摘要:

AbstractThis article explores object identification by complex moment features obtained using a tactile array sensor. Some complex moment invariants have been derived and implemented eliminating the effects of lateral displacement and rotation from the tactile images. The generation of a decision tree and use of the complex moment features, allow easy identification of object shapes from the tactile array sensor.

ISSN:0741-2223    

DOI:10.1002/rob.4620050102

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY

摘要:

AbstractThis article is the first of three companion papers which introduce some novel concepts useful in the kinetmatic design, analysis, motion planning, control, and performance evaluation of serial manipulators. Here an efficient methodology is developed to classify the special configurations of anNDOF manipulator. This classification yields hyper‐surfaces in the joint space on each of which the manipulator loses a certain number of its degrees of freedom. The efficiency of the methodology is based on a theorem proved in Appendix B and the utilization of the minimal reference frames. These frames are obtained and tabulated for all possible types of manipulators. Furthermore the adaptability of a manipulator to a common control algorithm is quantified via an index. The numerical values of these indices are listed for all types of manipulator

ISSN:0741-2223    

DOI:10.1002/rob.4620050103

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY

摘要:

AbstractIn this article the novel concepts of passive/active joints, component/subcomponent manifolds of the HSC, configurations/subconfigurations and their applications are presented. The article also contains a theorem which predicts the existence of passive joints and a synthesis procedure for passive joints. The concepts introduced here and in Part I are illustrated by way of examples which include three existing industrial manipulators.

ISSN:0741-2223    

DOI:10.1002/rob.4620050104

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY

摘要:

AbstractIn this article two alternatives are introduced as measures for the position and orientation space of 6 DOF manipulators which include considerations of joint limitations and scale. The cumulative freedom of the end effector, considered as a rigid body in 3D space, can thus be quantified. These alternative measures are shown to be equivalent for manipulators with spherical wrists. Applications are presented and the new concepts are illustrated by an example.

ISSN:0741-2223    

DOI:10.1002/rob.4620050105

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY

摘要:

AbstractAn experimental program was undertaken to investigate the elastodynamic response characteristics of a General Electric P50 robot retrofitted with a prototype graphite‐epoxy forearm. The retrofitted robot with this high‐strength, high‐stiffness lightweight arm was then programmed to execute a variety of maneuvers and the attendant elastodynamic deflections were measured. These experimental data were then compared with the results of complementary studies of the original robot which featured an aluminum arm. The preliminary experimental results from this proof‐of‐concept study clearly demonstrate the superior performance characteristics of the robot retrofitted with the comp

ISSN:0741-2223    

DOI:10.1002/rob.4620050106

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620050101

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1988

数据来源: WILEY