Rights ©2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract Recent applications of robots for industrial ...

An assembly sequence is considered to be optimal when it minimizes assembly cost while satisfying assembly constraints. The assembly cost relates to assembly operations, assembly motions, and assembly direction changes. This study proposes a simulated-annealing method for the generation of such assembly sequences in robotic assembly. This method reflects the assembly cost to an energy function ...

In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both inspace operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications...

This paper reviews the many potential applications of robotics technology to current and future space operations, with particular emphasis on the experience base of the University of Maryland Space Systems Laboratory. A pedagogy is presented wherein space operations are broken down into the following areas: docking, assembly, inspection, maintenance, assistant, and training. A brief description...

The need for high precision robotic systems has increased in recent years. Examples include automated assembly of complex electro-mechanical products such as disk drives, cameras, and medical devices. In this paper we present an optical sensor which can sense motion with better than 0.15 m resolution while also o ering the advantages of insusceptibility to ambient lights, high bandwidth, and a ...

Adaptive and Fault Tolerant Tracking Control of a Pneumatic Actuator p. 49 Experimental Verification of Human Skill Transfer to Deburring Robots p. 61 Learning of Robotic Assembly Based on Force Information p. 78 Model Based Implementation of a Manipulation System with Artificial Skills p. 89 A Learning Control System for an Articulated Gripper p. 99 Implementation of Behavioral Control on a Ro...

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems is presented. Using the Stereolithography Apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The desig...

Now that the International Space Station is undergoing assembly, NASA is strategizing about the next logical exploration strategy for robotic missions and the next destination for humans. NASAÕs current efforts are in developing technologies that will both aid the robotic exploration strategy and make human flight to other celestial bodies both safe and affordable. One of these enabling technol...

This paper presents optimal trajectory planning and iterative learning control for a throwing manipulation which can control not only the position but also the orientation of a polygonal object robustly to uncertainties by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed method with the one-joint robotic arm. We also demonstrate the usefulness of the throwi...

Aalto University, P.O. Box 11000, FI-00076 Aalto www.aalto.fi Author Bo Chang Name of the doctoral dissertation Hybrid Microassembly with Surface Tension Driven Self-alignment: Handling Strategies and Micro-fabricated Patterns Publisher School of Electrical Engineering Unit Department of Automation and Systems Technology Series Aalto University publication series DOCTORAL DISSERTATIONS 117/2013...