Volumes | International Design Engineering Technical Conferences and Computers and Information in Engineering Conference | American Society of Mechanical Engineers Digital Collection

Topics: Algorithms , Control equipment , Degrees of freedom , Grippers , Optimization , Performance characterization , Polynomials , Redundancy (Engineering) , Vehicles

Kinematic/Kinetic Performance Analysis and Design Tools for Robotic Mechanisms

M. Y. Lee, A. G. Erdman, Y. Gutman

IDETC-CIE 1994; 73-82https://doi.org/10.1115/DETC1994-0308

Abstract

View Articletitled, Kinematic/Kinetic Performance Analysis and Design Tools for Robotic Mechanisms

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Topics: Design , Kinematics , Robotics , Performance characterization , Mechanical admittance

Kinematic and Static Analysis of Open-Loop Manipulators Using Linear Algebra

K. Y. Tsai

IDETC-CIE 1994; 83-89https://doi.org/10.1115/DETC1994-0309

Abstract

View Articletitled, Kinematic and Static Analysis of Open-Loop Manipulators Using Linear Algebra

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Topics: Kinematics , Linear algebra , Manipulators , Actuators , Algorithms , Degrees of freedom , Linear systems , Screws , Statics

Space Robotics

Mechanisms to Implement High Performance Storage and Retrieval of Cylindrical Components for Robotic Assembly of Large Structures in Space

W. V. Brewer

IDETC-CIE 1994; 91-98https://doi.org/10.1115/DETC1994-0310

Abstract

View Articletitled, Mechanisms to Implement High Performance Storage and Retrieval of Cylindrical Components for Robotic Assembly of Large Structures in Space

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Topics: Density , End effectors , Manufacturing , Packaging , Robotic assembly , Robotics , Storage , Stress , Transportation systems

The Design and Implementation of a Laboratory Test Bed for Space Robotics: The VES Mod II

Steven Dubowsky, William Durfee, Andrew Kuklinski, Uwe Müller, Igor Paul, Jack Pennington

IDETC-CIE 1994; 99-108https://doi.org/10.1115/DETC1994-0311

Abstract

View Articletitled, The Design and Implementation of a Laboratory Test Bed for Space Robotics: The VES Mod II

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Topics: Design , Robotics , Algorithms , Manipulators , Space vehicles

Emulating Micro-Gravity in Laboratory Studies of Space Robotics

Thomas R. J. Corrigan, Steven Dubowsky

IDETC-CIE 1994; 109-116https://doi.org/10.1115/DETC1994-0312

Abstract

View Articletitled, Emulating Micro-Gravity in Laboratory Studies of Space Robotics

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Topics: Gravity (Force) , Robotics , Algorithms , Manipulators , Space vehicles

Generation of Exact Joint Locations in Conceptual Designs of Deployable Truss Structures

Dirk B. Warnaar

IDETC-CIE 1994; 117-125https://doi.org/10.1115/DETC1994-0313

Abstract

View Articletitled, Generation of Exact Joint Locations in Conceptual Designs of Deployable Truss Structures

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Topics: Conceptual design , Trusses (Building) , Design

Design of Quadri-Directional Air Thrusters for Free-Floating Robot Applications

Sunil Kumar Agrawal, A. Krajnak, N. Batsios, M. Annapragada

IDETC-CIE 1994; 127-131https://doi.org/10.1115/DETC1994-0314

Abstract

View Articletitled, Design of Quadri-Directional Air Thrusters for Free-Floating Robot Applications

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Topics: Design , Robots , Pressure , Manifolds , Propulsion , Solenoids , Valves , Computers , Gates (Closures) , Nozzles

Workspaces of Manipulators

On the Determination of the Workspace of Complex Planar Robotic Manipulators

Rémi Ricard, Clément M. Gosselin

IDETC-CIE 1994; 133-140https://doi.org/10.1115/DETC1994-0315

Abstract

View Articletitled, On the Determination of the Workspace of Complex Planar Robotic Manipulators

