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IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
FEBRUARY 1995
VOLUME 11 NUMBER 1 IRAUEZ (ISSN 1042-296X)
PAPERS
Task Assignment and Subassembly Scheduling in Flexible Assembly Lines
A. Agnetis, F. Nicolò, C. Arbib, and M. Lucertini
Control and Kinematic Design of Multi-Degree-of-Freedom Mobile Robots with Compliant Linkage
J. Borenstein
Obstacle Accomodation Motion Planning
Y. Shan and Y. Koren
A New Formulation of the Extended Jacobian Method and its Use in Mapping Algorithmic Singularities for Kinematically Redundant Manipulators
C. A. Klein, C. Chu-Jenq, and S. Ahmed
Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans
A. Fox and S. Hutchinson
The MVP Sensor Planning System for Robotic Vision Tasks
K. A. Tarabanis, R. Y. Tsai, and P. K. Allen
A Survey of Sensor Planning in Computer Vision
K. A. Tarabanis, P. K. Allen, and R. Y. Tsai
Bilateral Controller for Teleoprators with Time Delay via µ-Synthesis
G. M. H. Leung, B. A. Francis, and J. Apkarian
The Clause Counter Map: An Event Chaining Algorithm for Online Programmable Logic
J. T. Welch
SHORT PAPERS
Modeling of Slip for Wheeled Mobile Robots
R. Balakrishna and A. Ghosal
Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance
J. Borenstein and Y. Koren
On Reorienting Linked Rigid Bodies Using Internal Motions
G. C. Walsh and S. S. Sastry
Sorting Parts by Random Grasping
D. Kang and K. Goldberg
A Global Approach to Path Planning for Redundant Manipulators
S. Seereeram and J. T. Wen
A Dynamic Programming Approach to Near Minimum-Time Trajectory Planning for Two Robots
J. Lee
CORRESPONDENCE
Comments on "A Sliding Mode Controller with Bound Estimation for Robot Manipulators"
H. H. Choi, H. K. Yi, and M. J. Chung
ERRATA
Corrections to "Modeling and Quasi-Static Hybrid Position/Force Control of Constrained Planar Two-Link Flexible Manipulators"
F. Matsuno, T. Asano, and Y. Sakawa
Call for Papers
IEEE Copyright Form
Abstracts
Task Assignment and Subassembly Scheduling in Flexible Assembly Lines
Alessandro Agnetis, Fernardo Nicolò, Claudio Arbib, and Mario Lucertini
pages 1-20
This paper deals with models for flow management problems in flexible assembly systems (FAS's). The system consists of a set of machines that must perform the assembly of a number of parts, possibly of different types. Each part type requires a set of operations; the precedence relations among the operations are specified by an assembly tree. Machines are provided with limited-capacity tool magazines and a finite buffer for holding parts. Each machine can be tooled to perform only a particular subset of the operations required by the whole process. One problem is that of finding a feasible assignment of operations to machines and a feasible schedule of the subassemblies in order to minimize the completion time of all of the parts. In this paper, the problem is analysed as a case of pipelined assembly, i.e., when the FAS is characterized by a serial transportation system (flow line) and there exists a dominating path in the assembly tree. Typically, this happens when there is a main pallet and all of the other components are assembled directly on it in a given sequence. We present polynomial-time dynamic programming algorithms for solving the problem for both single-type and multi-type production. The approach is more general than typical ALB algorithms.
Control and Kinematic Design of Multi-Degree-of-Freedom Mobile Robots with Compliant Linkage
Johann Borenstein
pages 21-35
Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. These problems make it difficult to benefit from the special motion capabilities of MDOF vehicles in autonomous or semi-autonomous mobile robot applications. This is so because mobile robots (unlike automated guided vehicles) usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage.
This paper introduces compliant linkage, a new concept in the control and kinematic design of MDOF mobile robots. As the name implies, compliant linkage provides compliance between the drive wheels or drive axles of a vehicle, to accommodate control errors which would otherwise cause wheel slippage.
The concept of compliant linkage was implemented and tested on a 4-DOF vehicle built at the University of Michigan's Mobile Robotics Lab. Experimental results show that control errors are effectively absorbed by the linkage, resulting in smooth and precise motion. The dead-reckoning accuracy of the compliant linkage vehicle is substantially better than that reported in the literature for other MDOF vehicles; it was found equal to, or even better than that of comparable 2-DOF vehicles.
Obstacle Accomodation Motion Planning
Yansong Shan and Yoram Koren
pages 36-49
A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified positions, i.e., a contact point can be at any point on any link. Obstacle accommodation requires analysis in kinematics, motion planning, dynamics, and control. This paper deals with the development of the kinematic constraints and with motion planning under these constraints. We begin by providing a general formulation of the motion constraints due to contact with obstacles. Next, a new inverse kinematics is presented that provides joint motion for robots under contact constraints. Finally, the new motion planning algorithm for robot motion in a cluttered environment is provided. The motion planning algorithm is verified by two examples, one on a linkage robot and the other on a mobile robot.
A New Formulation of the Extended Jacobian Method and its Use in Mapping Algorithmic Singularities for Kinematically Redundant Manipulators
Charles A. Klein, Caroline Chu-Jenq, and Shamim Ahmed
pages 50-55
The extended Jacobian method resolves the redundancy of a kinematically redundant manipulator such that a secondary criterion is kept at an optimal value. This paper describes a new formulation of this algorithm that is well suited numerically for systems with multiple degrees of redundancy and for more general choices of the secondary criterion. This formulation is used here for tracing algorithmic singularities, which mark a boundary of operation for any algorithm using the same secondary criterion to resolve the redundancy. Examples of tracing algorithmic singularities are presented for both planar and spatial systems.
