ICRA 1993 - PDF Preprint Papers

ICRA 1993 International Conference on Robotics and Automation

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ICRA
1993
IEEE

273views Robotics» more ICRA 1993»

Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance

13 years 9 months ago

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A new control strategy is presented which visually tracks objects using a manipulator/camera system while simultaneously avoiding kinematic singularities and joint limits by movin...

Bradley J. Nelson, Pradeep K. Khosla

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Id	Views	Title	Status

1	273	Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance	claim
2	197	Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots	claim
3	192	Estimating Friction Using Incipient Slip Sensing During a Manipulation Task	claim
4	184	Vision-Guided Exploration: A Step Toward General Motion Planning in Three Dimensions	claim
5	184	The Kinematic Design of a 3-dof Isotropic Mobile Robot	claim
6	162	An Integrated Experience-Based Approach to Navigational Path Planning for Autonomous Mobile Robots	claim
7	152	The USC Autonomous Flying Vehicle: An Experiment in Real Time Behavior-Based Control	claim
8	147	Towards Sonar Based Perception and Modelling for Unmanned Untethered Underwater Vehicles	claim
9	142	Avoiding the Past: A Simple but Effective Strategy for Reactive Navigation	claim
10	135	Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces	claim
11	131	Exploration Strategies for Mobile Robots	claim
12	129	Robot Navigation in a Known Environment with Unknown Moving Obstacles	claim
13	126	Toward a New Intelligent Reactive Controller for Autonomous Mobile Robots	claim
14	118	Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage	claim
15	118	Mechanical Computation for Passive Force Control	claim
16	118	Hip Implant Insertability Analysis: A Medical Instance of the Peg-In-Hole Problem	claim
17	116	Discrete Implementation and Adaptation of Sliding Mode Control for Robot Manipulators	claim
18	116	A New Method for Kinematic Parameter Calibration via Laser Line Tracking	claim
19	116	Variable Structure Controller for Robot Manipulators using Time-Varying Sliding Surface	claim
20	114	A Load-Dependent Transmission Friction Model: Theory and Experiments	claim
21	114	A Reduced-Order Adaptive Velocity Observer for Manipulator Control	claim
22	114	A Class of Petri Nets with a Convex Reachability Set	claim
23	112	Analysis and Control for Manipulators with Both Joint and Link Flexibility	claim
24	111	A Normal Form Augmentation Approach to Adaptive Control of Space Robot Systems	claim
25	111	Passivity Motivated Controller Design for Flexible Structures	claim
26	111	Automatic Calibration and Visual Servoing for a Robot Navigation System	claim
27	109	Reflexive Collision Avoidance: A Generalized Approach	claim
28	108	Models for Diagnosing Robot Error Sources	claim
29	108	A Sensor Used for Measurements in the Calibration of Production Robots	claim
30	107	Acquisition of Assembly Constraints Without Redundancies	claim
31	106	Compliant Control of Threaded Fastener Insertion	claim
32	104	On Comparing Statistical and Set-Based Methods in Sensor Data Fusion	claim
33	104	Contact Transition Control: An Experimental Study	claim
34	104	Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System	claim
35	104	Numerical Determination of Optimal Non-Holonomic Paths in the Presence of Obstacles	claim
36	104	The Measure of Dynamic Coupling of Space Robot Systems	claim
37	102	Automatic Reteach of Manipulators for Manufacturing Multiple Product Lines	claim
38	102	Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms	claim
39	101	A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains	claim
40	101	Planning Multiple Observations for Specular Object Recognition	claim
41	101	Measuring Complexity of Intelligent Machines	claim
42	99	Parallel Search Algorithms for Robot Motion Planning	claim
43	99	Integration of Reactive Navigation with a flexible Parallel Hardware Architecture	claim
44	97	Task Space Velocity Blending for Real-Time Trajectory Generation	claim
45	97	Hidden Markov Model Approach to Skill Learning and Its Application in Telerobotics	claim
46	96	Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots	claim
47	95	Motion Planning Using Transient Pixel Representations	claim
48	95	Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller	claim
49	93	Internal Force-Based Impedance Control for Cooperating Manipulators	claim
50	93	Motion Planning in Stereotaxic Radiosurgery	claim
51	91	Path-Planning for Elastically Constrained Space Manipulator Systems	claim
52	88	On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models	claim
53	88	Complete Parameter Identification of a Robot from Partial Pose Information	claim
54	87	A Binocular Robotic Head System with Torsional Eye Movements	claim
55	87	Application of Force Feedback to Heavy Duty Hydraulic Machines	claim
56	86	Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass	claim
57	85	Reactive Control for Mobile Manipulation	claim
58	85	A Global Approach to Path Planning for Redundant Manipulators	claim
59	84	Real-Time Implementation of Neural Network Learning Control of a Flexible Space Manipulator	claim
60	83	Constraint-Based Object Recognition in Multisensor Systems	claim
61	79	Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design	claim
62	75	Task-space/Joint-space Damping Transformations for Passive Redundant Manipulators	claim
63	74	Further Progress in Robot Juggling: The Spatial Two-Juggle	claim
64	73	Fast Path Planning for Robot Manipulators Using Spatial Relations in the Configuration Space	claim
65	66	Robot Navigation Using the Vector Potential Approach	claim
66	65	Tri-Aural Perception on a Mobile Robot	claim
67	57	Uncertainty in Object Pose Determination with Three Light-Stripe Range Measurements	claim

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