9780444897008

Robotics, Mechatronics and Manufacturing Systems : Transactions of the IMACS-SICE International Symposium, Kobe, Japan, 16-20 September, 1992

by ;
  • ISBN13:

    9780444897008

  • ISBN10:

    0444897003

  • Format: Hardcover
  • Copyright: 1993-04-01
  • Publisher: Elsevier Science Ltd

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Summary

One of the most important problems in the field of engineering and technology is the development of so-called intelligent systems , which can perform various intellectual tasks.This book is dedicated to the current progress of research in this vast field and specifically explores the topics of robotics, mechatronics and manufacturing systems.

Table of Contents

Robotics
Physical Analogies for Rapid Robot Motion Planning and Execution in Dynamic Environmentsp. 3
Identification of Base Parameters of a Direct Drive Arm - A New Experimental Resultp. 9
A Six Degree of Freedom Robot Measurement System I: A Precision Universal Jointp. 15
Parallel Manipulators: State of the Art and Perspectivesp. 21
Development of the Parallel Manipulatorp. 27
New Robotic Mechanism Using a Parallel Moving Platformp. 33
An Analysis of Passive Impedance of 6-DOF Direct-Drive Wrist Jointp. 39
Design and Simulation of a Parallel Link Compliant Wristp. 45
Simulation Study of Dynamic Properties and Nodal Offset of Truss-Type Parallel Mechanismp. 51
Group Mathematics and Parallel Link Mechanismsp. 57
Bilateral Control for Parallel-Link Manipulatorsp. 63
Design and Control of a Very Fast 6-DOF Parallel Robotp. 69
Bio-Parallel Mechanism of Mastication Robotp. 75
A Minimal, Minimal Linkage: The Tension-Compression Parallel Link Manipulatorp. 81
Kinematic and Control Issues on a Tendon-Controlled Wrist Mechanismp. 89
A Modular Multi Purpose Robotic Testbed for Space Applicationsp. 95
Photo-Pneumatic Control Robot Armp. 101
An Intelligent Wrist Mechanism for Robot Assembly of Chamferless Partsp. 107
A Finite State Control Model for Flexible Robotized Assembly Cellp. 113
Diagnosing Contact Situations in Intelligent Roboticsp. 119
Vehicle Guidance System Using On-board Laser Beam Emitters and Corner Cubes along the Coursep. 125
Environment Recognition Using a Virtual Corner Pointp. 131
Development of Welding Line Detecting Sensor Systemp. 137
Occlusion Cues for 3-D Stereoscopic Displayp. 143
Statistical Reliability of 3-D Interpretation from Imagesp. 149
Tracking a Moving Object by an Active Vision System: PANTHER-VZp. 155
Multisensor Integration and Fusion: Issues, Approaches, and Future Trendsp. 161
System for the Remote Monitoring and Control of Robotized Devicesp. 171
Auditory-Visual Fusion Using Multi-Input Hidden Markov Modelp. 177
Flexible Control of Autonomous Vehicle Utilizing Hierarchical Map and Planningp. 185
A Neural Network Approach to Sensorimotor Fusion - Intentional Sensing for Recognizing Three-Dimensional Objectsp. 191
Minimum-Time Trajectory Planning for Multi-Degree-of-Freedom System under Average Heat Generation Restrictionp. 197
Development of an Efficient and Suboptimal Obstacle Avoidance Algorithm for Planar Robotsp. 203
An Adequate Robot Modeling for Rapid and Good 3D Collision-Free Path Planningp. 209
A Seven-League-Boots Algorithm for Path Planning in Configuration Spacesp. 215
Design and Development of an Electric Wheelchair Mounted Robotic Arm for Use by People with Physical Disabilitiesp. 221
Modeling and Control of Flexible Robot Arm with Flexible Drive Systemp. 227
A Study on Tasks of Dealing with Moving Objectsp. 233
On-Line Recurrent Programming of a Robot-Task System in Two Operating Modesp. 241
Application of Parallel Computing to Robot Dynamicsp. 249
Adaptive vs Learning Controls for Flexible N-Link Robotic Systemsp. 257
A Single Link Dual Actuation System for High Speed and High Accuracyp. 263
Stability of Manipulators Interacting with Unstructured and Structured Dynamic Environmentsp. 269
A Robust Robotic Manipulator Controller Based on P-D MRAC for Payload Adaptabilityp. 275
Hybrid Position and Force Control with Unsteady Assembly Dynamicsp. 281
On Synthesis of a Hybrid Position/Force Controller for Robot Manipulatorsp. 287