Index Terms - kinematically redundant robots, extended Jacobian method, algorithmic singularities.
Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans
Armando Fox and Seth Hutchinson
pages 56-71
We introduce visual constraint surfaces as a mechanism to effectively exploit visual constraints in the synthesis of uncertainty-tolerant robot motion plans. We first show how Object features, together with their projections onto a camera image plane, define a set of visual constraint surfaces. These visual constraint surfaces can be used to effect visual guarded and visual compliant motions (which are analogous to guarded and compliant motion using force control). We then show how the backprojection approach to fine-motion planning can be extended to exploit visual constraints. Specifically, by deriving a configuration space representation of visual constraint surfaces, we are able to include visual constraint surfaces as boundaries of the directional backprojection. By examining the effect of visual constraints as a function of the direction of the commanded velocity, we are able to determine new criteria for critical velocity orientations, i.e. velocity orientations at which the topology of the directional backprojection might change.
The MVP Sensor Planning System for Robotic Vision Tasks
Konstantinos A. Tarabanis, Roger Y. Tsai, and Peter K. Allen
pages 72-85
The MVP model-based sensor planning system for robotic vision is presented. MVP automatically synthesizes desirable camera views of a scene based on geometric models of the environment, optical models of the vision sensors, and models of the task to be achieved. The generic task of feature detectability has been chosen since it is applicable to many robot-controlled vision systems. For such a task, features of interest in the environment are required to simultaneously be visible, inside the field of view, in focus, and magnified as required. In companion papers we analytically characterize the domain of admissible camera locations, orientations, and optical settings for which each of the above feature detectability requirements is satisfied separately. In this paper, we present a technique that poses the vision sensor planning problem in an optimization setting and determines viewpoints that satisfy all previous requirements simultaneously and with a margin. In addition, we present experimental results of this technique when applied to a robotic vision system that consists of a camera mounted on a robot manipulator in a hand-eye configuration. The camera is positioned and the lens is focused according to the results generated by MVP. Camera views taken from the computed viewpoints verify that all feature detectability constraints are indeed satisfied.
A Survey of Sensor Planning in Computer Vision
Konstantinos A. Tarabanis, Peter K. Allen, and Roger Y. Tsai
pages 86-104
A survey of research in the area of vision sensor planning is presented. The problem can be summarized as follows: Given information about the environment (e.g., the object under observation, the available sensors) as well as information about the task that the vision system is to accomplish (i.e., detection of certain object features, object recognition, scene reconstruction, object manipulation), develop strategies to automatically determine sensor parameter values that achieve this task with a certain degree of satisfaction. With such strategies, sensor parameters values can be selected and can be purposefully changed in order to effectively perform the task at hand. Sensory systems are then able to operate more flexibly, autonomously, and reliably. This problem has recently become an active area of study with a number of researchers addressing various aspects of the problem. The focus here is on vision sensor planning for the task of robustl detecting object features. For this task, camera and illumination parameters such as position, orientation, and optical settings are determined so that object features are, for example, visible, in focus, within the sensor field of view, magnified as required, and imaged with sufficient contrast. References to, and a brief description of, representative sensing strategies for the tasks of object recogniffon and scene reconstruction are also presented. For these tasks, sensor configurations are sought that will prove most useful when trying to identify an object or reconstruct a scene.
Bilateral Controller for Teleoprators with Time Delay via µ-Synthesis
Gray M. H. Leung, Bruce A. Francis, and Jacob Apkarian
pages 105-116
In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the H
°°-optimal control and µ-synthesis frameworks is introduced to design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included.
The Clause Counter Map: An Event Chaining Algorithm for Online Programmable Logic
John T. Welch
pages 117-125
The clause counter map method (CCM) is a software inference engine for programmable logic systems, including logic controllers and knowledge-based information systems. It provides efficient realizations of synchronous sequential machines using two-valued or three-valued logic. CCM permits the use of general purpose processors for large on-line control models. The CCM interpreter is designed to trade space for time. A redundant state is maintained in a compact map form. Logical events percolate through an otherwise static model. This mode of operation distinguishes the class of event chaining algorithms. Prior on-line methods repeatedly reconstruct or test unchanging portions of the model. In large models, CCM can exceed binary decision machines in speed and require less space. Contemporary modeling languages can be translated into CCM models. Thus event chaining implementation is available for control models defined by relay ladder logic, state machines, function charts, and Petri nets.
Modeling of Slip for Wheeled Mobile Robots
R. Balakrishna and Ashitava Ghosal
pages 126-132
Wheeled Mobile Robots (WMRs) are known to be nonholonomic systems, and most dynamic models of WMRs assume that the wheels undergo rolling without slipping. This paper deals with the problem of modeling and simulation of motion of a WMR when the conditions for rolling are not satisfied at the wheels. We use a traction model where the adhesion coefficient between the wheels of a WMR and a hard flat surface is a function of the wheel slip. This traction model is used in conjunction with the dynamic equations of motion to simulate the motion of the WMR. The simulations show that controllers which do not take into account wheel slip give poor tracking performance for the WMR and path deviation is small only for large adhesion coefficients. This work shows the importance of wheel slip and suggests use of accurate traction models for improving tracking performance of a WMR.
Index Terms - Wheeled Mobile Robots, Slip, Modeling, Traction, Adhesion.
Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance
Johann Borenstein and Yoram Koren
pages 132-138
This paper introduces error eliminahng rapid ultrasonicfiring (EERUF), a new method for firing multiple ultrasonic sensors in mobile robot applications. EERUF allows ultrasonic sensors to fire at rates that are five to ten times faster than those customary in conventional applications. This is possible because EERUF reduces the number of erroneous readings due to ultrasonic noise by one to two orders of magnitude.
