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Now showing items 11-20 of 23
Redundancy Resolution of Manipulators through Torque Optimization
(1986-01-01)
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the ...
An Approach to Automatic Robot Programming
(1985-04-01)
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...
Estimation of Inertial Parameters of Rigid Body Links of Manipulators
(1986-02-01)
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...
On Multiple Moving Objects
(1986-05-01)
This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...
Artificial Intelligence and Robotics
(1984-02-01)
Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses ...
Automatic Synthesis of Fine-Motion Strategies for Robots
(1983-12-01)
The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs ...
Symbolic Error Analysis and Robot Planning
(1982-09-01)
A program to control a robot manipulator for industrial assembly operations must take into account possible errors in parts placement and tolerances of the parts themselves. Previous approaches to this problem have been ...
Robot Programming
(1982-12-01)
The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ...
A Subdivision Algorithm in Configuration Space for Findpath with Rotation
(1982-12-01)
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
Computers, Brains, and the Control of Movement
(1982-06-01)
Many of the problems associated with the planning and execution of human arm trajectories are illuminated by planning and control strategies which have been developed for robotic manipulators. This comparison may ...