Principle of Orthogonalization for Hybrid Control of Robot Manipulatorsp. 295
Robust Control of Pneumatic Servo System using a Disturbance Observerp. 303
H[actual symbol not reproducible] Control of a Robot Manipulator Using the Loop Shaping Design Procedurep. 309
Robustness and Stability of Actuator Based on Dynamic Impedance Matchingp. 315
H-infinity as a Tool for Control Assessment in Mechatronicsp. 321
Control of Impact for a Hammering Robot Using a Flexible Linkp. 327
A Dynamical Approach to Force Control without Force Sensorp. 333
Robust Impedance Control and Its Application to Peg Insertionp. 339
Active Tactile Sensing by Robotic Fingersp. 345
Whole-Hand Robotic Manipulation: Considerations on Results and Open Problemsp. 351
Recent Advances in Grasp Planning Task Representation and Learning Hybrid Control for Dexterous Manipulationp. 359
Quadratic Programming for Dextrous Dual-Arm Manipulationp. 367
New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulationp. 373
Movement Control of Brachiation Robot Using CMAC Between Different Distance and Heightp. 381
Towards a Learning Control Scheme for Biped Locomotionp. 387
Vision-based Mobile Robotsp. 393
Coordinated Motion Control for Multiple Industrial Mobile Robots Transporting a Materialp. 397
Mobile Robot Localization Using Integrated Dead Reckoning and Laser/Corner Cube Based Location Systemsp. 403
Path-Planning for Multiple Mobile Robots by Using Genetic Algorithmsp. 409
Rough Terrain Robot with 4 Turn-Over Track Frames (Miniature Model)p. 415
Motion Estimation of a Mobile Robot with Uncadenced Bearings Only Measurementsp. 421
Self Organizing Manipulator System Based on the Concept of Cellular Robotic Systemp. 427
Distributed Sensing, Control and Planning - Cellular Robotics Approachp. 433
Towards a Modular Standard for Robotic Design and Programmingp. 439
Mechatronics
Variable Structure Approach for Motion Control Systemsp. 447
Sliding Mode Control, Discrete Time Approachp. 453
Sliding Mode Control of Uncertain Systemsp. 459
Dynamic Sliding Mode Control and Application to Robot Manipulatorsp. 465
Variable Structure Control of Flexible Robotic Armp. 471
VSS Control of Robotic Manipulators by Joint Acceleration Controllerp. 479
Discontinuous Control of Sliding Base Isolated Structures under Earthquakesp. 485
A Use of the Ultrasonic Motor as a Fine Positioning Actuatorp. 491
Walking Drive - A New Precision Feed Drivep. 497
Micro Flow Control Devices for Integrated Medical and Chemical Analyzing Systemsp. 503
A Vacuum-compatible X-Y Microactuator using the Levitational Effect of a Superconductorp. 509
Applying Flexible Microactuators to Pipeline Inspection Robotsp. 515
Development of a Screw Tightening Machine for Elastic Parts on Clean Room Environmentp. 521
Some Developments of Machine Intelligence for Fully Automatic Drilling Processp. 529
Manufacturing Systems
Perspective of Future Generation Manufacturing Systemsp. 537
A Project Planning Method with Time Constraintsp. 545
A Definition of a Reference Set as a Tool for Production Technology Acquisition Policy Developmentp. 551
Simultaneous Optimization of Tool Allocation and Scheduling for FMS's: An Application of Simulated Annealingp. 557
An Analysis of Dynamic Scheduling for Job-Shop Scheduling and its Improvement Using Intelligent Algorithmsp. 563
Optimal Scheduling Models under JIT Environmentsp. 569
An Expert System for Scheduling of Plastic Molding Processp. 575
Scheduling Expert System for Continuous Annealing Linep. 581
The Structure of the Service Task Control System in an Automatic Shop Floor for One-of-a-Kind Productionp. 587
Testing Rules for a Scheduling Expert System in a Steel Plantp. 593
Sensor Fusion for In-Process Identification of Cutting Process Based on Neural Network Approachp. 599
A Study of Plasma Gun Orientation Control with Ultrasonic Sensors for Thermal Spraying Robotp. 605
Implementation of an Integrated FMS Model Plantp. 613
A Neural Network Approach to Part-Machine Grouping in GT Manufacturingp. 619
Determination of an Optimum Bending Sequence - Application of AI Techniques in Production Planningp. 625
Automatic Generation of NC Tapes for Machining Toolsp. 631
Development of the Autonomous Guided Vehicle System Using Laser Navigation Methodp. 637