While faster firing rates improve the reliability and robustness of mobile robot obstacle avoidance and are necessary for safe travel a higher speed (e.g., V > 0.3 m/sec), they introduce more ultrasonic noise and increase the occurrence rate of crosstalk. However, EERUF almost eliminates crosstalk, making fast firing feasible. Furthermore, ERRUF's unique noise rejection capability allows multiple mobile robots to collaborate in the same environment, even if their ultrasonic sensors operate at the same frequencies.
We have implemented and tested the EERUF method on a mobile robot and we present experimental results. With EERUF, a mobile robot was able to traverse an obstacle course of densely spaced, pencil-thin (8 mm-diameter) poles at up to 1 m/sec.
On Reorienting Linked Rigid Bodies Using Internal Motions
Gregory C. Walsh and S. Shankar Sastry
pages 139-146
We provide algorithms for reorienting linked rigid bodies floating in space. The dynamics of these systems conserve both linear and angular momentum. The conservation of angular momentum is a nonintegrable or nonholonomic constraint. We derive this constraint by applying Noether's theorem to the Lagrangian of the system. When the total angular momentum is zero, we may dualize the constraint to a control system. The problem of reorienting the satellite becomes a steering problem for a drift free control system. We give explicit solutions for steering a planar skater and a satellite with two rotors. The planar skater has been simulated and animated on a graphics workstation. We also discuss the hardware setup which we built to verify the theoretical results.
Sorting Parts by Random Grasping
Dukhyan Kang and Ken Goldberg
pages 146-152
As a low-cost alternative to machine vision, we consider how a modified parallel-jaw gripper can be used to classify parts according to shape by grasping and measuring the diameter: the distance between the jaws. Since more than one part may give rise to the same diameter and the sensor may be corrupted by noise due to surface compliance and backlash, we show how the most probable part can be estimated using a sequence of random grasps with a Bayesian decision procedure. This procedure allows us to define a statistical measure of the "similarity" of a set of parts. Laboratory experiments confirm that the random strategy is effective for sorting parts.
A Global Approach to Path Planning for Redundant Manipulators
Sanjeev Seereeram and John T. Wen
pages 152-160
This paper presents 8 new approach to path planning for redundant manipulators. The path planning problem is posed as a finite time nonlinear control problem which can be solved by a Newton-Raphson type algorithm together with an exterior penalty function method. This technique is capable of handling various goal task definitions as well as incorporating both joint and task space constraints. The algorithm has shown promising results in planning joint path sequences to meet Cartesian goal planning and path following. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima. Applications to planar 3R and 4R arms, cooperating 3R arms and a spatial 9 DOF arm are included.
A Dynamic Programming Approach to Near Minimum-Time Trajectory Planning for Two Robots
Jihong Lee
pages 160-164
A numerical trajectory planning method is proposed which ensures collision-free and near time-optimal motions for two robotic manipulators with limited actuator torques and velocities. Constraints on accelerations of the robots that are derived from the limited torques of actuators are transformed to the constraints on the curvatures of the coordination curve in coordination space. A dynamic programming technique is then provided on the discretized coordination space to derive a collision-free and time-optimal trajectory pair for the robots. A numerical example is included.
Comments on "A Sliding Mode Controller with Bound Estimation for Robot Manipulators"
Han Ho Choi, Hyung Kyi Yi, and Myung Jin Chung
pages 165-166
This short note points out that the proofs of the main results in the above paper are not correct. And rigorous proofs through more advanced stability results are presented.
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
APRIL 1995
VOLUME 11 NUMBER 2 IRAUEZ (ISSN 1042-296X)
PAPERS
A Petri Net Based Deadlock Prevention Policy for Flexible Manifacturing Systems
J. Ezpeleta, J. M. Colom, and J. Martinez
A Remote Manipulator for Forestry Operation
A. A. Goldenberg, J. Wiercienski, P. Kuzan, C. Szymczyk, R. G. Fenton, and B. Shaver
Efficient Search and Hierarchical Motion Planning by Dynamically Maintaining Single-Source Shortest Paths Trees
M. Barbehenn and S. Hutchinson
On the Mobility and Manipulability of General Multiple Limb Robots
A. Bicchi, C. Melchiorri, and D. Balluchi
Prediction of the Quasistatic Planar Motion of a Contacted Rigid Body
J. C. Trinkle and D. C. Zeng
Sliding Mode Control for Gradient Tracking and Robot Navigation Using Artificial Potential Fields
J. Guldner and V. I. Utkin
Plan Execution Monitoring and Control Architecture for Mobile Robots
