IEEE Trans. Robotics Autom.最新文献

Experiments in aligning threaded parts using a robot hand 用机器人手对准螺纹零件的实验

IEEE Trans. Robotics Autom. Pub Date : 2013-08-02 DOI: 10.1109/70.795791

M. Diftler, I. Walker

引用次数: 11

A miniature pan-tilt actuator: the spherical pointing motor 一种微型泛倾斜致动器:球面指向电机

IEEE Trans. Robotics Autom. Pub Date : 2011-09-02 DOI: 10.1109/70.294205

B. Bederson, R. Wallace, E. Schwartz

{"title":"A miniature pan-tilt actuator: the spherical pointing motor","authors":"B. Bederson, R. Wallace, E. Schwartz","doi":"10.1109/70.294205","DOIUrl":"https://doi.org/10.1109/70.294205","url":null,"abstract":"A pan-tilt mechanism is a computer-controlled actuator designed to point an object such as a camera sensor. For applications in active vision, a pan-tilt mechanism should be accurate, fast, small, inexpensive and have low power requirements. The authors have designed and constructed a new type of actuator meeting these requirements, which incorporates both pan and tilt into a single, two-degree-of-freedom device. The spherical pointing motor (SPM) consists of three orthogonal motor windings in a permanent magnetic field, configured to move a small camera mounted on a gimbal. It is an absolute positioning device and is run open-loop. The SPM is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities of several hundred degrees per second with a repeatability of .15/spl deg/. The authors have also built a miniature camera consisting of a single CCD sensor chip and miniature lens assembly that fits on the rotor of this motor. In this paper, the authors discuss the theory of the SPM, which includes its basic electromagnetic principles, and derive the relationship between applied currents and resultant motor position. The authors present an automatic calibration procedure and discuss open- and closed-loop control strategies. Finally, the authors present the physical characteristics and results of their prototype. >","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128314812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 64

Data-mining approach to production control in the computer-integrated testing cell 计算机集成测试单元生产控制的数据挖掘方法

IEEE Trans. Robotics Autom. Pub Date : 2004-02-19 DOI: 10.1109/TRA.2003.819595

Choonjong Kwak, Yuehwern Yih

引用次数: 49

A simple and analytical procedure for calibrating extrinsic camera parameters 相机外部参数标定的简单分析方法

IEEE Trans. Robotics Autom. Pub Date : 2004-02-19 DOI: 10.1109/TRA.2003.820919

Fei-Yue Wang

引用次数: 33

Consistency verification in modeling of real-time systems 实时系统建模中的一致性验证

IEEE Trans. Robotics Autom. Pub Date : 2004-02-19 DOI: 10.1109/TRA.2003.819737

Yi Deng, Jiacun Wang, Mengchu Zhou

{"title":"Consistency verification in modeling of real-time systems","authors":"Yi Deng, Jiacun Wang, Mengchu Zhou","doi":"10.1109/TRA.2003.819737","DOIUrl":"https://doi.org/10.1109/TRA.2003.819737","url":null,"abstract":"To real-time system designers, end-to-end time delay between external inputs and outputs is among the most important constraints. To ensure these system-wide constraints are satisfied, each of the constituent components is subject to a set of derived intermediate constraints. Since the system-wide constraints allow many possibilities for the intermediate constraints based on design tradeoffs, an important issue is how to guarantee the consistency between system-wide constraints and intermediate component constraints. In this paper, we present a systematic method for the verification of consistency between a system's global timing constraints and intermediate component constraints. The essence of this technique is to construct a timing model for each component, based on component constraints. This model treats a component as a black box. When replacing each component with its timing model, we obtain a complete time Petri net model for system architecture, which allows us to verify the consistency between global and component constraints. The key contribution is twofold. First, our technique of verification is efficient by supporting incremental analysis and suppressing internal state space of components. Second, much of the verification process presented in this paper can be automated. We illustrate the consistency verification process through a flexible manufacturing system example.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2004-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116755949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism 三足六自由度并联平台机构工作空间分析与优化设计

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819603

B. Monsarrat, C. Gosselin

{"title":"Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism","authors":"B. Monsarrat, C. Gosselin","doi":"10.1109/TRA.2003.819603","DOIUrl":"https://doi.org/10.1109/TRA.2003.819603","url":null,"abstract":"A new class of six-degree-of-freedom (DOFs) spatial parallel platform mechanism is considered in this paper. The architecture consists of a mobile platform connected to the base by three identical kinematic chains using five-bar linkages. Recent investigations showed that parallel mechanisms with such a topology for the legs can be efficiently statically balanced using only light elastic elements. This paper follows up with a workspace analysis and optimization of the design of that parallel mechanism. More specifically, considering a possible industrial application of the architecture as a positioning and orienting device of heavy loads, an optimization procedure for the maximization of the volume of the three-dimensional (3-D) constant-orientation workspace of the mechanism is first presented. As the mechanism could also have great potential as a motion base for flight simulators, we develop here a discretization method for the computation and graphical representation of a new workspace with coupled translational and rotational DOFs. This workspace can be defined as the 3-D space which can be obtained when generalized coordinates x,y and torsion angle /spl psi/ in the tilt-and-torsion angles parametrization are constant. A second procedure is then presented for the maximization of the volume of this second subset of the complete workspace. For both approaches, our purpose is to attempt an optimal design of the mechanism by maximizing the volume of the associated 3-D Cartesian region that is free of critical singularity loci.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129406532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 109

Distributed performance evaluation of a controlled IC fab 可控集成电路厂的分布式性能评价

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819720

C. Kuo, Han-Pang Huang

引用次数: 6

A hybrid scheduling and control system architecture for warehouse management 一种用于仓库管理的混合调度与控制系统架构

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819735

Byung-In Kim, S. Heragu, R. Graves, A. S. Onge

引用次数: 64

Output regulation of robot manipulators with a constantly revolving arm 带恒回转臂的机械臂输出调节

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819599

Shang-Teh Wu, Yi-Chih Chuang

引用次数: 12

Exact solution and infinite-dimensional stability analysis of a single flexible link in collision 碰撞中单个柔性连杆的精确解及无限维稳定性分析

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819716

Francis Ching, David W. L. Wang

引用次数: 30