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Topics: Manipulators

Determining Manipulator Workspace Boundaries Using the Monte Carlo Method and Least Squares Segmentation

David G. Alciatore, Chung-Ching D. Ng

IDETC-CIE 1994; 141-146https://doi.org/10.1115/DETC1994-0316

Abstract

View Articletitled, Determining Manipulator Workspace Boundaries Using the Monte Carlo Method and Least Squares Segmentation

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Topics: Image segmentation , Manipulators , Monte Carlo methods , End effectors , Fittings , Trajectories (Physics)

Workspace Characteristics, Cusp Locations, and Boundary Crossing for General RRP Regional Structures of Manipulators

P. E. J. Riley, L. E. Torfason

IDETC-CIE 1994; 147-152https://doi.org/10.1115/DETC1994-0317

Abstract

View Articletitled, Workspace Characteristics, Cusp Locations, and Boundary Crossing for General RRP Regional Structures of Manipulators

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Topics: Manipulators , Optimization , Robots

A Modular, Long-Reach, Truss-Type Manipulator for Waste Storage Tank Remediation

Robert J. Salerno, Charles F. Reinholtz

IDETC-CIE 1994; 153-159https://doi.org/10.1115/DETC1994-0318

Abstract

View Articletitled, A Modular, Long-Reach, Truss-Type Manipulator for Waste Storage Tank Remediation

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Topics: Manipulators , Storage tanks , Trusses (Building) , Algorithms , Design , Geometry , Kinematic analysis

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Gregory S. Chirikjian

IDETC-CIE 1994; 161-167https://doi.org/10.1115/DETC1994-0319

Abstract

View Articletitled, Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

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Topics: Actuators , Kinematics , Manipulators , Feedback , Robotics , Algorithms , Manipulator design , Pneumatic cylinders , Solenoids

Compliant Robotic Systems

On Inverse Statics and Dynamics Problems of Flexible Link Manipulators

F. Xi, Robert G. Fenton

IDETC-CIE 1994; 169-176https://doi.org/10.1115/DETC1994-0320

Abstract

View Articletitled, On Inverse Statics and Dynamics Problems of Flexible Link Manipulators

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Topics: Dynamics (Mechanics) , Manipulators , Statics , Numerical analysis

Methodology for Comparing Stiffness Mappings Using Geometric Invariants

Chin-Huang Sun, Michael W. Griffis, Joseph Duffy

IDETC-CIE 1994; 177-183https://doi.org/10.1115/DETC1994-0321

Abstract

View Articletitled, Methodology for Comparing Stiffness Mappings Using Geometric Invariants

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Topics: Stiffness , Eigenvalues , Screws , Manipulators

Centers of Stiffness, Compliance, and Elasticity in the Modelling of Robotic Systems

Namik Ciblak, Harvey Lipkin

IDETC-CIE 1994; 185-195https://doi.org/10.1115/DETC1994-0322

Abstract

View Articletitled, Centers of Stiffness, Compliance, and Elasticity in the Modelling of Robotic Systems

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Topics: Elasticity , Modeling , Robotics , Stiffness , End effectors

Asymmetric Cartesian Stiffness for the Modelling of Compliant Robotic Systems

Namik Ciblak, Harvey Lipkin

IDETC-CIE 1994; 197-204https://doi.org/10.1115/DETC1994-0323

Abstract

View Articletitled, Asymmetric Cartesian Stiffness for the Modelling of Compliant Robotic Systems

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Topics: Modeling , Robotics , Stiffness , Stress , Equilibrium (Physics) , Springs , Theorems (Mathematics)

Identification for Manipulators With Joint Compliances and Link Deflections

Cheng Y. Lin, Meng-Sang Chew, Louis J. Everett, Jer-Nan Juang

IDETC-CIE 1994; 205-212https://doi.org/10.1115/DETC1994-0324

Abstract

View Articletitled, Identification for Manipulators With Joint Compliances and Link Deflections