F. R. Noreils and R. G. Chatila
SHORT PAPERS
Modeling an Object of Revolution by Zooming
J.-M. Lavest, G. Rives, and M. Dhome
Symbolic Construction of Models for Multibody Dynamics
H. G. Kwatny and G. L. Blankenship
Evaluation of Dexterity Measures for a 3-Link Planar Redundant Manipulator Using Constraint Locus
B. W. Choi, J. H. Won, and M. J. Chung
A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Joint Manipulators
T. F. Chan and R. V. Dubey
A Reduced-Order Adaptive Velocity Observer for Manipulator Control
M. Erlic and W.-S. Lu
Necessary and Sufficient Conditions for a Unique Solution of Plane Motion and Structure
X. Hu and N. Ahuja
Minimizing User Queries in Interactive Assembly Planning
R. H. Wilson
TECHNICAL CORRESPONDENCE
Comments on "A Sliding Mode Controller with Bound Estimation for Robot Manipulators"
M. Tarokh and G. Mcdermott
BOOK REVIEW
Parallel Computation Systems for Robotics Algorithms and Architectures
I. Sharf
ANNOUNCEMENTS
Call for Papers
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
JUNE 1995
VOLUME 11 NUMBER 3 IRAUEZ (ISSN 1042-296X)
PAPERS
Synthesis Using Resource Control Nets for Modeling Shared-Resource Systems
M. D. Jeng and F. DiCesare
Inertial Navigation Systems for Mobile Robots
B. Barshan and H. F. Durrant-Whyte
Time-Minimum Routes in Time-Dependent Networks
K. Fujimura
Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller
J. M. Hollerbach and D. M. Lokhorst
Minimal Linear Combinations of the Inertia Parameters of a Manipulator
S.-K. Lin
Gravitational Stability of Frictionless Assemblies
R. Mattikalli, D. Baraff, P. Khosla, and B. Repetto
Parallel O(Log N) Algorithms for Computation of Manipulator Forward Dynamics
A. Fijany, I. Sharf, and G. M. T. D'Eleuterio
SHORT PAPERS
A Normal Form of Singular Kinematics of Robot Manipulators with Smallest Degeneracy
K. Tcho<texinput>\accent'023</texinput>n,
Generalized Inverse Kinematic Functions for the Puma Manipulators
J. Côt<texinput>\'{e}</texinput>, C. M. Gosselin and D. Laurendeau
Computation of Configuration-Space Obstacles Using the Fast Fourier Transform
L. E. Kavraki
Graph-Theoretic Deadlock Detection and Resolution for Flexible Manufacturing Systems
H. Cho, T. K. Kumaran, and R. A. Wysk
Local Optimization of Weighted Joint Torques for Redundant Robotic Manipulators
B. Hu, C. L. Teo, and H. P. Lee
Hybrid Adaptive/Robust Motion Control of Rigid-Link Electrically-Driven Robot Manipulators
C.-Y. Su and Y. Stepanenko
Learning Control for Robot Tasks under Geometric Endpoint Constraints
T. Naniwa and S. Arimoto
Primitives for Smoothing Mobile Robot Trajectories
S. Fleury, P. Sou<texinput>\`e</texinput>res, J.-P. Laumond, and R. Chatila
Real-Time Collision Avoidance for Redundant Manipulators
K. Glass, R. Colbaugh, D. Lim, and H. Seraji
A New Adaptive Control Algorithm for Robot Manipulators in Task Space
G. Feng
Robot Manipulability
K. L. Doty, C. Melchiorri, E. M. Schwartz, and C. Bonivento
CORRESPONDENCE
Comments on "A Practical Approach to Job Shop Scheduling Problems"
S. Ramaswamy, D. J. Hoitomt, and P. B. Luh
A Note on"On Single-Scanline Camera Calibration"
H. Zhuang and R. Horaud
Comments on "A Sliding Mode Controller with Bound Estimation for Robot Manipulators"
H. H. Choi and C.-Y. Su
Author's Reply to "Comments on `A Sliding Mode Controller with Bound Estimation for Robot Manipulators'" by M. Tarokh and G. Mcdermott
C.-Y. Su
BOOK REVIEW
Visual Servoing
J. Funda
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
AUGUST 1995
VOLUME 11 NUMBER 4 IRAUEZ (ISSN 1042-296X)
PAPERS
A Dynamic Fault Tolerance Framework for Remote Robots
M. L. Visinsky, J. R. Cavallaro, and I. D. Walker
The Kinematics of Multi-Fingered Manipulation
D. J. Montana
Specifying and Achieving Passive Compliance Based on Manipulator Structure
M. H. Ang, Jr. and G. B. Andeen
Alignment Using an Uncalibrated Camera System
B. H. Yoshimi and P. K. Allen
On the Geometry of Contact Formation Cells for Systems of Polygons
A. O. Farahat, P. F. Stiller, and J. C. Trinkle
Design and Development of High-Performance Torque-Controlled Joints
D. Vischer and O. Khatib
First-Order Stability Cells of Active Multi-Rigid-Body Systems
J. C. Trinkle, A. O. Farahat, and P. F. Stiller
Formal Models for Control of Flexible Manufacturing Cells: Physical and System Model
S. B. Joshi, E. G. Mettala, J. S. Smith, and R. A. Wysk
Diagonalized Lagrangian Robot Dynamics
A. Jain and G. Rodriguez
Base-Invariant Symmetric Dynamics of Free-Flying Manipulators
A. Jain and G. Rodriguez
SHORT PAPERS
Manipulating Algebraic Parts in the Plane
A. S. Rao and K. Y. Goldberg
Automatic Maintenance of Robot Programs
L. J. Everett and T. W. Ives
Efficient Computation of Articulated-Body Inertias Using Successive Axial Screws
S. McMillan and D. E. Orin
Adaptive Control of Robotic Manipulators Including Motor Dynamics
J. Yuan
Observer Based Control for Elastic Joint Robots
M. Jankovic
BOOK REVIEWS
Control of Robot Manipulators
Reviewed by Y. Nakamura
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
OCTOBER 1995
