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

by Takamori, Toshi; Tsuchiya, Kazuo

• ISBN13: 9780444897008
• ISBN10: 0444897003
• Format: Hardcover
• Copyright: 1993-04-01
• Publisher: Elsevier Science Ltd

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