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Topics: Deflection , Manipulators , Algorithms , End effectors , Flexible manipulators , Gravity (Force) , Kinematics , Robots , Simulation

Control of Robotic Systems

Development of a Real Time Intelligent Robotic Tracking System

Marc D. Mikesell, Raymond J. Cipra

IDETC-CIE 1994; 213-222https://doi.org/10.1115/DETC1994-0325

Abstract

View Articletitled, Development of a Real Time Intelligent Robotic Tracking System

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Topics: Robotics , Manipulators , Trajectories (Physics) , Computers , Generators , Robots

Trajectory Planning and Open Loop Control for Nonholonomic Control Systems

Z. Retchkiman, F. Khorrami, J. Rastegar

IDETC-CIE 1994; 223-228https://doi.org/10.1115/DETC1994-0326

Abstract

View Articletitled, Trajectory Planning and Open Loop Control for Nonholonomic Control Systems

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Topics: Control systems , Trajectories (Physics)

The Use of Positioning Error Functions in Robot Calibration

Jian P. Liu, J. P. Sadler

IDETC-CIE 1994; 229-236https://doi.org/10.1115/DETC1994-0327

Abstract

View Articletitled, The Use of Positioning Error Functions in Robot Calibration

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Topics: Calibration , Error functions , Robots , Errors , Computer simulation , End effectors , Geometry

Augmented Lagrangian and Projection Methods for Constrained Multibody Dynamics

Eduardo Bayo, Ragnar Ledesma

IDETC-CIE 1994; 237-247https://doi.org/10.1115/DETC1994-0328

Abstract

View Articletitled, Augmented Lagrangian and Projection Methods for Constrained Multibody Dynamics

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Topics: Equations of motion , Errors , Machinery , Multibody dynamics , Multibody systems , Topology

Dynamic Model of a Hybrid Robot Manipulator Based on Stewart Platform

Su-tai Chen

IDETC-CIE 1994; 249-253https://doi.org/10.1115/DETC1994-0329

Abstract

View Articletitled, Dynamic Model of a Hybrid Robot Manipulator Based on Stewart Platform

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Topics: Chain , Dynamic models , Manipulators , Robots , Degrees of freedom , Equations of motion

Kinematics of Parallel Manipulators

Kinematic Analysis of Spherical Two-Degree-of-Freedom Parallel Manipulators

Clément M. Gosselin, Caroline Cloutier, Denis Rancourt

IDETC-CIE 1994; 255-262https://doi.org/10.1115/DETC1994-0330

Abstract

View Articletitled, Kinematic Analysis of Spherical Two-Degree-of-Freedom Parallel Manipulators

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Topics: Kinematic analysis , Manipulators , Kinematics , Degrees of freedom , Geometry , Jacobian matrices , Solar energy

Efficient Computation of the Direct Kinematics of Parallel Manipulators Using Polynomial Networks

Roger Boudreau, Salah Darenfed, Clément Gosselin

IDETC-CIE 1994; 263-270https://doi.org/10.1115/DETC1994-0331

Abstract

View Articletitled, Efficient Computation of the Direct Kinematics of Parallel Manipulators Using Polynomial Networks

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Topics: Computation , Kinematics , Manipulators , Polynomials , Artificial neural networks , Databases , Degrees of freedom , Errors , Trajectories (Physics)

Instantaneous Kinematics of Modular Parallel Manipulators

Kourosh Etemadi-Zanganeh, Jorge Angeles

IDETC-CIE 1994; 271-277https://doi.org/10.1115/DETC1994-0332

Abstract

View Articletitled, Instantaneous Kinematics of Modular Parallel Manipulators

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Topics: Kinematics , Manipulators , Screws , Equations of motion , Redundant manipulators

Kinematic Analysis of a Class of Spatial Parallel Manipulators With Three Degrees of Freedom