VOLUME 11 NUMBER 5 IRAUEZ (ISSN 1042-296X)
PAPERS
A Design for a Visual Motion Transducer
A. Blake, G. Hamid, and L. Tarassenko
Map-Based Navigation for a Mobile Robot with Omnidirectional Image Sensor COPIS
Y. Yagi, Y. Nishizawa, and M. Yachida
Simultaneous Calibration of a Robot and a Hand-Mounted Camera
H. Zhuang, K. Wang, and Z. S. Roth
The Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation
C. L. Collins and G. L. Long
Toward Automatic Robot Instruction from Perception - Temporal Segmentation of Tasks from Human Hand Motion
S. B. Kang and K. Ikeuchi
Finding the Shortest Path of a Disc Among Polygonal Obstacles Using a Radius-Independent Graph
Y.-H. Liu and S. Arimoto
Performability Studies of Automated Manufacturing Systems with Multiple Part Types
N. Viswanadham, K. R. Pattipati, and V. Gopalakrishna
An Implicit Loop Method for Kinematic Calibration and Its Application to Closed-Chain Mechanisms
C. W. Wampler, J. M. Hollerbach, and T. Arai
SHORT PAPERS
Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
N. P. Papanikolopoulos, B. J. Nelson, and P. K. Khosla
A Trajectory-Based Computational Model for Optical Flow Estimation
K. Chaudhury and R. Mehrotra
Uncertainty in Object Pose Determination with Three Light-Stripe Range Measurements
K. Kemmotsu and T. Kanade
Allocation Sequences of Two Processes Sharing a Resource
B. Gaujal, M. Jafari, and G. Alpan
An Approach to Sliding Mode-Based Impedance Control
Z. Lu, S. Kawamura, and A. A. Goldenberg
Shear Force Feedback Control of Flexible Robot Arms
Z.-H. Luo, N. Kitamura, and B.-Z. Guo
A Class of Output Feedback Globally Stabilizing Controllers for Flexible Joints Robots
R. Ortega, R. Kelly, and A. Loría
Point-To-Point Quasi-Static Motion Planning for Flexible-Link Manipulators
F. Xi and R. G. Fenton
CORRESPONDENCE
Comments on "A Linear Solution to the Kinematic Parameter Identification of Robot Manipulator" and Some Modifications
S.-W. Shih, Y.-P. Hung, and W.-S. Lin
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
DECEMBER 1995
VOLUME 11 NUMBER 6 IRAUEZ (ISSN 1042-296X)
PAPERS
The Kinematics of Hyper-Redundant Robot Locomotion
G. S. Chirikjian and J. W. Burdick
Kinematically Optimal Hyper-Redundant Manipulator Configurations
G. S. Chirikjian and J. W. Burdick
A Multisteering Trailer System: Conversion into Chained Form Using Dynamic Feedback
D. Tilbury, O. J. Sordalen, L. Bushnell, and S. S. Sastry
An Efficient Algorithm to Find a Shortest Path for a Car-Like Robot
G. Desaulniers and F. Soumis
Direct Motion Stereo for Passive Navigation
S. Negahdaripour, B. Y. Hayashi, and Y. Aloimonos
Design and Control of a Force-Reflecting Teleoperation System with Magnetically Levitated Master and Wrist
S. E. Salcudean, N. M. Wong, and R. L. Hollis
Contact Transition Control with Semiactive Soft Fingertips
P. N. Akella and M. R. Cutkosky
On Computing Three-Finger Force-Closure Grasps of Polygonal Objects
J. Ponce and B. Faverjon
SHORT PAPERS
The Stability of a Flexible Link with a Tip Rotor and a Compressive Tip Load
K. Yamanaka, G. R. Heppler, and K. Huseyin
A Recursive Singularity-Robust Jacobian Generalized Inverse
K.. Kreutz-Delgado and D. Agahi
Map-Based Localization Using the Panoramic Horizon
F. Stein and G. Medioni
Motion Planning for Many Degrees of Freedom: Sequential Search with Backtracking
K. K. Gupta and Z. Guo
A Force-Controlled Pneumatic Actuator
D. Ben-Dov and S. E. Salcudean
An Analysis of Some Fundamental Problems in Adaptive Control of Force and Impedance Behavior: Theory and Experiments
S. K. Singh and D. O. Popa
CORRESPONDENCE
A Note on "A Linear Solution to the Kinematic Parameter Identification of Robot Manipulators"
H. Zhuang and Z. S. Roth
LIST OF REVIEWERS
1995 INDEX
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
FEBRUARY 1996
VOLUME 12 NUMBER 1 IRAUEZ (ISSN 1042-296X)
PAPERS
The Real-Time Supervisory Control of an Experimental Manufacturing Cell
B. A. Brandin
Scheduling Design Activities with a Pull System Approach
U. D. Belhe and A. Kusiak
Optimal Sequencing of Double-Gripper Gantry Robot Moves in Tightly-Coupled Serial Production Systems
Q. Su and F. F. Chen
A Complete Algorithm for Designing Planar Fixtures Using Modular Components
R. C. Brost and K. Y. Goldberg
Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots
G. Campion, G. Bastin, and B. D'Andréa-Novel
Mobile Robot Self-Location Using Model-Image Feature Correspondence
R. Talluri and J. K. Aggarwal
Internal Force-Based Impedance Control for Cooperating Manipulators
R. G. Bonitz and T. C. Hsia
Measurement and Modeling of McKibben Pneumatic Artificial Muscles
C.-P. Chou and B. Hannaford
Motion of an Uncalibrated Stereo Rig: Self-Calibration and Metric Reconstruction
Z. Zhang, Q.-T. Luong, and O. Faugeras
A Self-Calibration Technique for Active Vision Systems
S. D. Ma
SHORT PAPERS
A Sensor Used for Measurements in the Calibration of Production Robots
L. J. Everett and T. W. Ives
Tracking Control of a Conveyor Belt: Design and Experiments
M. C. Tsai and C. H. Lee
Approximate Inverse Dynamics and Passive Feedback for Flexible Manipulators with Large Payloads
