Robot Control 1988 (SYROCO'88) (eBook)

Front Cover 1
Robot Control 1988 (Syroco '88) 4
Copyright Page 5
Table of Contents 10
Preface 8
PART I: PLENARY PAPERS 16
Chapter 1. Robot Applications in Germany 16
AREAS OF APPLIACTION OF INDUSRTIAL ROBOTS IN THE FEDERAL REPUBLIC OF GERMANY 17
FUTURE AREAS OF APPLIACTION 18
NEW AREAS OF APPLIACTION 18
EFFECTS OF ROBOT APPLICATIONS 19
Chapter 2. Machine Learning Strategies for Knowledge Acquisition in Autonomous Robot Systems 20
INTRODUCTION 20
BASIC STRUCTURE OF LEARNING SYSTEMS 22
INDUCTIVE LEARNING 23
LEARNING BY ANALOGY 24
NEURONAL LEARNING 24
EXPLANATION - BASED GENERALIZATION FOR DERIVING OPERATIONAL CONCEPTS 26
CONCLUSION 26
REFERENCES 27
Chapter 3. ESPRIT Initiatives in Robotics: Achievements and Perspectives 32
INTRODUCTION 32
COMPUTER INTEGRATED MANUFACTURING 32
ARCHITECTURE AND COMMUNICATIONS 33
ROBOTICS AND SHOP FLOOR SYSTEMS 33
ESPRIT II 33
CIM EUROPE 34
PART II: ROBOT CONTROL 36
Chapter 1. Modelling of Flexible Robots - An Introduction 36
1 Introduction 36
2 General considerations on flexibility 37
3 System modelling 38
4 Conclusions 40
5 References 41
Chapter 2. Control Concepts and Algorithms for Flexible Robots - An Expository Survey 44
INTRODUCTION 44
ROBOT CONTROL AND MEASUREMENT 44
CONTROL STRATEGIES FOR FLEXIBLE ROBOTS 45
KINEMATIC CONTROL 45
SYSTEM THEORETIC PROPERTIES, MODELLING AND CONTROL 45
CONTROLLER DFSIGN BASED ON SIMPLIFIED MODELS 46
LQ-DESIGN 47
INFLUENCE OF THE DESIGN METHOD ON DESIGN OBJECTIVES 47
SEPARATION OF EQUATIONS 47
NONLINEAR CONTROL LAWS 48
ADAPTIVE CONTROL 48
ACCOUNGING FOR ACTUATOR DYNAMICS 48
RARAMFTER IDENTIFICATION 48
ADDITIONAL ACGUATORS 48
CONCLUSIONS 49
REFERENCES 49
Chapter 3. Comparison of a Modal-expansion- and a Finite-element-model for a Two-beam Flexible Robot Arm 50
INTRODUCTION 50
MODELLING OF THE FLEXIBLE ROBOT ARM 50
EQUATIONS OF MOTION 51
NUMERICAL RESULTS 52
COMPARISON OF BOTH METHODS AND CONCLUSIONS 53
REFERENCES 53
Chapter 4. On Dynamics and Control of Elastic Robots 56
INTRODUCTION 56
MECHANICAL MODELS 56
CONTROL SCHEME FOR AN ELASTIC ROBOT 57
MEASUREMENTS 59
CONCLUSIONS 59
REFERENCES 60
Chapter 5. State Observation of Elastic Joint Robots 62
1. INTRODUCTION 62
2.MODEL 62
3. PRELIMINARY DISCUSSION 63
4. OBSERVER 64
5. CASE STUDY 65
6. CONCLUSIONS 66
REFERENCES 66
Chapter 6. Nonlinear Robot Arm Control Through Third Order Motor Model 68
1. INTRODUCTION 68
2. THIRD ORDER DYNAMIC MODEL OF ROBOT MANIPULATORS 69
3. LINEARIZATION OF CONTROL EQUATION 70
4. SIMULATIONS 70
5. CONCLUSION 72
References 72
Chapter 7. Time Decomposition Approach of Robot Control 74
1. INTRODUCTION 74