Roger B. Hertz, Peter C. Hughes

IDETC-CIE 1994; 279-284https://doi.org/10.1115/DETC1994-0333

Abstract

View Articletitled, Kinematic Analysis of a Class of Spatial Parallel Manipulators With Three Degrees of Freedom

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Topics: Degrees of freedom , Kinematic analysis , Manipulators , Geometry , Kinematics , Robotics , Trusses (Building)

Direct Kinematics of a 3-DOF Spatial Parallel Manipulator With Flexible Legs

Abbas Fattah, Jorge Angeles, Arun K. Misra

IDETC-CIE 1994; 285-291https://doi.org/10.1115/DETC1994-0334

Abstract

View Articletitled, Direct Kinematics of a 3-DOF Spatial Parallel Manipulator With Flexible Legs

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Topics: Kinematics , Manipulators , Finite element analysis

Generation and Forward Displacement Analyses of Two New Classes of Analytic 6-SPS Parallel Robots

Xian-Wen Kong, Ting-Li Yang

IDETC-CIE 1994; 293-300https://doi.org/10.1115/DETC1994-0335

Abstract

View Articletitled, Generation and Forward Displacement Analyses of Two New Classes of Analytic 6-SPS Parallel Robots

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Topics: Displacement , Robots , Polynomials

Path Planning

Second Order Geometry-Based Path Tracking of Industrial Arm Subassemblies

Steven J. Lorenc, Michael M. Stanisic

IDETC-CIE 1994; 301-306https://doi.org/10.1115/DETC1994-0336

Abstract

View Articletitled, Second Order Geometry-Based Path Tracking of Industrial Arm Subassemblies

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Topics: Degrees of freedom , Geometry , Trajectories (Physics)

Planning Collision Free Paths for Cooperating Robots Using a Divide-and-Conquer C-Space Traversal Heuristic

Jonathan M. Weaver, Stephen J. Derby

IDETC-CIE 1994; 307-315https://doi.org/10.1115/DETC1994-0337

Abstract

View Articletitled, Planning Collision Free Paths for Cooperating Robots Using a Divide-and-Conquer C-Space Traversal Heuristic

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Topics: Collisions (Physics) , Robots , Kinematics

A Near-Time-Optimal Planning Method for Robotic Interception of Moving Objects

E. A. Croft, G. Zak, G. Hexner, R. G. Fenton, B. Benhabib

IDETC-CIE 1994; 317-322https://doi.org/10.1115/DETC1994-0338

Abstract

View Articletitled, A Near-Time-Optimal Planning Method for Robotic Interception of Moving Objects

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Topics: Robotics , Manipulators , Grasping , Path planning , Robot motion , Trajectories (Physics)

Optimal Collision-Free Path Planning for Robots Using B-Splines and Simulated Annealing

Horacio Martínez-Alfaro, Donald R. Flugrad

IDETC-CIE 1994; 323-331https://doi.org/10.1115/DETC1994-0339

Abstract

View Articletitled, Optimal Collision-Free Path Planning for Robots Using B-Splines and Simulated Annealing

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Topics: B-splines , Collisions (Physics) , Path planning , Robots , Simulated annealing , Automated guided vehicles , Manipulators , Kinematics , Optimization , Robustness

An Object Shape Dependent Kinematic Manipulability Measure for Path Planning and Shape Optimization

J. Rastegar, S. Z. Zhang

IDETC-CIE 1994; 333-339https://doi.org/10.1115/DETC1994-0340

Abstract

View Articletitled, An Object Shape Dependent Kinematic Manipulability Measure for Path Planning and Shape Optimization

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Topics: Kinematics , Path planning , Shape optimization , Shapes , Manipulators , End effectors , Algorithms , Dimensions , Manufacturing

Robotic Wrists and End-Effectors

The Dexterous Solid Angle of Robotic Manipulators With a Spherical Wrist

Karim A. Abdel-Malek, Burton Paul

IDETC-CIE 1994; 341-350https://doi.org/10.1115/DETC1994-0341

Abstract

View Articletitled, The Dexterous Solid Angle of Robotic Manipulators With a Spherical Wrist