C. J. Damaren
High-Resolution Beam Forming for Ultrasonic Arrays
P. Webb and C. Wykes
Twin-Head Six-Axis Force Sensors
M. Kaneko
IEEE COPYRIGHT FORM
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
APRIL 1996
VOLUME 12 NUMBER 2 IRAUEZ (ISSN 1042-296X)
SPECIAL ISSUE ON ASSEMBLY AND TASK PLANNING FOR MANUFACTURING
GUEST EDITORIAL
S. Lee, D. Lyons, C. Ramos, and J. Troccaz
Section I
Optimizing Robot Motion Strategies for Assembly with Stochastic Models of the Assembly Process
R. Sharma, S. M. LaValle, and S. Hutchinson
Minimal Precedence Constraints for Integrated Assembly and Execution Planning
V. N. Rajan and S. Y. Nof
Integrating Sensing, Task Planning, and Execution for Robotic Assembly
C.-P. Tung and A. C. Kak
Section II
Integration and Learning in Supervision of Flexible Assembly Systems
L. M. Camarinha-Matos, L. S. Lopes, and J. Barata
P3: A Process Planner for Manufacturability Analysis
C. C. Hayes
PRIAM: Polite Rescheduler for Intelligent Automated Manufacturing
T. K. Tsukada and K. G. Shin
Interleaving Assembly Planning and Design
G. J. Kim, S. Lee, and G. A. Bekey
Section III
An Experience-Based Assembly Sequence Planner for Mechanical Assemblies
A. Swaminathan and K. S. Barber
A Hierarchical Petri Net Framework for the Representation and Analysis of Assembly
J. P. Thomas, N. Nissanke, and K. D. Baker
Task Primitives for the Discrete Event Modeling and Control of 6-DOF Assembly Tasks
B. J. McCarragher
Finding All Stable Orientations of Assemblies with Friction
R. Mattikalli, D. Baraff, and P. Khosla
Boundary Models for Assembly Knowledge Representation
J. P. Thomas, N. Nissanke, and K. D. Baker
Automatic Generation of Goal Regions for Assembly Tasks in the Presence of Uncertainty
S.-F. Su, C. S. G. Lee, and W. Hsu
Section IV
Task Curve Planning for Painting Robots - Part I: Process Modeling and Calibration
P. Hertling, L. Hog, R. Larsen, J. W. Perram, and H. G. Petersen
Complete Algorithms for Feeding Polyhedral Parts Using Pivot Grasps
A. Rao, D. J. Kriegman, and K. Y. Goldberg
Reliability and Flexibility - A Mutually Exclusive Problem for Robotic Assembly?
M. S. Wilson
Robust Path Planning in the Plane
F. De la Rosa, C. Laugier, and J. Nájera
ANNOUNCEMENTS
Call for Papers-1997 International Conference on Robotics and Automation
Call for Papers-American Nuclear Society Seventh Topical Meeting on Robotics and Remote Systems
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
JUNE 1996
VOLUME 12 NUMBER 3 IRAUEZ (ISSN 1042-296X)
PAPERS
Design and Evaluation of Real-Time Communication for FieldBus-Based Manufacturing Systems
K. G. Shin and C.-C. Chou
A Nonlinear Model of a Harmonic Drive Gear Transmission
T. D. Tuttle and W. P. Seering
Modeling and Feedback Control of Mobile Robots Equipped with Several Steering Wheels
B. Thuilot, B. d'Andréa-Novel, and A. Micaelli
Deadlock-Free Schedules for Automated Manufacturing Workstations
S. E. Ramaswamy and S. B. Joshi
A Unified Approach to Space Robot Kinematics
S. K. Saha
Dextrous Hand Grasping Force Optimization
M. Buss, H. Hashimoto, and J. B. Moore
Position Tracking Control for Robot Manipulators Driven by Induction Motors Without Flux Measurements
J. Hu, D. M. Dawson, and Y. Qian
Intelligent Planning and Control for Multirobot Coordination: An Event-Based Approach
N. Xi, T.-J. Tarn, and A. K. Bejczy
Constrained Cartesian Motion Control for Teleoperated Surgical Robots
J. Funda, R. H. Taylor, B. Eldridge, S. Gomory, and K. G. Gruben
SHORT PAPERS
A Modified Model Reference Adaptive Control Scheme for Rigid Robots
A. Datta and M.-T. Ho
Characteristic of Optimal Solutions in Kinematic Resolutions of Redundancy
J. Park, W.-K. Chung, and Y. Youm
A Method of Acoustic Landmark Extraction for Mobile Robot Navigation
J. H. Ko, W. J. Kim, and M. J. Chung
Pattern Reconfiguration in Swarms-Convergence of a Distributed Asynchronous and Bounded Iterative Algorithm
G. Beni and P. Liang
Radial Basis Function Network Architecture for Nonholonomic Motion Planning and Control of Free-Flying Manipulators
D. Gorinevsky, A Kapitanovsky, and A. Goldenberg
An Efficient Algorithm for the Model-Based Adaptive Control of Robotic Manipulators
H. Kawasaki, T. Bito, and K. Kanzaki
CORRESPONDENCE
Comments on "A New Adaptive Control Algorithm for Robot Manipulators in Task Space"
H. H. Choi, M. J. Chung, and G. Feng
ANNOUNCEMENTS
Call for Papers
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
AUGUST 1996
VOLUME 12 NUMBER 4 IRAUEZ (ISSN 1042-296X)
PAPERS
A Continuous-Flow Model for Unreliable Production Networks of the Finite Queue Type
Y. A. Phillis, and V. S. Kouikoglou
Virtual-Reality-Based Point-and-Direct Robotic Inspection in Manufacturing
C. Wang and D. J. Cannon
Competitive Robot Mapping with Homogeneous Markers
X. Deng and A. Mirzaian
A Local Measure of Fault Tolerance for Kinematically Redundant Manipulators
R. G. Roberts and A. A. Maciejewski
Toward Obtaining All Possible Contacts-Growing A Polyhedron by its Location Uncertainty
J. Xiao and L. Zhang
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars
Specification of Force-Controlled Actions in the ``Task Frame Formalism''-A Synthesis
H. Bruyninckx and J. De Schutter
SHORT PAPERS
Performance Analysis of a New Electroplating Line Configuration with a Linear Induction Motor Based Material Mover
R. Desiraju, H.-M. Wang, and J. L. Sanders
Rigid Model-Based Neural Network Control of Flexible-Link Manipulators
L.-C. Lin and T.-W. Yih
On the Role of High-Gain Feedback in P-Type Learning Control of Robot Arms
P. Lucibello
Stability of PID Control for Industrial Robot Arms
P. Rocco
Fast Construction of Force-Closure Grasps
C.-P. Tung and A. C. Kak
A New Laboratory Simulator for Study of Motion of Free-floating Robots Relative to Space Targets
S. K. Agrawal, G. Hirzinger, K. Landzettel, and R, Schwertassek
Hybrid Position/Force Control of Flexible-Macro/Rigid-Micro Manipulator Systems
T. Yoshikawa, K. Harada, and A. Matsumoto
Composite Adaptive Control of Constrained Robots
J. Yuan
ANNOUNCEMENTS
Call for Papers-8th International Conference on Advanced Robotics (ICAR'97)
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
OCTOBER 1996
VOLUME 12 NUMBER 5 IRAUEZ (ISSN 1042-296X)
SPECIAL SECTION ON VISION-BASED CONTROL OF ROBOT MANIPULATORS
EDITORIAL
Introduction to the Special Section on Vision-Based Control of Robot Manipulators
G. D. Hager and S. Hutchinson
SPECIAL SECTION PAPERS
A Tutorial on Visual Servo Control
S Hutchinson, G. D. Hager and P. I. Corke
Dynamic Effects in Visual Closed-Loop Systems
P. I. Corke and M. C. Good
Relative End-Effector Control Using Cartesian Position Based Visual Servoing
W. J. Wilson, C. C. Williams Hulls, and G. S. Bell
An Active Visual Estimator for Dexterous Manipulation
A. A. Rizzi and D. E. Koditschek
Force and Vision Resolvability for Assimilating Disparate Sensory Feedback
B. J. Nelson and P. K. Khosla
Robust Visual Servoing in 3-D Reaching Tasks
E. Grosso, G. Metta, A. Oddera, and G. Sandini
SPECIAL SECTION SHORT PAPERS
Visual Servoing in Robotics Scheme Using a Camera/Laser-Stripe Sensor
D. Khadraoui, G. Motyl, P. Martinet, J. Gallice, and F. Chaumette
Subspace Methods for Robot Vision
S. K. Nayar, S. A. Nene, and H. Murase
Robust Asymptotically Stable Visual Servoing of Planar Robots
R. Kelly
Visual Servoing with Hand-Eye Manipulator-Optimal Control Approach
K. Hashimoto, T. Ebine, and H. Kimura
REGULAR ISSUE PAPERS
Myoelectric Teleoperation of a Complex Robotic Hand
K. A. Farry, I. D. Walker, and R. G. Baraniuk
Scheduling Flexible Manufacturing Systems For Apparel Production
R. N. Tomastik, P. B. Luh, and G. Liu
Modular Modeling Using Petri Nets
L. Wang and X. Xie
REGULAR ISSUE SHORT PAPERS
View-Invariant Regions and Mobile Robot Self-Localization
K. T. Simsarian, T. J. Olson, and N. Nandhakumar
Effect of the Dynamic Interaction on Coordinated Control of Mobile Manipulators
Y. Yamamoto and X. Yun
Estimating Precise Edge Position by Camera Motion
K. Kato, H. Ishiguro, and S. Tsuji
ANNOUNCEMENTS
Call for Papers-8th International Conference on Advanced Robotics (ICAR'97)
IEEE
TRANSACTIONS ONROBOTICS AND
AUTOMATION
A PUBLICATIONS OF THE IEEE ROBOTICS AND AUTOMATION SOCIETY
DECEMBER 1996
VOLUME 12 NUMBER 6 IRAUEZ (ISSN 1042-296X)
EDITORIAL
R. A. Volz
PAPERS
Single Machine Scheduling with Chain Structured Precedence Constraints and Separation Time Windows
C. Chu and J.-M. Proth
Deadlock Avoidance Policies for Automated Manufacturing Cells
S. A. Reveliotis and P. M. Ferreira
Heuristic Solutions for Loading in Flexible Manufacturing Systems
B. Srivastava and W.-H. Chen
Measurement and Correction of Systematic Odometry Errors in Mobile Robots
J. Borenstein and L. Feng
Effects of Input Shaping on Two-Dimensional Trajectory Following
W. E. Singhose and N. C. Singer
Growth Distances: New Measures for Object Separation and Penetration
C. J. Ong and E. G. Gilbert
On the Stability of Grasped Objects
W. S. Howard and V. Kumar
TECHNICAL CORRESPONDENCE
Camera Calibration with a Near-Parallel (Ill-Conditioned) Calibration Board Configuration
H. Zhuang and W.-C. Wu
BOOK REVIEW
Sensors for Mobile Robots
A. Halme
List of Reviewers
1996 INDEX
Abstracts
Single Machine Scheduling with Chain Structured Precedence Constraints and Separation Time Windows
Chengbin Chu and Jean-Marie Proth
pages 835-844
We consider a single machine scheduling problem which we studied to improve the efficiency of an automated medical laboratory. In this problem, there are not only chain-structured precedence constraints, but also minimal and maximal times separating sucessive jobs in the same chain (separation time windows). The criterion to be minimized is the makespan. Potential applications are not restricted to medical analysis. This proble often arises in systems where chemical processes are involved. Therefore the problem studied in this paper is important in practice. We prove that the problem is nonpolynomial (NP)-complete. As a consequence, we propose three heuristics for large size problems and a branch and bound based algorithm for small size problems. Computational results are reported.