2. SINGULAR RERTURBATION ANALYSIS OF FULL ORDER ROBOT MODELS 74
3. COMPOSITE CONTROL FOR ROBOTS 75
4. SIMULATION RESULTS 76
CONCLUSION 77
REFERENCES 77
Chapter 8. A Runtime Monitoring System for Hybrid Manual/Autonomous Teleoperation 78
1 INTRODUCTION 78
2 HYBRID MANUAL/AUTONOMOUS TELEOPERATION 78
3 BILATERAL MASTER CONTROL DEVICE 79
4 SYSTEM CONFIGURATION 80
5 EXPERIMENTAL RESULTS 81
6 CONCLUSION 81
Acknowledgements 81
References 81
Chapter 9. Robot Manipulator Dynamics - Towards Better Computational Algorithms 84
INTRODUCTION 84
AN HYBRID COMPUTATIONAL ALGORITHM FOR ROBOT MANIPULATOR DYNAMICS 85
THE NEW ALGORITHM IMPLEMENTATION ON A 2R ROBOT MANIPULATOR 85
PARALLEL COMPUTATION 86
SUMMARY AND CONCLUSIONS 87
REFERENCES 87
Chapter 10. A Servo Command-based Flexible Servo System for Industrial Robots 90
INTRODUCTION 90
SERVO COMMAND-BASED FLEXIBLE SERVO SYSETM 91
ROBOT CONTROLLER USING FLEXIBLE SERVO SYSTEM 92
APPLICATION TO 6-AXIS INDUSTRIAL ROBOT 94
CONCLUSION 95
REFERENCES 95
Chapter 11. Position Control of Industrial Robots - Impacts, Concepts and Results 96
INTRODUCTION 96
IR MODELS 97
COMMERCIAL CONTROL CONCEPTS 98
PREVIOUS RESEARCH 98
ON-GOING RESEARCH AT THE ITTB 100
CONCLUSIONS 101
ACKNOWLEDGEMENTS 101
REFERENCES 101
Chapter 12. A Discrete Time Observer for a Robot having Elastic Joints 106
INTRODUCTION 106
DYNAMIC MODELING OF ROBOTS HAVING ELASTIC JOINTS 106
DISCRETE-TIME OBSERVERS 107
CASE STUDIES 109
SIMULATION RESULTS 110
CONCLUSIONS 111
REFERENCES 111
Chapter 13. Smooth Motion Generation for Two Coordinated Robot Arms 112
1. INTRODUCTION 112
2. GENERATION OF SPATIAL MOTIONS 113
3. CALCULATION OF TIGHTLY COORDINATED TRAJECTORIES 113
4. CALCULATION OF SMOOTHING FUNCTIONS 114
5. SMOOTHING FUNCTIONS WITH TIGHTLY COORDINATED MOTIONS 115
6. CONCLUSIONS 116
REFERENCES 116
Chapter 14. Accuracy-tests for Industrial Robots 118
INTRODUCTION 118
METHODS OF MEASUREMENT 118
OPTICAL SYSTEM FOR MEASURING THE ACCURACY OF INDUSTRIAL ROBOTS 119
SET UP OF THE MEASURING EQUIPMENT 120
THE MEASUREMENT OF CIRCULAR TRACKS 121
CONCLUSIONS 122
REFERENCES 122
Chapter 15. Problems and Prospects for Adaptive Robot Control Applications 124
INTRODUCTION 124
MODEL REFERENCE ADAPTIVE CONTROL METHOD 124
SELF TUNING ADAPTIVE CONTROLLERS 125
VARIABLE STRUCTURE CONTROLLERS 126
ONGOING WORK 127
REFERENCES 127
Chapter 16. Control of Flexible Robots using Generalized Nonlinear Decoupling 128
INTRODUCTION 128
CONTROL LAW DESIGN 130
FEEDBACK GAINS COMPUTATION 130
SIMULATION RESULTS 131
CONCLUSION 133
ACKNOWLEDGEMENT 133
REFERENCES 133
Chapter 17. Characteristics and Mechanism Analysis of Parallel Link Manipulator 134
INTRODUCTION 134
KINEMATICS AND STATICS 134