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Topics: Manipulators , Degrees of freedom

Fabrication and Analysis of a Novel 3 DOF Parallel Wrist Mechanism

Sunil Kumar Agrawal, Glen Desmier, Siyan Li

IDETC-CIE 1994; 351-354https://doi.org/10.1115/DETC1994-0342

Abstract

View Articletitled, Fabrication and Analysis of a Novel 3 DOF Parallel Wrist Mechanism

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Topics: Kinematics , Manufacturing , Rotation

The Double Universal Joint Wrist on a Manipulator: Inverse Position Kinematics and Singularities

Robert L. Williams, II

IDETC-CIE 1994; 355-360https://doi.org/10.1115/DETC1994-0343

Abstract

View Articletitled, The Double Universal Joint Wrist on a Manipulator: Inverse Position Kinematics and Singularities

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Topics: Kinematics , Manipulators , Universal joints , Robots

Line Geometry and the Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation

Curtis L. Collins, Gregory L. Long

IDETC-CIE 1994; 361-369https://doi.org/10.1115/DETC1994-0344

Abstract

View Articletitled, Line Geometry and the Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation

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Topics: Control equipment , Geometry , Jacobian matrices , Robotics

Mobile Robots

A Heuristic Algorithm for Mobile Robots to Predict Reactions of Dynamic Obstacles

J. L. Newcomer, Stephen J. Derby

IDETC-CIE 1994; 371-376https://doi.org/10.1115/DETC1994-0345

Abstract

View Articletitled, A Heuristic Algorithm for Mobile Robots to Predict Reactions of Dynamic Obstacles

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Topics: Algorithms , Mobile robots , Collisions (Physics) , Distance measurement , Kalman filters , Public utilities

Design of Ball Wheel Vehicles With Full Mobility, Invariant Kinematics and Dynamics and Anti-Slip Control

Mark West, Haruhiko Asada

IDETC-CIE 1994; 377-384https://doi.org/10.1115/DETC1994-0346

Abstract

View Articletitled, Design of Ball Wheel Vehicles With Full Mobility, Invariant Kinematics and Dynamics and Anti-Slip Control

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Topics: Design , Dynamics (Mechanics) , Kinematics , Mechanical admittance , Vehicles , Wheels , Bearings , Tires , Engineering prototypes , Motion control

A Hybrid Adaptive Mobility System

Parris Wellman, Vijay Kumar

IDETC-CIE 1994; 385-392https://doi.org/10.1115/DETC1994-0347

Abstract

View Articletitled, A Hybrid Adaptive Mobility System

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Topics: Mechanical admittance , Design , Actuators , Manipulators , Optimization , Stability , Vehicles , Wheels

Displacement Analysis of an Articulated Wheeled Vehicle Configuration on Uneven Terrain

S. V. Sreenivasan, K. J. Waldron

IDETC-CIE 1994; 393-402https://doi.org/10.1115/DETC1994-0348

Abstract

View Articletitled, Displacement Analysis of an Articulated Wheeled Vehicle Configuration on Uneven Terrain

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Topics: Displacement , Vehicles , Chain , Polynomials , Geometry , Kinematics , Mechanical admittance , Stability

Pseudo-Static Walking With a Non-Overconstrained Walking Machine

Chee K. Foo, Eugene F. Fichter, Becky L. Fichter

IDETC-CIE 1994; 403-409https://doi.org/10.1115/DETC1994-0349

Abstract

View Articletitled, Pseudo-Static Walking With a Non-Overconstrained Walking Machine

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Topics: Legged locomotion , Design , Manipulators

Control of Redundant Robots

Actuator Saturation Avoidance in Redundantly Actuated, Fault-Tolerant Parallel Manipulators

Yung Ting, Sabri Tosunoglu, Robert Freeman

IDETC-CIE 1994; 411-417https://doi.org/10.1115/DETC1994-0350

Abstract

View Articletitled, Actuator Saturation Avoidance in Redundantly Actuated, Fault-Tolerant Parallel Manipulators

