Table Of Content

Journal of ROBOTIC SYSTEMS Contents Volume 10, 1993 Number 1, February 1993 1 Objects Interaction Using Superquadrics for Telemanipulation System Simulation Emmanuel |. Agba, Tin-Lup Wong, Ming Z. Huang, and Andrew M. Clark Variable Structure Trajectory Control of an Elastic Robotic Arm Sethu K. Madhavan and Sahjendra N. Singh A Fast Procedure for Manipulator Inverse Kinematics Computation and Singularities Prevention R. V. Mayorga, N. Milano, and A. K. C. Wong Existence and Uniqueness of Solution of the Inverse Dynamics of Multilink Flexible Arms: Convergence of a Numerical Scheme Herve C. Moulin, Eduardo Bayo, and Bradley Paden Measurement and Analysis of Structural Dynamics Properties of Robotic Joint Transmission System Shiuh-Jer Huang and Chin-Yin Chen Linear Learning Control of Robot Motion Zhihua Qu, John Dorsey, Darren M. Dawson, and Roger W. Johnson A Model for Robot Motion Performance Robert M. Wygant and Bob E. White Number 2, March 1993 153 Grasp Synthesis for Planar and Solid Objects Yu-Che Chen, lan D. Walker, and John B. Cheatham 1112 Journal of ROBOTIC SYSTEMS Contents Volume 10, 1993 Number 1, February 1993 1 Objects Interaction Using Superquadrics for Telemanipulation System Simulation Emmanuel |. Agba, Tin-Lup Wong, Ming Z. Huang, and Andrew M. Clark Variable Structure Trajectory Control of an Elastic Robotic Arm Sethu K. Madhavan and Sahjendra N. Singh A Fast Procedure for Manipulator Inverse Kinematics Computation and Singularities Prevention R. V. Mayorga, N. Milano, and A. K. C. Wong Existence and Uniqueness of Solution of the Inverse Dynamics of Multilink Flexible Arms: Convergence of a Numerical Scheme Herve C. Moulin, Eduardo Bayo, and Bradley Paden Measurement and Analysis of Structural Dynamics Properties of Robotic Joint Transmission System Shiuh-Jer Huang and Chin-Yin Chen Linear Learning Control of Robot Motion Zhihua Qu, John Dorsey, Darren M. Dawson, and Roger W. Johnson A Model for Robot Motion Performance Robert M. Wygant and Bob E. White Number 2, March 1993 153 Grasp Synthesis for Planar and Solid Objects Yu-Che Chen, lan D. Walker, and John B. Cheatham 1112 Volume Contents 1113 187 A Preliminary Experiment in Dual-Channel Tactile Information Flow R. M. Taylor, B. Kawarizadeh, H. Hemami, and K. L. Boyer 199 Joint Trajectory Generation for Redundant Robots in an Environment with Obstacles Z. Y. Guo and T. C. Hsia Direct Adaptive Impedance Control of Robot Manipulators R. Colbaugh, H. Seraji, and K. Glass Null Space Damping Method for Local Joint Torque Optimization of Redundant Manipulators Hee-Jun Kang and Robert A. Freeman Dynamic Model of Robot Manipulator in Explicit Form Formulation with Dual Vectors and the Notion of Augmented Body M. Baklouti and J. M. Castelain Number 3, April 1993 299 Micro-Telerobot for Manipulation of Microscopic Objects Immersed in a Liquid Layer P. K. C. Wang Experimental Two-Axis Vibration Suppression and Control of a Flexible Robot Arm Woosoon Yim, Jichun Zuang, and Sahjendra N. Singh Parallel Computation of Symbolic Robot Models and Control Laws: Theory and Application to Transputer Networks N. Kiréanski, T. Petrovié and M. Vukobratovic Real-Time Trajectory Generation in Multi-RCCL John Lloyd and Vincent Hayward Method for Kinematic Calibration of Stewart Platforms Hangi Zhuang and Zvi S. Roth Number 4, June 1993 407 Kinematics of an Infinitely Flexible Robot Arm P. J. Choi, J. A. Rice, and J. C. Cesarone 1114 Journal of Robotic Systems—1993 427 Analysis and Design of a Robotic Distance Sensor O. Partaatmadja, B. Benhabib, and A. A. Goldenberg 447 Design of Robust PD-Type Control Laws for Robotic Manipulators with Parametric Uncertainties S. S. Shahruz, G. Langari, and M. Tomizuka A Family of Stewart Platforms