COMPARISON BETWEEN SERIAL AND PARALLEL LINK MANIPULATORS 135
MECHANISM ANALYSIS OF PARALLEL LINK MANIPULATOR 136
OPTIMUM STRUCTURE 137
CONCLUSIONS 139
REFERENCES 139
Chapter 18. The Augmented Task Space Approach for Redundant Manipulator Control 140
INTRODUCTION 140
MANIPULATOR MODELING 141
TASK SPACE AUGMENTATION 141
CONTROL IN THE JOINT SPACE 142
CONTROL IN THE TASK SPACE 142
CONCLUSIONS 143
REFERENCES 143
Chapter 19. On Some Problems in Kinematic Control of Manipulation Robots: The 
146 
INTRODUCTION 146
NOSIENCLATURE 147
STRUCTURAL REGULARITY 147
K I NEMATICS EVALUATION 148
AN EIAHPLE OF A 6R MR 149
TASK TRANSFORNATION 149
SOME COMMENTS 150
OFF-LINE PROGRAMMING 150
CONCLUSIONS 151
REFERENCES 151
Chapter 20. Force/Position Control of Manipulators in Task Space with Dominance in Force 152
INTRODUCTION 152
MANIPULATOR DYNAMICAL MODEL IN TASK ORIENTED SPACE 153
FORCE/1'OS1T10N PARALLEL CONTROL 153
CASE STUDY AND SIMULATION RESULT 155
CONCLUSIONS 155
ACIINOWLEDGEMENTS 156
REFERENCES 156
Chapter 21. Stochastic Force Control in a Robot Arm 160
INTRODUCTION 160
FORCE SENSING AND CONTROL: BACKGROUND 160
STOCHASTIC SCHEME FOR FORCE CONTROL 161
APPLICATION OF SFS TO EDGE FOLLOWING 162
PERFORMANCE OF THE SYSTEM 162
CONCLUSION AND FURTHER WORK 163
REFERENCES 163
Chapter 22. Robust Adaptive Control of Robot Manipulators 166
INTRODUCTION 166
SIGNAL ADAPTATION FOR AN AXIS MODELED BY A SECOND-ORDER SYSTEM 166
SOME SIMULATION RESULTS 168
MATHEMATICAL MODEL FOR ROBOTS WITH N DEGREE OF FREEDOM 168
CONTROL SYSTEM FOR M-DOF ROBOTS 169
DISCRETE ALGORITHMS 169
CONCLUSION 170
ACKNOWLEDGEMENTS 170
REFERENCES 170
Chapter 23. A Task Space Decoupling Approach to Hybrid Control of Manipulators 172
Introduction 172
Dynamic model of robot in contact 172
Task space description for hybrid control 173
Control design in the task space 174
Simulation results 175
Conclusions 177
References 177
Appendix 177
Chapter 24. Adaptive Hierarchical Control of Industrial Robots 178
INTRODUCTION 178
MATHEMATICAL MODEL OF THE ROBOT 178
LINEAR PARAMETER ESTIMATION OF THE ROBOT PARAMETERS 179
NONLINEAR ADAPTIVE CONTROL SYNTHESIS 181
SIMULATION RESULTS 182
CONCLUSION 182
REFERENCES 183
Chapter 25. Motion Control of Robotic Manipulator Based on Motor Program Learning 184
INTRODUCTION 184
PARADIGM OF LEARNING CONTROL 185
CONVERGENCE OF LEARNING CONTROL LAW 185
LEARNING SCHEME WHEN A LINEAR PART OF ROBOT DYNAMICS IS KNOWN 187
CONSTRUCTION OF INPUT PATTERNS BASED ON DIFFERENT TIME-SCALING 187
CONSTRUCTION OF INPU PATTERN BASED ON SUPERPOSITION 189
CONCLUSION 190
REFERENCES 190
Chapter 26. Robust Control of Robots with Joint Elasticities 192
INTRODUCTION 192