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Topics: Actuators , Manipulators , Torque , Failure , Trajectories (Physics) , Robots , Algorithms , Control equipment , Corners (Structural elements) , End effectors

Effects of Actuator Stiffness Upon Inverse Position Solutions for Kinematically Redundant Manipulators

Jeffrey A. Kuo, D. John Sanger, David R. Kerr

IDETC-CIE 1994; 419-425https://doi.org/10.1115/DETC1994-0351

Abstract

View Articletitled, Effects of Actuator Stiffness Upon Inverse Position Solutions for Kinematically Redundant Manipulators

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Topics: Actuators , Redundant manipulators , Stiffness , Kinematics , Manipulators , Dimensions , Equilibrium (Physics) , Redundancy (Engineering)

Control of Constrained Manipulators With Redundant Position Variables and Contact Forces

Christoph Woernle

IDETC-CIE 1994; 427-436https://doi.org/10.1115/DETC1994-0352

Abstract

View Articletitled, Control of Constrained Manipulators With Redundant Position Variables and Contact Forces

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Topics: Manipulators , Dynamics (Mechanics) , Chain , Collisions (Physics) , Damping , Force control , Nonlinear dynamics

Improving Robot System Performance Using Computer Vision

J. Barry Fallon, Charles F. Reinholtz, R. Ryan Vallance, Ravinder S. Voruganti, A. Lynn Abbott

IDETC-CIE 1994; 437-444https://doi.org/10.1115/DETC1994-0353

Abstract

View Articletitled, Improving Robot System Performance Using Computer Vision

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Topics: Computers , Robots , Calibration , Feedback , Kinematics

Redundancy Resolution of Serial Manipulators As the Lagrange Problem of Optimal Control

Zhaoyu Wang, Kazem Kazerounian

IDETC-CIE 1994; 445-449https://doi.org/10.1115/DETC1994-0354

Abstract

View Articletitled, Redundancy Resolution of Serial Manipulators As the Lagrange Problem of Optimal Control

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Topics: Manipulators , Optimal control , Redundancy (Engineering) , Resolution (Optics) , Optimization

Robot Configuration Singularities

Singularity and Duality of Parallel Robots

Shih-Liang Wang

IDETC-CIE 1994; 451-458https://doi.org/10.1115/DETC1994-0355

Abstract

View Articletitled, Singularity and Duality of Parallel Robots

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Topics: Robots , Kinematics , Linkages , Screws , Statics

Uncertainty Configurations of Three-Branch Parallel Manipulators: Identification and Elimination

Leila Notash, Ron P. Podhorodeski

IDETC-CIE 1994; 459-466https://doi.org/10.1115/DETC1994-0356

Abstract

View Articletitled, Uncertainty Configurations of Three-Branch Parallel Manipulators: Identification and Elimination

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Topics: Manipulators , Uncertainty , Screws , Actuators , Degrees of freedom

Analysis of the Instantaneous Kinematics and Singular Configurations of Hybrid-Chain Manipulators

Dimiter S. Zlatanov, Robert G. Fenton, Beno Benhabib

IDETC-CIE 1994; 467-476https://doi.org/10.1115/DETC1994-0357

Abstract

View Articletitled, Analysis of the Instantaneous Kinematics and Singular Configurations of Hybrid-Chain Manipulators

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Topics: Chain , Kinematics , Manipulators , Architecture , Screws

A Second Order Analysis of Manipulator Kinematics in Singular Configurations

Seshadri Narasimhan, Vijay Kumar

IDETC-CIE 1994; 477-484https://doi.org/10.1115/DETC1994-0358

Abstract

View Articletitled, A Second Order Analysis of Manipulator Kinematics in Singular Configurations

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Topics: Algorithms , Chain , Computer simulation , End effectors , Equations of motion , Jacobian matrices , Kinematics , Manipulator kinematics , Manipulators , Screws