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Title: The robotics review 1

Abstract

Theoretical and implementation issues in robotics are discussed in reviews of recent investigations. Sections are devoted to programming, planning, and learning; sensing and perception; kinematics, dynamics, and design; and motion and force control. Particular attention is given to a robust layered control system for a mobile robot, camera calibration for three-dimensional machine vision, walking vehicles, design and control of direct-drive vehicles, an efficient parallel algorithm for robot inverse dynamics, stability problems in contact tasks, and kinematics and reaction-moment compensation for satellite-mounted robot manipulators.

Authors:
; ;
Publication Date:
OSTI Identifier:
7251877
Resource Type:
Book
Country of Publication:
United States
Language:
English
Subject:
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; REVIEWS; ALGORITHMS; COMPUTER-AIDED DESIGN; COMPUTERIZED SIMULATION; COMPUTERS; DESIGN; DYNAMICS; LEARNING; MEASURING INSTRUMENTS; MOTION; PARALLEL PROCESSING; PLANNING; PROGRAMMING; REMOTE CONTROL; VISION; CONTROL; DOCUMENT TYPES; MATHEMATICAL LOGIC; MECHANICS; SIMULATION 990200* -- Mathematics & Computers

Citation Formats

Khatib, O., Craig, J.J., and Lozano-Perez, T. The robotics review 1. United States: N. p., 1989. Web.
Khatib, O., Craig, J.J., & Lozano-Perez, T. The robotics review 1. United States.
Khatib, O., Craig, J.J., and Lozano-Perez, T. 1989. "The robotics review 1". United States. doi:.
@article{osti_7251877,
title = {The robotics review 1},
author = {Khatib, O. and Craig, J.J. and Lozano-Perez, T.},
abstractNote = {Theoretical and implementation issues in robotics are discussed in reviews of recent investigations. Sections are devoted to programming, planning, and learning; sensing and perception; kinematics, dynamics, and design; and motion and force control. Particular attention is given to a robust layered control system for a mobile robot, camera calibration for three-dimensional machine vision, walking vehicles, design and control of direct-drive vehicles, an efficient parallel algorithm for robot inverse dynamics, stability problems in contact tasks, and kinematics and reaction-moment compensation for satellite-mounted robot manipulators.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = 1989,
month = 1
}

Book:
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  • This book examines the latest contributions of engineering, applied physics, and computer science to robotics. The volume explores the applications of algorithm design and computational geometry to automatic planning and control functions. Topics considered include computational geometry, algorithmic motion planning, the approximation and decomposition of shapes, Voronoi diagrams, wire frames, and the reconstruction of objects.
  • Neural-type robotics is the field of robotics where intelligence and control functions are carried out by neural-type signal processors, the latter being electronic microsystems that emulate biological neural systems. Areas of application include intelligent industrial and medical robots for varying environments and prosthetic robotic devices, such as artificial organs, for the handicapped. This paper gives an overview of the field including the structure of generic neural-type systems, a review of the rather limited past accomplishments, a survey of the present undertakings, many of which are just under initiation, and a look at the very promising future with its vast implications.more » 14 references.« less
  • Industrial robots currently are limited in their capability for performing diverse tasks. If the tasks are changed, an extensive reprogramming effort is needed. The space program on the other hand has need for robots which are much more versatile for applications such as satellite servicing and space station assembly. This calls for robots capable of decision making and problem solving. The incorporation of certain artificial intelligence methods, particularly knowledge based approaches, into robots appears to hold the key. In this paper a review of what appear to be useful methods is presented. It appears that theorem proving and predicate calculusmore » can be used to build systems which can evolve their own planning and problem solving strategies in specific, well defined domains. The processing requirements for such systems are also considered. 7 references.« less
  • Robots are being used today in a wide variety of applications. The next generation of robots demands higher performance from the VLSI microprocessors to improve the reliability and meet the added functional requirements. The MK68000 is ideally suited for robotics applications because of its clean architecture, powerful instruction set designed for high level language implementation, generous exception handling for security and reliability, large memory addressing range, and multiprocessing features.
  • The application of aerospace technologies to the re-industrialization of the most productive nations in the world represents a real challenge to the engineering profession today. The age of flexible automation and cognitive robot development has arrived along with computer aided design and manufacturing (CAD/CAM). This paper examines the terminology, types of hardware and software utilized, and illustrations of remote-controlled manipulators and robotic systems which were observed while conducting a worldwide survey of state-of-the-art robotics and automation technology. Trends in the development of new sensor systems, precision control, and artificial intelligence are also explored. 5 references.