BRIEF SURVEY OF PREVIOUS WORK 192
A CLASS OF ELASTIC ROBOT MODELS 193
MODEL-BASED LINEAR AND NONLINEAR CONTROL 193
ROBUSTNESS ANALYSIS 194
A CASE STUDY 195
CONCLUDING REMARKS 197
REFERENCES 197
Chapter 27. On Robot Motion Control with Acceleration Feedback 198
INTRODUCTION 198
CONTROL CONCEPTS USING ACCELERATION FEEDBACK 198
CONTROLLER DESIGN 200
THE PROPER CHOICE OF 200
SIMULATION RESULTS 200
CONCLUSION 201
REFERENCES 201
APPENDIX 1 201
Chapter 28. A Learning Concept for Improving Robot Force Control 204
1. introduction 204
2. Presentation of the Learning Concept 205
3. Application to Force Control 206
4. Conclusion 209
Bibliography 209
Chapter 29. On Self-learning Control Strategy for Robot Manipulators 210
INTRODUCATION 210
THE CONTROL PROBLEM OF A ROBOT MANIPULATOR 210
SELF-LEARNING CONTROL STRATEGY FOR A ROBOT MANIPULATOR 211
DEVELOPMENT OF SELF-LEARNING CONTROL ALGORITHMS 211
CONCLUSION 214
REFERENCES 214
Chapter 30. Robust Tracking Control for Robots using the Sliding Mode. A Task-space Approach 216
INTRODUCTION 216
PROBLEM STATEMENT 216
TRACKING CONTROL ALGORITHM 218
SIMULATION RESULTS 219
CONCLUSION 221
REFERENCES 221
Chapter 31. Estimation of Friction Characteristics, Inertial and Coupling Coefficients in Robotic Joints Based on Current and Speed Measurements 222
1. Introduction 222
2. Modelling 222
3. Identification of the moment of inertia, coupling and gravity coefficients by crosscorrelation 223
4. Identification of friction characteristics by energy analysis 225
5. Experimental results 226
5. Conclusion 226
6. References 227
Chapter 32. Predictive Control of a Robotic Arm 228
INTRODUCTION 228
CARIMA MODEL FOR JOINT MOTION 228
PREDICTION SCHEME 229
CONTROL ALGORITHM 229
APPLICATION TO A MANIPULATOR 230
SIMULATION STUDIES 230
CONCLUSIONS 231
ACKNOWLEDGEMENT 231
REFERENCES 231
Chapter 33. On-line Identification of Inertia, Friction and Gravitational Forces Applied to an Industrial Robot 234
INTRODUCTION 234
THE IDENTIFICATION ALGORITHM 234
THE INDUSTRIAL ROBOT R106 235
PROCESS MODELS USED FOR IDENTIFICATION 236
PRACTICAL APPLICATION 237
IDENTIFICATION RESULTS 237
ROBOT CONTROL 239
REFERENCES 239
Chapter 34. Identification of Time Varying Parameters of the Robot Dynamics 240
INTRODUCTION 240
MODELLING OF THE ROBOT DYNAMICS 240
IDENTIFICATION OF TIME VARYING PARAMETERS 241
CONCLUSIONS 244
REFERENCES 244
Chapter 35. Optimal Control of a Robot with Electric Drive and Elastic Element 246
INTRODUCTION 246
STATEMENT OF THE PROBLEM 246
OPTIMAL CONTROL 248
NUMERICAL SIMULATION 249
CONCLUSIONS 249
REFERENCES 249
Chapter 36. Optimal Continuous-path Control for Manipulators with Redundant Degrees of Freedom 252