Development of Shape Discriminant Methods and Robot Arm Control for Part Pick-Up at an Assembly Linep. 643
Development of a Rule-Based Graphic Simulator for FMCsp. 649
Wafer Fab Management Optimization Using Simulationp. 657
Information System in Distributed Intelligent Automation Processesp. 663
CAD Model Based System for Visual Inspectionp. 669
Automatic Calculation of Dimensions and Tolerances in Manufacturingp. 675
Formal Models of Flexibility for Manufacturing Systemsp. 681
Identification of Lathe Alignment Errors by Measuring Machined Partsp. 687
A Product Modeling System Considering Geometric Constraints and its Application to Basic Design of Machine Toolsp. 693
An Expert Process Planning and Fixturing System with 3D CAD Data Input in Step Standardp. 699
Concurrent Processing of Product Modeling and Fault Simulation for Intelligent Design Aidp. 705
Evaluation Method for Geometrical Forms in Coordinate Metrologyp. 711
Evaluation of Polished Surface for Automation of Polishing Workp. 717
The Organization of Human-Oriented C.I.M.p. 723
New Technology
Fuzzy Control Technologies and Their Applicationsp. 731
A Study on Hovering of Model Helicopter Using Visual Information and Fuzzy Controllerp. 737
A Learning Method Fusing Fuzzy Reasoning and Genetic Algorithmp. 743
A Self-Organizing Adaptable Control Scheme Based on Constraint-Oriented Fuzzy Inferencep. 749
On Some Attempts for Improving Learning Performance in Multi-layered Neural Networks of Back-propagation Methodsp. 755
Adaptive Control by Neural Networks with Application to Temperature Controlp. 761
VQ Controller Using Recurrent Neural Networksp. 767
Neural Networks and Inverse Problems in Measurement and Controlp. 773
Modeling Manned Traffic Systemsp. 779
An Iterative Learning Fuzzy Control for Multi-Link Manipulatorsp. 785
An Autonomous Robot System Controlled by Neural Networksp. 791
Image Analysis of Melting Polymer in Heat Barrel of Injection Molding Machinep. 797
High Speed Conveyed Bill Money Recognition with Neural Networkp. 803
Simulated Annealing with Modified Generation Mechanism for Flow Shop Scheduling Problemsp. 809
An Architecture for the Integration of Industrial Artificial Intelligence Systemsp. 815
Fault Diagnosis in Dynamic Systemsp. 821
Failure Diagnosis Under Uncertain Conditions by Use of Failure Diagnosis Tablep. 829
Acoustic Diagnosis with Neural Networksp. 835
Knowledge Aided Model-Based Approach to Failure Diagnosis of Adaptively Controlled Systemsp. 841
Model Based Approach to the Real-Time Fault Diagnosisp. 847
Modified Schemes of Sequential Probability Ratio Test for Incipient Failure Detection in Dynamic Systemsp. 853
Information Diversification for Improving Diagnostic Reliability in Complex Dynamic Processesp. 859
Multi-Sensor Based Active Error Detection, Diagnosis, and Recovery for Flexible Assemblyp. 865
Dynamics and Control of Advanced Space Systemsp. 871
Symbolic Multi-Body Formalism for Space Manipulatorsp. 877
Robust Controller Design for LSS Attitude Control and Experimental Demonstrationp. 883
Distributed Modeling and Control for Multibody Systemsp. 889
Modeling and Control of Flexible Solar Array Paddlesp. 895
Control of a Space Robot at Capturing a Targetp. 901
Control of a Flexible Space Structure with a Tip Mass in Minimum Time Slew Maneuverp. 907
Reaction Rejection Techniques for Control of Space-Robotic Structuresp. 913
Nonlinear Control of the Space-Based Flexible Manipulatorsp. 919
Simulation Based Analysis of Elastic Multi-Arm Robot Control in Cooperative Motion: Dynamic Model Formulationp. 925
Finite-Dimensional MRAC Method for Flexible One-Link Arms Subject to Random Disturbancesp. 931
Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulatorsp. 937
Design of Flexible Hydromechanical Manipulators with Active Control against Fatigue and Vibrationsp. 943
Shape Determination of Flexible Space Structures by Using a Remote Optical Sensing Systemp. 949
Applications of Petri-Net to Modeling and Scheduling Problems of Flexible Manufacturing System Using Robotsp. 955
Table of Contents provided by Blackwell. All Rights Reserved.

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