Deadlock Avoidance Policies for Automated Manufacturing Cells
Spiridon A. Reveliotis and Placid M. Ferreira
pages 845-857
Athough the typical process-layout manufacturing environment is susceptible to deadlocks, the problem of deadlock resolution in this context has only lately been undertaken by the scientific community. Previous studies have found that deadlock avoidance methodologies seem to be the most appropriate for this particular context. Unfortunately, in the general case these methods suffer from high computational complexity which results in heuristic solutions and/or reduced performance. Taking the position that any solution to the problem should be scalable and provably correct, this paper proposes an analytical framework for designing deadlock avoidance policies for a subclass of resource allocation system (RAS). Specifically, this subclass is characterized by the fact that jobs in the system are defined by determinsitc job-step sequences with every step in the sequence requiring a single unit of the system resources. Job-step models are appropriate for the study of the deadlock problem in the context of the automated manufacturing cell (AMC). The funcionality of the framework is demonstrated by using it to prove the correctness of two avoidance policies; the resource upstream neighborhood (RUN) policy, developed in the authors' research program and first presented in [10], and the B-K deadlock avoidance algorithm (BKDAAA), presented in [3]. An interesting relationship existing between RUN and BKDAA policies is also identified and explored.
Heuristic Solutions for Loading in Flexible Manufacturing Systems
Bhutarendu Srivastava and Wun-Hwa Chen
pages 858-868
Production planning in flexible manufacturing system deals with the efficient organization of the production resources in order to meet a given production schedule. It is a complex problem and typically lead to several hierarchical subproblems that need to be solved sequentially or simultaneously. Loading is one of the planning subproblems that has to addressed. It involves assigning the necessary operations and tools among the various machines in some optimal fashion to achieve the production of all selected part types. In this paper, we first formulate the loading problem as a 0-1 mixed integer and then propose loading problem as a 0-1 mixed integer program and then propose heuristic procedures based on Lagrangian relaxation and tabu search to solve the problem. Computational results are presented for all algorithms and finaly, conslusions drawn based on the results are discussed.
Measurement and Correction of Systematic Odometry Errors in Mobile Robots
Johan Borenstein and Liqiang Fong
pages 869-880
Effects of Input Shaping on Two-Dimensional Trajectory Following
William E. Singhose and Neil C. Singer
pages 881-887
Input shaping is a method of reducing residual vibration in computer-controlled machines. Input shaping is implemented by convolving the desired command signal with a sequence of impulses. The result of the convolutions is then used to drive the system. Because input shaping alters the commanded trajectory, it has had questionable utility for trajectory following applications such as painting, cutting, and scanning. The effects of input shaping on trajectory following were investigated by simulating the response of a fourth-order system with orthogonal modes and conducting experiments on an XY positioning stage. For nearly all values of experimental parameters, input shaping improved trajectory following.
Growth Distances: New Measures for Object Separation and Penetration
Chong Jin Ong and Elmer G. Gilbert
pages 888-903
On the Stability of Grasped Objects
W. Stamps Howard and Vijay Kumar
pages 904-917
IEEE TRANSACTIONS ON
ROBOTICS AND AUTOMATION
February 1997, Volume 13, Issue 01
PAPERS
Hierarchical Production Controls in a Stochastic Two-Machine Flowshop with a Finite Internal Buffer
S. P. Sethi, Q. Zhang, and X. Y. Zhou [p. 1]
A Structure-Oriented Approach to Assembly Sequence Planning
S. Chakrabarty and J. Wolter [p. 14]
Impact of Fieldbus on Communication in Robotic Systems
S. Cavalieri, A. Di Stefano, and O. Mirabella [p. 30]
Nonlinear Path Control in Automated Vehicle Guidance
E. Freund and R. Mayr [p. 49]
A Framework for Robot Motion Planning with Sensor Constraints
R. Sharma and H. Sutanto [p. 61]
Object Motion and Structure Recovery for Robotic Vision Using Scanning Laser Range Sensors
P. W. Smith, N. Nandhakumar, and C.-H. Chien [p. 74]
Toward Automatic Robot Instruction from Perception--Mapping Human Grasps to Manipulator Grasps
S. B. Kang and K. Ikeuchi [p. 81]
Stable Control of a Simulated One-Legged Running Robot with Hip and Leg Compliance
M. Ahmadi and M. Buehler [p. 96]
Adaptive Model-Based Hybrid Control of Geometrically Constrained Robot Arms
L. L. Whitcomb,, S. Arimoto, T. Naniwa, and F. Ozaki [p. 105]
Scaling Laws for Linear Controllers of Flexible Link Manipulators Characterized by Nondimensional Groups
M. Ghanekar, D. W. L. Wang, and G. R. Heppler [p. 117]
SHORT PAPERS
Mechanical Filtering Effect of Elastic Cover for Tactile Sensor
M. Shimojo [p. 128]
Autonomous Mobile Robot Global Motion Planning and Geometric Beacon Collection Using Traversability Vectors
J. A. Janét, R. C. Luo, and M. G. Kay [p. 132]
Nonlinear Adaptive Control for Flexible-Link Manipulators
J. H. Yang, F. L. Lian, and L. C. Fu [p. 140]
Translating Relay Ladder Logic for CCM Solving
J. T. Welch [p. 148]
CALLS FOR PAPERS
Seventh Topical Meeting on Robotics and Remote Systems
[p. 154]
Special Issue on Virtual Reality in Robotics and Automation
[p. 155]
IEEE Copyright Form
[p. 159]
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faltam aqui os números 2, 3 e 4 do volume 13
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IEEE TRANSACTIONS ON
ROBOTICS AND AUTOMATION