Table Of Content

Journal of ROBOTIC SYSTEMS Contents Volume 9, 1992 Number 1, February 1992 1 Periodic Gaits for the CMU Ambler Suren N. Dwivedi and Swaminathan Mahalingam Kinematics of a Parallel—Serial (Hybrid) Manipulator M. Shahinpoor Multiplexed Piezoelectric Polymer Tactile Sensor Edward S. Kolesar, Jr., Rocky R. Reston, Douglas G. Ford, and Robert C. Fitch, Jr. Modeling and Adaptive Coordination Control of a Two-Robot System Han-Pang Huang and Ruey-Sheng Chen Forward Kinematics of a Class of Parallel (Stewart) Platforms with Closed-Form Solutions Chang-de Zhang and Shin-Min Song Compensation of Robot Joint Variables Using Special Jacobian Matrices C. R. Mirman and K. C. Gupta Call for Papers Number 2, March 1992 Special Issue on Robots in Hazardous Environments 141 Guest Editorial: Robots in Unstructured and Radioactive Environments Mo Jamshidi and Samad Hayati 1100 Journal of Robotic Systems—1992 145 Model-Based, Sensor-Directed Remediation of Underground Storage Tanks B. Christensen, W. Drotning, and S. Thunborg Nuclear Sample Management Using a Plutonium Dissolution Robotic System Robert M. Hollen Teleoperated Equipment for Emergency Response Applications at the Savannah River Site Robert F. Fogle and Frank M. Heckendorn Applications of Automated Sampling Systems in British Nuclear Reprocessing Plants P. J. Welch Homeostatic Control for a Mobile Robot: Dynamic Replanning in Hazardous Environments Ronald C. Arkin Robot Manipulator Control for Hazardous Waste-Handling Applications R. Colbaugh and M. Jamshidi Telerobotic Manipulator for Hazardous Environments F. M. Smith, D. K. Backman, and S. C. Jacobsen Supervisory Telerobotics Testbed for Unstructured Environments S. Hayati and J. Balaram Intelligent Manipulator System with Nonsymmetric and Redundant Master—Slave Katsuhiko Sato, Motohiko Kimura, and Akira Abe NASA Laboratory Telerobotic Manipulator Control System Architecture J. C. Rowe, P. L. Butler, R. L. Glassell, and J. N. Herndon Call for Papers Number 3, April 1992 301 Nonlinear Ultimate Boundedness Control and Stabilization of a Flexible Robotic Arm P. J. Nathan and Sahjendra N. Singh Volume Contents 327 Accuracy of Finite Dimensional Dynamic Models of Flexible Manipulators for Controller Design Sabri Cetinkunt and Wen-Lung Yu Cooperation without Communication: Multiagent Schema-Based Robot Navigation Ronald C. Arkin Two-Dimensional Orientation Sensor O. Partaatmadja, B. Benhabib, E. Kaizerman, and M. Q. Dai Computer Generation of Symbolic Kinematics for Robot Manipulators Eduardo Mu, James T. Cain, and Luis G. Herrera-Bendezu Task-Based Configuration Control of Redundant Manipulators Homayoun Seraji Call for Papers Number 4, June 1992 455 Linearized Dynamic Models for Trajectory Control of Robot Manipulators A. Swarup and M. Gopal A Kinematic Analysis of the Modified Flight Telerobotic Servicer Manipulator System Carl Crane, Tim Carnahan, and Joseph Duffy Optimal Redundancy Resolution of a Kinematically Redundant Manipulator for a Cyclic Task Byoung Wook Choi, Jong Hwa Won, and Myung Jin Chung An Identification Method for Estimating the Inertia Parameters of a Manipulator Shir-Kuan Lin Feedback Control of Robot Arm with Discrete Nonlinear Model T. J. Tarn, A. K. Bejczy, and S. Ganguly Call for Papers 1102 Journal of Robotic Systems—1992 Number 5, July 1992 563 Iterative Learning Control: A Survey and New Results Kevin L. Moore, Mohammed Dahleh, and S. P. Bhattacharyya 595 Deformation Identification and Estimation of One-Dimensional Objects by Vision Sensors Chichyang Chen and Yuan F. Zheng Path Feasibility and Modification Kuu-young Young and Chi-haur Wu Power Grasp Force Distribution Control Using Artificial Neural Networks Mark D. Hanes, Stanley C. Ahalt, Khalid Mirza, and David E. Orin Frequency Domain Synthesis of Trajectory Learning Controllers for Robot Manipulators Tom Kavli Procedure for Manipulator Inverse Kinematics Computation and Proper Pseudoinverse Perturbation R. V. Mayorga, A. K. C. Wong and K. S. Ma 703 Call for papers Number 6, September 1992 705 Guest Editorial: Passive Ranging for Robotic Systems Bir Bhanu and Banavar Sridhar 709 Vision-Based Obstacle Detection for Rotorcraft Flight Banavar Sridhar, Ray Soursa, Phillip Smith, and Bassam Hussien 729 Passive Ranging Using a Moving Camera Chandra Shekhar and Rama Chellappa 753 Mode! Extension and Refinement Using Pose Recovery Techniques Rakesh Kumar and Allen R. Hanson DROID Analysis of the NASA Helicopter Images Chris Harris, Mike Stephens, Ed Sparks, and Mary Pike Volume Contents 787 Passive Stereo Range Imaging for Semi-Autonomous Land Navigation Larry Matthies Inertial Navigation Sensor Integrated Motion Analysis for Autonomous Vehicle Navigation Barry Roberts and Bir Bhanu Is Visual Reconstruction Necessary? Obstacle Avoidance Without Passive Ranging Yiannis Aloimonos 859 Acknowledgments Number 7, October 1992 861 A Systematic Method of Dynamics for Flexible Robot Manipulators Chang-Jin Li and T. S. Sankar 893 Application of Robust Control Techniques to a Mobile Robot System Kai Liu and Frank L. Lewis Practical Fusion Algorithms for Rotation Matrices: A Comparative Study Hangi Zhuang, Zvi S. Roth, and R. Sudhakar Stability and Control Aspects of Flexible Link Robot Manipulators During Constrained Motion Tasks James K. Mills Foward Kinematics of Walking Machines with Pantograph Legs Based on Selections of Independent Joints Chang-de Zhang and Shin-Min Song Redundant Grasps, Redundant Manipulators, and Their Dual Relationships D. R. Kerr, M. Griffis, D. J. Sanger, and J. Duffy Number 8, December 1992 1001 Analytic Minimum-Norm Solution for Rate Coordination in Redundant Manipulators Hareendra Varma and Ming Z. Huang Journal of Robotic Systems—1992 The Reachability and Dexterity of Elbow and Dual-Elbow Robot Manipulators Dimitrios M. Emiris and Vassilios D. Tourassis An Efficient Technique for Finding the Desired Global Optimum of Robotic Joint Displacement Paul P. Lin and An-Jen Yang Kinematics of Automatic Guided Vehicles with an Inclined Steering Column and an Offset Distance: Criterion for Existence of Inverse Kinematic Solution R. M. H. Cheng and Ramesh Rajagopalan Explicit Dynamic Equations for a Chain of Flexibie Links Zhongping Deng and Liping Wang Index to Volume 9