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Proceedings Papers

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021
Paper No: DETC2021-71602
https://doi.org/10.1115/DETC2021-71602
View Paper titled, Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)
Proceedings Papers

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021
Paper No: DETC2021-71814
https://doi.org/10.1115/DETC2021-71814
View Paper titled, Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation
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Topics: Interpolation, Kinematics, Path planning, Screws, Robots, Trajectories (Physics), Assembly lines, Generators, Manufacturing, Redundancy (Engineering)
Proceedings Papers

Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot

Rishi Malhan, Rex Jomy Joseph, Prahar M. Bhatt, Brual Shah, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A017, August 17–19, 2021
Paper No: DETC2021-71725
https://doi.org/10.1115/DETC2021-71725
View Paper titled, Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot
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Topics: Robots, Cycles, Calibration, Errors, Hardware, Manufacturing, Redundancy (Engineering), Robot motion, Uncertainty
Proceedings Papers

A Global Approach for Using Kinematic Redundancy to Minimize Base Reactions of Manipulators

C. L. Chung, S. Desa
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation, 297-303, September 17–21, 1989
Paper No: DETC1989-0138
https://doi.org/10.1115/DETC1989-0138
View Paper titled, A Global Approach for Using Kinematic Redundancy to Minimize Base Reactions of Manipulators
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Topics: Kinematics, Manipulators, Redundancy (Engineering), Degrees of freedom, Redundant manipulators, Reduced gravity environments, Resolution (Optics), Trajectories (Physics)
Proceedings Papers

A Design Methodology for a Self-Maintenance Machine

Yasushi Umeda, Tetsuo Tomiyama, Hiroyuki Yoshikawa
Proc. ASME. DETC91, 3rd International Conference on Design Theory and Methodology, 143-150, September 22–25, 1991
Paper No: DETC1991-0041
https://doi.org/10.1115/DETC1991-0041
View Paper titled, A Design Methodology for a Self-Maintenance Machine
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Topics: Design methodology, Machinery, Maintenance, Redundancy (Engineering), Engineering prototypes, Physics
Proceedings Papers

Redundancy Compensation in Control of Multiple Arms

Amir Shirkhodaie, A. H. Soni
Proc. ASME. DETC91, 3rd Conference on Flexible Assembly Systems, 97-101, September 22–25, 1991
Paper No: DETC1991-0176
https://doi.org/10.1115/DETC1991-0176
View Paper titled, Redundancy Compensation in Control of Multiple Arms
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Topics: Redundancy (Engineering)
Proceedings Papers

Optimal Placement of Actuators in the Precision Control of Truss Structures

S. K. Das, S. Utku, G. S. Chen, B. K. Wada
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics, 95-105, September 22–25, 1991
Paper No: DETC1991-0189
https://doi.org/10.1115/DETC1991-0189
View Paper titled, Optimal Placement of Actuators in the Precision Control of Truss Structures
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Topics: Actuators, Trusses (Building), Displacement, Stress, Optimization, Degrees of freedom, Equilibrium (Physics), Redundancy (Engineering)
Proceedings Papers

CIM Dictionaries: An Evolutionary Approach to CIM Data Integration

Uwe Weissflog
Proc. ASME. CIE91, ASME 1991 5th Annual Database Symposium: Engineering Databases — An Enterprise Resource, 71-78, August 18–22, 1991
Paper No: EDM1991-0184
https://doi.org/10.1115/EDM1991-0184
View Paper titled, CIM Dictionaries: An Evolutionary Approach to CIM Data Integration
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Topics: Computer-integrated manufacturing, Data fusion, Computer software, Modeling, Redundancy (Engineering)
Proceedings Papers

An Analytic Solution for Minimum-Norm Rate Coordination in Redundant Manipulators

Hareendra Varma, Ming Z. Huang
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 2 — Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls, 557-562, August 18–22, 1991
Paper No: CIE1991-0168
https://doi.org/10.1115/CIE1991-0168
View Paper titled, An Analytic Solution for Minimum-Norm Rate Coordination in Redundant Manipulators
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Topics: Redundant manipulators, Redundancy (Engineering), Linear systems, Manipulators, Resolution (Optics)
Proceedings Papers

Geometry-Based Optimal Rate Coordination for Robot Manipulators With Redundancy

K. R. Hareendra Varma, Ming Z. Huang
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 217-223, September 13–16, 1992
Paper No: DETC1992-0218
https://doi.org/10.1115/DETC1992-0218
View Paper titled, Geometry-Based Optimal Rate Coordination for Robot Manipulators With Redundancy
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Topics: Geometry, Manipulators, Redundancy (Engineering), Algorithms, Chain, Resolution (Optics)
Proceedings Papers

Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

Daniel J. Cox, Delbert Tesar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 445-453, September 13–16, 1992
Paper No: DETC1992-0244
https://doi.org/10.1115/DETC1992-0244
View Paper titled, Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators
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Topics: Manipulators, Robotics, Robots, Actuators, Redundancy (Engineering), Stress, Intelligent machines, Trajectories (Physics)
Proceedings Papers

Extended Decision Tables for Multistate Fault Tree Synthesis

J. D. Wang, T. S. Liu
Proc. ASME. DETC93, 10th Biennial Conference on Reliability, Stress Analysis, and Failure Prevention, 17-22, September 19–22, 1993
Paper No: DETC1993-0057
https://doi.org/10.1115/DETC1993-0057
View Paper titled, Extended Decision Tables for Multistate Fault Tree Synthesis
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Topics: Modeling, Pressure tanks, Redundancy (Engineering)
Proceedings Papers

The Measurement Subspaces of Parallel Manipulators Under Sensor Redundancy

Luc Baron, Jorge Angeles
Proc. ASME. DETC94, 20th Design Automation Conference: Volume 2 — Robust Design Applications; Decomposition and Design Optimization; Optimization Tools and Applications, 467-474, September 11–14, 1994
Paper No: DETC1994-0158
https://doi.org/10.1115/DETC1994-0158
View Paper titled, The Measurement Subspaces of Parallel Manipulators Under Sensor Redundancy
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Topics: Manipulators, Redundancy (Engineering), Sensors, Kinematics, Architecture, Computation, Design, Geometry
Proceedings Papers

Globally Optimal Force Allocation in Active Mechanisms With Four Frictional Contacts

S. V. Sreenivasan, K. J. Waldron, S. Mukherjee
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 63-72, September 11–14, 1994
Paper No: DETC1994-0307
https://doi.org/10.1115/DETC1994-0307
View Paper titled, Globally Optimal Force Allocation in Active Mechanisms With Four Frictional Contacts
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Topics: Algorithms, Control equipment, Degrees of freedom, Grippers, Optimization, Performance characterization, Polynomials, Redundancy (Engineering), Vehicles
Proceedings Papers

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

Zhaoyu Wang, Kazem Kazerounian
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 445-449, September 11–14, 1994
Paper No: DETC1994-0354
https://doi.org/10.1115/DETC1994-0354
View Paper titled, 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
Proceedings Papers

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

Jeffrey A. Kuo, D. John Sanger, David R. Kerr
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 419-425, September 11–14, 1994
Paper No: DETC1994-0351
https://doi.org/10.1115/DETC1994-0351
View Paper titled, 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)
Proceedings Papers

Control of Truss-Based Manipulators Using Virtual Serial Models

Robert L. Williams, II, James B. Mayhew, IV
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A058, August 18–22, 1996
Paper No: 96-DETC/MECH-1169
https://doi.org/10.1115/96-DETC/MECH-1169
View Paper titled, Control of Truss-Based Manipulators Using Virtual Serial Models
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Topics: Manipulators, Trusses (Building), Kinematics, Chain, Optimization, Real-time control, Redundancy (Engineering), Trajectories (Physics)
Proceedings Papers

On the Existence and Characteristics of Solution Paths at Algorithm Singularities

Kevin A. O’Neil, Yu-Che Chen, Jiaqing Seng
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A070, August 18–22, 1996
Paper No: 96-DETC/MECH-1145
https://doi.org/10.1115/96-DETC/MECH-1145
View Paper titled, On the Existence and Characteristics of Solution Paths at Algorithm Singularities
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Topics: Algorithms, End effectors, Redundancy (Engineering), Trajectories (Physics)
Proceedings Papers

On Residual Vibration Control of Time-Varying Redundant Open-Chain Linkage With Joint and Link Flexibility

Yue Shigang
Proc. ASME. DETC97, Volume 1C: 16th Biennial Conference on Mechanical Vibration and Noise, V01CT12A013, September 14–17, 1997
Paper No: DETC97/VIB-4016
https://doi.org/10.1115/DETC97/VIB-4016
View Paper titled, On Residual Vibration Control of Time-Varying Redundant Open-Chain Linkage With Joint and Link Flexibility
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Topics: Chain, Linkages, Redundancy (Engineering), Vibration, Vibration control
Proceedings Papers

Trajectory Synthesis and Redundancy Resolution for High Speed Point to Point Motions of Redundant Robot Manipulators

W. Kim, J. Rastegar
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A040, September 14–17, 1997
Paper No: DETC97/DAC-3864
https://doi.org/10.1115/DETC97/DAC-3864
View Paper titled, Trajectory Synthesis and Redundancy Resolution for High Speed Point to Point Motions of Redundant Robot Manipulators
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Topics: Manipulators, Redundancy (Engineering), Resolution (Optics), Trajectories (Physics), Degrees of freedom, Kinematics, Vibration, Excitation, Nonlinear dynamics, Redundant manipulators