- A precision manipulator module for assembly in a minifactory environment
H. Benjamin Brown, Patrick Muir, Alfred Rizzi, M.C. Sensi, and Ralph Hollis
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), 2001, pp. 1030 - 1035.
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pdf (542KB) | Copyrighted
- Mechatronic objects for real-time control software development
Patrick Muir and Jeremy Horner
Proceedings of the 1998 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing: Mechatronics Conference, November, 1998.
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pdf (496KB) | Copyrighted
- Minifactory: A Precision Assembly System that Adapts to the Product Life Cycle
Patrick Muir, Alfred Rizzi, and Jay Gowdy
SPIE Symposium on Intelligent Systems and Advanced Manufacturing, October, 1997.
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pdf (89KB) | Copyrighted
- Linearizing the Joint Torque Characteristics of an Electric Direct-Drive Robot for High Performance Control of In-Contact Operation
Patrick Muir
1992 IEEE International Conference on Robotics and Automation, May, 1992, pp. 1866 - 1874.
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pdf (1MB) | Copyrighted
- Torque Linearizing Hardware for the Electric Joint Motors of a Direct-Drive Robot
Patrick Muir and J.R. Bryan
Proceedings of the Fourteenth Annual Ideas in Science & Electronics Exposition and Symposium, May, 1992.
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- Converting a Commercial Electric Direct-Drive Robot to Operate from Joint Torque Commands
Patrick Muir
July, 1991.
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- Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot
Patrick Muir and C.P. Neuman
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, March, 1991, pp. 1772-1778.
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pdf (771KB) | Copyrighted
- Kinematic Modeling of Wheeled Robots
Patrick Muir
Introduction to Robotics, P.J., McKerrow, ed., Addison-Wesley Publishing Company, New York, 1991, pp. 402-421.
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- A Virtual Sensor Approach to Robot Kinematic Identification
Patrick Muir
Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 440-445.
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pdf (489KB) | Copyrighted
- Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots
Patrick Muir and C.P. Neuman
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, May, 1990, pp. 1133-1140.
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- Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot
Patrick Muir
Autonomous Robot Vehicles, I.J. Cox and G.T. Wilfong, ed., Springer-Verlag, New York, 1990, pp. 25-31.
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- Modeling and Control of Wheeled Mobile Robots
Patrick Muir
doctoral dissertation, tech. report CMU-RI-TR-88-20, Robotics Institute, Carnegie Mellon University, August, 1988
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pdf (16MB) | Copyrighted
- Dynamic Modeling of Multibody Robotic Mechanisms: Incorporating Closed-Chains, Friction, Higher-Pair Joints, and Unactuated and Unsensed Joints
Patrick Muir and C.P. Neuman
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, April, 1988, pp. 1546 - 1551.
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pdf (473KB) | Copyrighted
- From Linear Algebraic Equations to Wheeled Mobile Robot Modeling
C.P. Neuman and Patrick Muir
Proceedings of the Fifth Yale Workshop on Applications of Adaptive Systems Theory, May, 1987.
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- Kinematic Modeling of Wheeled Mobile Robots
Patrick Muir and C.P. Neuman
Journal of Robotic Systems, Vol. 4, No. 2, April, 1987, pp. 281-340.
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- Kinematic Modeling of Wheeled Mobile Robots
Patrick Muir and Charles P. Neuman
tech. report CMU-RI-TR-86-12, Robotics Institute, Carnegie Mellon University, June, 1986
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pdf (6MB) | Copyrighted
- Pulsewidth Modulation Control of Brushless DC Motors for Robotic Applications
Patrick Muir and C.P. Neuman
IEEE Transactions on Industrial Electronics, Vol. IE-32, No. 3, August, 1985, pp. 222-229.
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- Autonomous Mobile Robots, Annual Report
Hans Moravec, Alberto Elfes, Chuck Thorpe, L. Matthies, R.S. Wallace, Patrick Muir, Dong Hun Shin, and Gregg Podnar
tech. report CMU-RI-TR-86-04, Robotics Institute, Carnegie Mellon University, February, 1985
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pdf (10MB) | Copyrighted
- Pulse-Width Modulation Control of Brushless DC Motors for Robotic Applications
Patrick Muir and C.P. Neuman
Proceedings of the 27th Midwest Symposium on Circuits and Systems, June, 1984.
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- Digital Servo Controller Design for Brushless DC Motors
Patrick Muir
master's thesis, tech. report , Robotics Institute, Carnegie Mellon University, April, 1984
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