INTRODUCTION 252
STATEMENT OF THE PROBLEM 252
REDUNDANT DEGREES OF FREEDOM - KINEMATIC OPTIMIZATION 253
CARTESIAN DECOUPLING IN MACROMICRO MANIPULATOR CONTROL 253
OPTIMAL CONTROL OF MACRO-MICRO MANIPULATORS 254
APPLICATION TO AN EIGHT-LINK INDUSTRIAL R000T 255
CONCLUSION 257
ACKNOWLEDGEMENT 257
REFERENCES 257
Chapter 37. Real-time Implementation of Dynamic Control of Robot 258
INTRODUCTION 258
PREVIOUS WORK 258
RECALL ON TIC DYNAMIC DER NATION 259
THE DYNAMIC CONTROL IN THE JOINT SPACE 259
DYNAMIC CONTROL IN THE CARTESIAN SPACE 260
CALCULATION OF THE COMPONENTS OF THE CARTESIAN LAW 260
APPLICATION 261
SERVO LOOP PROGRAM FORTRAN language 262
RESULTS 262
CONCLUSION 263
REFERENCES 263
Acknowledgements 263
Chapter 38. Stability Analysis of Position-force Control using Linearized Cartesian Space Model 264
1. INTRODUCTION 264
2. KINEMATICS 264
3. CONSTRAINED DYNAMICS 265
4. LINEARIZED KINEMATICS 267
5. LINEARIZED DYNAMICS 267
6. STATE-SPACE MODEL 269
CONCLUSION 269
REFERENCES 269
PART III: MOBILE SYSTEMS 270
Chapter 1. Autonomous Mobile Robots 270
INTRODUCTION 270
HIERARCHICAL CONTROL STRUCTURE 270
HIERARCHICAL COORDINATOR 271
SIMULATION RESULTS 272
ACKNOWLEDGEMENT 275
REFERENCES 275
Chapter 2. Collision-free Path Planning Algorithm for Mobile Robot which Moves among Unknown Environment 276
INTRODUCTION 276
GENERAL DESCRIPTION AND DEFINITIONS 276
ENVIRONMENT SIMULATION 277
SENSORY DATA SIMULATION 277
FREE-SPACE CONFIGURATION 277
PATH PLANNING ALGORITHM 278
SCANNER POSITION CHOICE 279
IMPLEMENTATION 280
REFERENCES 280
Chapter 3. Path Assignment to a Set of Autonomous Guided Vehicles 282
INTRODUCTION 282
SAMPLED DATA CONTROL STRATEGY 282
PATH COMPUTING ALGORITHM 283
GLOBAL ASSIGNMENT PROCEDURE 283
SECTION ASSIGNMENT PROCEDURE 284
INTERFERENCE OF SEVERAL AG' 285
CONCLUDING REMARKS 285
REFERENCES 285
Chapter 4. Environment Perception with a Laser Radar in a Fast Moving Robot 286
1. Introduction 286
2. MOBOT-III an Autonomous Mobile Robot 286
3. The Rotating Sensor Unit 287
4. Navigation Problems 288
5. Box-Feature 288
6. Environment Mapping 289
7. Conclusion 291
References 291
Chapter 5. Spatial Uncertainty Management for a Mobile Robot and its Role in Expectation-based Perception 294
1. Introduction 294
2. Related work 294
3. Uncertainty subsystem - An overview 295
4. Uncertainty map management 295
5. Landmark expectation 297
6. Examples 298
7. Summary 298
REFERENCES 299
Chapter 6. Sensor Model Based Preprocessing of 3-D Laser Range Image Data and Motion 
300 
1. INTRODUCTION 300
2. THE LSR RANGE CAMERA 300
3. THE SENSOR MODEL 301
4. RAW IMAGE DATA PROCESSING 301
5. MOTION-ORIENTED FEATURE EXTRACTION 302
