1 • Date March 1994

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Displaying Results 1 - 4 of 4
  • PPA-A precise, data driven component tool

    Publication Year: 1994 , Page(s): 6 - 12
    Cited by:  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (928 KB)  

    This paper outlines the development of a data-driven, fine pitch component placement machine, PPA-A, which is an integrated robotic workcell developed for attaching fine pitch integrated circuit components to printed circuit boards. In particular, the objectives for the machine are reviewed, and an overview of the solution is given. Problems encountered during the development are discussed, and details of the algorithms developed to solve these problems are given. These problems relate to achieving very precise placement of components, and are solved by novel calibration and execution schemes.<> View full abstract»

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  • Robotica: a Mathematica package for robot analysis

    Publication Year: 1994 , Page(s): 13 - 20
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (881 KB)  

    Robotica is a computer aided design package for robotic manipulators developed in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. It encapsulates over 30 functions into a Mathematica package allowing efficient symbolic and numeric calculation of kinematic and dynamic equations for multi-degree-of-freedom manipulators. An X-Windows front end that utilizes the interprocess communication features of Mathematica 2.1 has also been created for ease of use. This paper describes the most important features of the package and how they are used.<> View full abstract»

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  • Review of the Robotica software package for robotic manipulators

    Publication Year: 1994 , Page(s): 21 - 22
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (223 KB)  

    Robotica is a computer-aided design package for robotic nmanipulators developed at the Coordinated Science Laboratory at the University of Illinois at Urbana- Champaign. The package is a collection of function definitions for the Mathematica symbolic mathematics program. Robotica can be used either with an X- Windows graphical user interface (GUI) on a Sun Workstation or as an included function definition file within Mathematica. The primary feature of Robotica is the ability to compute, symbolically or numerically, the kinematic and dynamic equations of arbitrary robot systems utilizing the standard Denevit-Hartenburg (DH) kinematic convention. Robotica also provides the ability to visualize these arbitrary manipulators using the X- Windows graphical interface to the Mathematica graphics routines. The paper looks at the usage of Robotica at the Air Force Institute of Technology, comments on the features of Robotica, and needs for improvement and suggestions for future development.<> View full abstract»

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  • A RISC approach to robotics

    Publication Year: 1994 , Page(s): 26 - 28
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (387 KB)  

    This article describes a framework that combines simple hardware traditionally used in manufacturing with sensor-based planning and design algorithms from robotics. For repetitive assembly, the authors argue that this combination can reduce start-up and maintenance costs, increase throughput, and greatly reduce the set-up and changeover times for new products. The proposed hardware bears a close resemblance to existing "hard" automation; what is new is the application of computational methods for robust design and control of these systems, and more extensive use of (simple) sensors. Clearly this enhances the capabilities of the hardware. A less-obvious benefit is that software capability is also enhanced--algorithms for fine-motion, grasp planning and some sensing algorithms which would be intractable on a general-purpose robot work in real-time when applied to simple hardware. To describe this approach the authors chose the acronym RISC--Reduced Intricacy in Sensing and Control-by analogy with computer architecture. Analogously, the authors propose to use simple hardware elements that are coordinated by software to perform complex tasks.<> 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