Publications

Furukawa, T, Yagawa, G, Dissanayake, MWMG & Rye C., D 1995, 'Adaptive Passive Control for Unknown Surface Polishing.', TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, vol. 61, no. 585, pp. 1987-1993.
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In this paper, an automatic system, which was developed for polishing an unknown three-dimensional surface using a passively compliant end-effector mounted on the wrist of an industrial robot, is presented. The end-effector can maintain contact with the work surface within an angular range of 8 degrees and a 10 mm range of normal translatory movement. During polishing, position sensors on the end-effector measure the misalignment: of the robot's wrist from the local surface. A personal computer is used to acquire sensory data, to compute the desired configuration of the robot wrist, and to control the robot in a point-to-point mode. Fuzzy logic is incorporated to achieve adaptive point-to-point control. Experimental performance tests show that the system can function well on complicated surfaces. © 1995, The Japan Society of Mechanical Engineers. All rights reserved.

Lee, KY & Dissanayake, MWMG 1995, 'Near minimum-time trajectory for two coordinated manipulators', Robotica, vol. 13, no. 2, pp. 177-184.
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SummaryThis paper presents a method to obtain near minimum-time trajectories for two coordinated manipulators handling a rigid object. A piece-wise constant function is used to approximate the second derivatives of the generalised coordinates of the manipulators of the system. This transforms the time optimal control problem into a non-linearly constrained optimisation problem. The transformed problem is then solved by the sequential quadratic programming technique. A numerical example involving two SCARA type manipulators handling a long beam is used to illustrate the proposed scheme.

LIU, ZM, MOHAN, AS, AUBREY, TA & BELCHER, WR 1995, 'TECHNIQUES FOR IMPLEMENTATION OF THE FDTD METHOD ON A CM-5 PARALLEL COMPUTER', IEEE ANTENNAS AND PROPAGATION MAGAZINE, vol. 37, no. 5, pp. 64-71.
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