6. ORGANIZATION OF SENSOR DATA PROCESSING 303
7. CONCLUSION 304
REFERENCES 304
Chapter 7. External Linearization Control for an Omnidirectional Mobile Robot 308
Introduction 308
1. Robot kinematics 309
2. Robot dynamical equations 309
3. The control problem 310
4. Wheel position control 310
5. Velocity and orientation control 311
References 312
Appendix : Proof of lemma 312
Chapter 8. BARCS: Introducing Behavioural Concepts in Advanced Robots 314
INTRODUCTION 314
PROBLEM'S OVERVIEW 314
BARCS OPERATING PRINCIPLES 315
BARCS STRUCTURE 316
SIMULATION AND EXPERIMENTAL RESULTS 318
CONCLUSIONS 319
BIBLIOGRAPHY 319
PART III: SENSING 320
Chapter 1. Control Aspects of an Integrated Sensor Based Robot System with Novel Tactile Pads 320
INTRODUCTION 320
ROBOT CONTROL SYSTEM INTEGRATION 320
VISION/IMAGE PROCESSING 320
TACTILE SENSING 321
ADAPTIVE CONTROL 322
SIMULATION 323
CONCLUSIONS 323
ACKNOWLEDGEMENTS 323
REFERENCES 323
Chapter 2. Force Control of Robotic Manipulator using vss 326
INTRODUCTION 326
MODELLING OF THE SYSTEM WITH WORKPIECE DYNAMICS 326
IDENTIFICATION OF RARAMKI'hRS FOR THE UNKNOWN WORKPIECES 327
VSS APPROACH TO CONTROL SYSTEM DESIGN 329
SIMULATION RESULTS 330
CONCLUSION 330
REFERENCES 330
Chapter 3. Improved Tactile Sensors 332
INTRODUCTION 332
RESULTS AND DISCUSSION 332
CONCLUSIONS 336
ACKNOWLEDGEMENT 336
REFERENCES 337
Chapter 4. Sensor Integration in ESPRIT 338
INTRODUCTION 338
THE ESPRIT PROJECTS 338
ASPECTS OF SENSOR INTEGRATION 339
INTEGRATION OF SENSOR PROCESSING WITH ROBOT DECISION AND CONTROL 339
INTEGRATION OF CAD DATA WITH SENSOR PROCESSING 339
INTEGRATION OF MULTIPLE SENSOR INPUTS 340
PHYSICAL INTEGRATION OF SENSORS 340
INTEGRATION OF SENSOR HANDLING WITH THE PROGRAMMING ENVIRONMENT 341
INTERCONNECTION AND INTERFACING OF SENSORS AND CONTROLLERS 341
USER INTERFACE INTEGRATION 341
DISCUSSION 341
SOME POTENTIALLY USEFUL CONCEPTS 341
CONCLUSIONS 343
ACKNOWLEDGEMENTS 343
REFERENCES 343
Chapter 5. Description and Recognition Methods of Shape Distorted Objects for Robot Vision Systems 344
I. Introduction 344
II. Shape Description and Model Base 344
III. Boundary Recognition 346
IV. Experimental Results 348
IV. CONCLUSION 349
REFERENCE 349
Chapter 6. An Integrated Multisensor Robot System 350
INTRODUCTION 350
SYSTEM'S ARCHITECTURE 350
SENSORS AND VISION CONTROL UNITS 350
FORCE/TORQUE SENSOR 351
VISION SENSOR 352
TOUCH SENSOR 352
ROBOTS'S GRIPPER 352
THE LRS: LANGUAGE FOR SENSORIAL ROBOT 352
CONCLUSIONS 353
REFERENCES 353
Chapter 7. A Knowledge-based Method to Determine the Orientation of the Keysurface 
356 
INTRODUCTION 356
ASSUMPTIONS 357
GENERATION OF KNOWLEDGE SOURCES 357
EXECUTION OF VISIBILITY RULES (CONTROL KNOWLEDGE) 358