with Optimal Dexterity Kenneth H. Pittens and Ron P. Podhorodeski Review and Unification of Reduced-Order Force Control Methods Michael T. Grabbe, J. J. Carroll, D. M. Dawson, and Z. Qu Nonlinear Control with End-Point Acceleration Feedback for a Two-Link Flexible Manipulator: Experimental Results Farshad Khorrami and Sandeep Jain Inverse Kinematics and Inverse Dynamics for Control of a Biped Walking Machine Ching-Long Shih, William A. Gruver, and Tsu-Tian Lee Special Issue on Parallel Closed-Kinematic Chain Manipulators and Devices Number 5, July 1993 557 Guest Editorial: Parallel Closed-Kinematic Chain Manipulators and Devices Charles C. Nguyen and Mo Jamshidi, Guest Editors Synthesis and Analysis of a New Class of Six-Degree-of-Freedom Parallel Minimanipulators Lung-Wen Tsai and Farhad Tahmasebi Geometric Analysis of Antagonistic Stiffness in Redundantly Actuated Parallel Mechanisms Byung-Ju Yi and Robert A. Freeman An Efficient Method for Inverse Dynamics of Manipulators Based on Virtual Work Principle Chang-De Zhang and Shin-Min Song Dynamic Analysis and Control of a Stewart Platform Manipulator G. Lebret, K. Liu and F. L. Lewis Volume Contents 657 Adaptive Control of a Stewart Platform-Based Manipulator Charles C. Nguyen, Sami S. Antrazi, Zhen-Lei Zhou, and Charles E. Campbell, Jr. Exact Methods for Determining the Kinematics of a Stewart Platform Using Additional Displacement Sensors Ka C. Cheok, James L. Overholt, and Ronald R. Beck The NIST ROBOCRANE James Albus, Roger Bostelman, and Nicholas Dagalakis Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism Zheng Geng and Leonard S. Haynes Kinematics and Control of a Fully Parallel Force-Reflecting Hand Controller for Manipulator Teleoperation Mark D. Bryfogle, Charles C. Nguyen, Sami S. Antrazi, and Peter C. Chiou Kinematic Decoupling in Mechanisms and Application to a Passive Hand Controller Design Vincent Hayward, Chafye Nemri, Xianze Chen, and Bertrand Duplat Number 6, September 1993 791 Dynamic Analysis and Determination of the Joint Characteristics of Parallel-Drive Robot Manipulators C. C. Chen, M. K. Yeh, and Cheng-Kuo Sung Null Torque-Based Dynamic Control for Kinematically Redundant Manipulators W. J. Chung, W. K. Chung, and Y. Youm Design of Global Tracking Controllers for Flexible-Joint Robots S. Nicosia and P. Tomei Tracking Control for End-Effector Position and Orientation of Structurally Flexible Manipulators Joseph Carusone and Gabriele M. T. D’Eleuterio A Linear Complementarity Approach to the Articulated Multifingered Friction Gripper A. M. Al-Fahed and P. D. Panagiotopoulos 1116 Journal of Robotic Systems—1993 Number 7, October 1993 889 Suboptimal Robot Joint Interpolation Within User-Specified Knot Tolerances Dan Simon and Can Isik Single-input/Single-Output Transfer Functions for a Flexible Slewing Link Enrique Barbieri On the Applications of Harmonic Functions to Robotics Christopher |. Connolly and Roderic A. Grupen Friction Modeling and Compensation for an Industrial Robot Stephen M. Phillips and Kevin R. Ballou Force-Closed Grasping with Two Hands José-Antonio N. Caraza and Xiaoping Yun Number 8, December 1993 991 Estimate of the Two Smallest Singular Values of the Jacobian Matrix: Application to Damped Least-Squares Inverse Kinematics Stefano Chiaverini Experimental Determination of Dynamic Parameters of Robotic Arms Ziren Lu, Karunakar B. Shimoga, and Andrew A. Goldenberg Set Point Trajectory and Internal Force Control in Redundant Dual-Arm Manipulation Krzysztof P. Jankowski, Waguih H. ElMaraghy, and Hoda A. ElMaraghy New Approach for Aggregating Multi-Sensory Data O. A. Basir and H. C. Shen Efficient Robot Arm Modeling for Computer Control Said M. Megahed Acknowledgments to Referees Index to Volume 10