Table Of Content

JOURNAL OFIROBOTIC SYSTEMS Contents Volume 16, 1999 Number 1, January 1999 I Nonlinear Tracking Control of Trailer Systems Using the Lyapunov Direct Method Doh-Hyun Kim and Jun-Ho Oh Haptic Perception of Shape and Hollowness of Deformable Objects Using the Anthrobot-lll Robot Hand I. Erkmen, A. M. Erkmen, A. E. Tekkaya, and T. Pasinlioglu Nonlinear Torque Control of a Single-Link Flexible Robot Zheng-Hua Luo and De-Xing Feng The NTUA Snake: Design, Planar Kinematics, and Motion Planning K. J. Kyriakopoulos, G. Migadis, and K. Sarrigeorgidis Number 2, February 1999 73 Direct Motion Estimation from a Range Scan Sequence Javier Gonzalez and Rafael Gutierrez 81 Initial Calibration and Alignment of Low-Cost Inertial Navigation Units for Land Vehicle Applications Eduardo Nebot and Hugh Durant-Whyte Dynamics of Cooperating Manipulators for Fixtureless Assembly and Robust Control Based on Fuzzy Logic Hyeung-Sik Choi On the Kinematic of a 3-DOF Stewart Platform Kadri Buirtincik and Yilmaz Tokad 119 Feedback Control for Robotic Manipulator with an Uncertain Jacobian Matrix C. C. Cheah, S. Kawamura, and S. Arimoto 135 Acknowledgments to Referees Number 3, March 1999 137 Kinematic and Dynamic Models of Hybrid Robot Manipulator for Propeller Grinding Min Ki Lee, Kun Woo Park, and Byong Oh Choi A Framework for Large-Force Task Planning of Mobile and Redundant Manipulators Evangelos Papadopoulos and Yves Gonthier 163 On Perceptual Advantages of Active Robot Vision Giorgio Cannata and Enrico Grosso 185 Time-Optimal Constant Speed Motion Program for Multiple Cooperating Manipulators L. T. Wang and M. J. Kuo Number 4, April 1999 195 Adaptive Neural Network Control of Coordinated Manipulators L. C. Woon, S. S. Ge, X. Q. Chen, and C. Zhang Numerical Inverse Kinematics for Modular Reconfigurable Robots I-Ming Chen, Guilin Yang, and In-Gyu Kang Identification of Placement Parameters for Modular Platform Manipulators Zhiming Ji and Zhenqun Li Feedback Control Strategies for a Nonholonomic Mobile Robot Using a Nonlinear Oscillator Ranjan Mukherjee, Degang Chen, and Gangbing Song Number 5, May 1999 249 Smooth Vision-Based Autonomous Land Vehicle Navigation in Indoor Environments by Person Following Using Sequential Pattern Recognition Ching-Heng Ku and Wen-Hsiang Tsai Robot Control for Robust Stability with Finite Reachability Time in the Whole Lyubomir T. Gruyitch and Annemarie Kékésy 285 Disturbance Rejection for Space-Based Manipulators K. Holt and A. A. Desrochers 301 Enhanced Direct Adaptive Fuzzy Control of Robot Manipulators S. H. Chin, M. J. Er, and S. S. Neo Number 6, June 1999 313 Visual Servoing Control of Autonomous Robot Calibration and Navigation Zhongfei Zhang, Richard Weiss, and Allen R. Hanson Experimental Determination of the Hydrodynamic Coefficients of an Underwater Manipulator Chen-Chou Lin, Rong-Che Chen, and Tsuen-Liang Li An Improved Trajectory Planner for Redundant Manipulators in Constrained Workspace Tzu-Chen Liang and Jing-Sin Liu Closed-Loop Inverse Kinematics Algorithm for Constrained Flexible Manipulators Under Gravity Bruno Siciliano Number 7, July 1999 363 Motions, Efforts, and Actuations in Constrained Dynamic Systems: A Multilink Closed Chain Example N. Duke Perreira Navigation Integration of a Mobile Robot in Dynamic Environments Kai-Tai Song and Charles C. Chang Redundancy Resolution and Obstacle Avoidance for Cooperative Industrial Robots Bailin Cao, Gordon I. Dodds, and George W. Irwin Number 8, August 1999 419 Placement of a Manipulator for Minimum Cycle Time Mohamed B. Trabia and Murali Kathari 433 A Decomposition Approach for the Kinematic Synthesis of Tendon-Driven Manipulators Dar-Zen Chen, Jiun-Chin Su, and Kang-Li Yao 445 Kinematics of Grasping and Manipulation of a B-Spline Surface Object by a Multifingered Robot Hand Chang-Soon Hwang, Masaharu Takano, and Ken Sasaki A New Simulation Based Robot Command Library Applied to Three Robots Giles Tewkesbury and David Sanders Number 9, September 1999 471 Constrained Robot Dynamics |: Serial Robots with End-Effector Constraints J. M. Selig and P. R. McAree Constrained Robot Dynamics II: Parallel Machines J. M. Selig and P. R. McAree About the Newton-Euler Method Mauricio Anigstein On the Grasping Stability and Optimality under External Perturbations Maw-kae Hor and Shiaw-Chian Wu Number 10, October 1999 527 Motion Planning of Walking Robots in Environments with Uncertainty Chun-Hung Chen, Vijay Kumar, and Yuh-Chyun Luo Curve Tracking and Reproduction by a Robot with a Vision System Jing Lin, Hui-Tang Chen, Ping Jiang, Yue-Juan Wang, and Peng-Yung Woo Motion Planning for Cooperating Mobile Manipulators Jaydev P. Desai and Vijay Kumar Position Control of a Flexible Gantry Robot Arm Using Smart Material Actuators Sang-Soo Han, Seung-Bok Choi, and Jae-Hwan Kim Number 11, November 1999 597 Interdependence and Information Loss in Multi- Sensor Systems O. A. Basir and H. C. Shen On the Boundedness of the Hessian of the Potential Energy of Robot Manipulators Ruvinda Gunawardana and Fathi Ghorbel A New Nonlinear Gain Structure for PD-Type Controllers in Robotic Applications Tom P. Bucklaew and Ching-Shi Liu Multisensor Controlled Robot System for Recognizing and Tracking Moving Multiple Objects Ilhan Konukseven and Bilgin Kaftanoglu Number 12, December 1999 667 Saturation Avoidance Methods for Serial Robots Operating Under a Failure Yung Ting, Sabri Tosunoglu, Robert Freeman, and Delbert Tesar Efficient Formulations for the Manipulator Inertia Matrix in Terms of Minimal Linear Combinations of Inertia Parameters Shir-Kuan Lin and Chang-jia Fang Robust Force/Motion Control of Constrained Robots Using Neural Network C. M. Kwan, A. Yesildirek, and F. L. Lewis Variable Structure Tracking Control of a Single-Link Flex- ible Arm Using Time-Varying Sliding Surface Eric H. K. Fung and Cedric K. M. Lee Author Index Volume Contents