RESULTS & CONCLUSION
ACKNOWLEDGEMENTS 359
REFERENCES 359
Chapter 8. Motion Detection and Analysis - State of the Art and Some Requirements from Robotics 362
1 INTRODUCTION 362
2 MOTION DETECTION 362
3 RECOVERING STRUCTURE FROM MOTION 365
4 DIRECTED PERCEPTION 366
5 CONCLUSION 367
References 367
Chapter 9. A Real-time Knowledge Scheme for Sensory-controlled Robot Assembly Tasks 368
1. INTRODUCTION 368
2. HIERARCHICAL SYSTEM STRUCTURE 369
3. EXECUTION MODULE 370
4. KNOWLEDGEBASE 371
5. KNOWLEDGE PROCESSING CONCEPT 372
6. FIRST PROTOTYPE 373
7. CONCLUSIONS 373
8. ACKNOWLEDGEMENT 373
9. REFERENCES 373
Chapter 10. A Real-time Knowledge Scheme for Sensory-controlled Robot Assembly Tasks 368
1. INTRODUCTION 368
2. HIERARCHICAL SYSTEM STRUCTURE 369
3. EXECUTION MODULE 370
4. KNOWLEDGEBASE gy. 371
5. KNOWLEDGE PROCESSING CONCEPT 372
6. FIRST PROTOTYPE 373
7. CONCLUSIONS 373
8. ACKNOWLEDGEMENT 373
9. REFERENCES 373
PART IV: GRASPING AND FINE MANIPULATION 374
Chapter 1. Consideration of Velocity Terms in Finger-arm Coordination Motion Planning 374
INTRODUCTION 374
FINGER-ARM COORDINATION PATH PLANNING METHOD 375
APPLICATION TO PIANO PLAYING 377
CONCLUSION 379
REFERENCES 379
Chapter 2. Direct Compliance Control if Manipulator Arms - Basic Concept and Application Examples 380
INTRODUCTION 380
DCC PROPOSAL 381
COMPARISON WITH CONVENTIONAL APPROACH 381
APLICATIONS TO ARMS IN HORIZONTAL PLANE 382
CONCLUSION 385
REFERENCES 385
Chapter 3. Control Issues for a Flexure-suspension Three-DOF Robotic Fine Positionin Device 386
Introduction 386
Planar Fine Positioner Designs 386
Open-loop Characteristics 388
Conclusions 390
References 391
Chapter 4. Dual Mode Control Method of Micro-manipulator with Visual Feedback 392
INTRODUCTION 392
TELEOPERATION CONTROL MODE 392
AUTOMATIC CONTROL MODE 394
STRUCTURE OF MICRO-MANIPULATOR CONTROL SYSTEM 395
EXPERIMENTAL RESULTS 395
CONCLUSIONS 395
REFERENCES 395
Chapter 5. The Karlsruhe Hand 398
INTRODUCTION 398
THE MANIPULATION PROBLEM 398
THE MECHANICAL DESIGN 399
FRAMEWORK FOR THE HAND CONTROL 399
PROGRAMMING 400
THE HIGH-LEVEL CONTROL SYSTEM 401
THE LOW-LEVEL CONTROL SYSTEM 401
COMPUTER ARCHITECTURE 402
SENSOR STRUCTURE 402
CONCLUSION 403
REFERENCES 403
Chapter 6. Control System Design of a Dexterous Hand for Industrial Robots 404
INTRODUCTION 404
HAND MECHANICAL CONFIGURATION, SENSORIAL EQUIPMENT AND DRIVING SYSTEM 405
CONTROL STRATEGY 405
COMPUTATIONAL ARCHITECTURE 406
CAD TOOLS FOR TASK PLANNING 406
EXPERIMENTAL RESULTS 407
CONCLUDING REMARKS 407
ACKNOWLEDGMENTS 408
REFERENCES 408
Chapter 7. Robotic Grasping: How to Determine Contact Positions 410
INTRODUCTION 410
