IEEE J. Robotics Autom.最新文献_第9页

Task-oriented optimal grasping by multifingered robot hands 多指机械手面向任务的最优抓取

IEEE J. Robotics Autom. Pub Date : 1987-03-01 DOI: 10.1109/56.769

Zexiang Li, S. Sastry

引用次数: 468

Image analysis methods for solderball inspection in integrated circuit manufacturing 集成电路制造中焊球检测的图像分析方法

IEEE J. Robotics Autom. Pub Date : 1987-03-01 DOI: 10.1109/56.2076

W. Blanz, J. Sanz, E. B. Hinkle

{"title":"Image analysis methods for solderball inspection in integrated circuit manufacturing","authors":"W. Blanz, J. Sanz, E. B. Hinkle","doi":"10.1109/56.2076","DOIUrl":"https://doi.org/10.1109/56.2076","url":null,"abstract":"Machine vision methods are presented for the analysis of solder balls in integrated circuits. The algorithms are founded on counter fitting using a multiparameter Hough transform and on polynomial-classifier-based pattern recognition. The first method is used to show the complexity of the inspection problem, especially in the presence of high-precision requirements. In this connection, it is shown that subpixel accuracy is not obtainable even under the assumption of a perfect camera system which determines the resolution necessary for the measurement of a given maximum-volume distortion. The second method is carried out by computing a large number of features on the original image after individual solder balls are segmented by a projection technique. This approach can be considered as a control-free image segmentation paradigm, since it does not rely on properly sequencing several image-analysis modules. Further experimentation with a large pool of defective solder balls is necessary to confirm the applicability of these machine vision algorithms to a real-world manufacturing inspection systems. A general image-segmentation architecture is proposed, which enables the computation of the necessary low-level image features as well as pixel classification at video-rate speed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126877310","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: 17

Dynamic hybrid position/force control of robot manipulators-controller design and experiment 机器人机械臂动态位置/力混合控制——控制器设计与实验

IEEE J. Robotics Autom. Pub Date : 1987-03-01 DOI: 10.1109/56.9307

T. Yoshikawa, T. Sugie, Masaki Tanaka

引用次数: 160

Coming of age 成年

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087079

G. Bekey

引用次数: 0

Advanced software in robotics 机器人技术的先进软件

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087078

B. Soroka

引用次数: 26

Telerobotics: Display, control, and communication problems 远程机器人:显示、控制和通信问题

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087069

L. Stark, W. Kim, F. Tendick, B. Hannaford, S. Ellis, Mark Denome, Mary Duffy, Tim Hayes, Ted Jordan, M. Lawton, Tim Mills, Robert Peterson, Kathleen Sanders, M. Tyler, Steven van Dyke

{"title":"Telerobotics: Display, control, and communication problems","authors":"L. Stark, W. Kim, F. Tendick, B. Hannaford, S. Ellis, Mark Denome, Mary Duffy, Tim Hayes, Ted Jordan, M. Lawton, Tim Mills, Robert Peterson, Kathleen Sanders, M. Tyler, Steven van Dyke","doi":"10.1109/JRA.1987.1087069","DOIUrl":"https://doi.org/10.1109/JRA.1987.1087069","url":null,"abstract":"An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth (AZ) and elevation (EL) were arranged to be near optimal. Quantitative comparisons were made possible utilizing control performance measures such as root mean square error (rmse). There was a distinct preference for controlling the manipulator in end-effector Cartesian space for our primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematics, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126817385","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: 97

Robot technology 机器人技术

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087075

H. Mergler

引用次数: 47

Robotics and intelligent machines in agriculture 农业中的机器人和智能机器

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087074

F. E. Sistler

引用次数: 91

The 1986 IEEE international conference on robotics and automation-In retrospect 1986年IEEE机器人与自动化国际会议回顾

IEEE J. Robotics Autom. Pub Date : 1987-02-01 DOI: 10.1109/JRA.1987.1087073

A. Bejczy