ASSUMPTIONS AND METHODOLOGY 410
AUTOEQUILIBRATED GRASP 411
DISTURBED GRASP 412
CONCLUSIONS 414
ACKNOWLEDGEMENT 414
REFERENCES 414
Chapter 8. Artificial Muscles as Robotic Actuators 416
INTRODUCTION 416
MATHEMATICAL MODEL 416
DESIGN STRATEGY 417
DETERMINATION OF THE DIFFUSION COEFFICIENT 417
CONTROL OF ROBOTIC FINGER 417
SIMULATOR TEST SEQUENCE 418
CONCLUSIONS 418
REFERENCES 419
PART V: ROBOT PROGRAMMING AND SIMULATION 422
Chaopter 1. Real-time Collision Avoidance for Kinematically Redundant Manipulators 422
1 Introduction 422
2 Data structures 423
3 Collision avoidance 423
4 Computing the Cj_n 423
5 Test by simulation 425
6 Conclusion 426
7 References 426
Chapter 2. Operational Control for Robot Integration into CIM and its Applications 428
1 ROBOTS IN CIM SYSTEMS 428
2 OVERVIEW OF ESPRIT PROJECT 623 428
3 EXAMPLES OF INDUSTRIAL APPLICATIONS 429
4 SUMMARY AND OUTLOOK 430
REFERENCES 430
Chapter 3. Motion Planning Algorithms for Mechanical Assemblies 434
1. Introduction. 434
2. The WI Modelling System. 435
3. Robot motion planners. 436
4. The Collision Detection. 438
5. Discussion. 439
References 439
Chapter 4. AUTOFIX: A Task Level Robot Programming System for Automated Fixturing 440
Introduction 440
The Scope of AUTOFIX 440
An Overview of AUTOFIX 441
Bolt Insertion Planning 442
Path Planning 443
Grasp Planning 443
Nut Fastening Planning 444
Conclusion 444
References 444
Chapter 5. Off-line Programming of Exception Handling Strategies 446
INTRODUCTION 446
OFF-LINE PROGRAMMING AND EXCEPTION HANDLING: STATE OF THE ART 447
PROGRAMMING MODEL 448
OFF-LINE PROGRAMMING SYSTEM 449
PROJECT STATUS 450
CONCLUSIONS AND FUTURE WORK 450
ACKNOWLEDGEMENTS 450
REFERENCES 450
Chapter 6. Robot Simulation and Programming System 452
INTRODUCTION 452
SYSTEM OUTLINE 453
MODELLING MODE 454
PROGRAMMING 455
SIMULATION MODE 456
EXAMPLE 457
CONCLUSION 457
REFERENCES 457
Chapter 7. Knowledge Based Off-line Programming of Industrial Robots 458
INTRODUCTION 458
REALIZED OFF-LINE PROGRAMMING SYSTEM 458
INTERACTIVE TASK-ORIENTED PROGRAMMING 459
KNOWLEDGE BASED APPROACH 460
REALIZATION CONCEPT 461
CONCLUSION 463
REFERENCES 463
Chapter 8. POLROB - A Manipulator Level Programming Language 468
INTRODUCTION 468
CONCEPT OF DATA 468
CONCEPT OF ACTION 470
INTERACTIVE TEACHING SYSTEM 472
CONCLUS~ONS 473
REFFRENCES 473
Chapter 9. Robot System and Programming Environment for Teaching Robotics 474
INTRODUCTION 474
MANIPULATOR DESIGN 474
THE ARCHITECTURE AND OPERATION OF THE CONTROL SYSTEM 475
PROGRAMMING ENVIRONMENT FOR ROBOT CONTROL AND TEACHING ROBOTICS 476
ROBOT CONTROL USING ON—LINE ROBOT PROGRAMMING MODULE 476
TEACHING ROBOTICS WITH EDUCATIONAL ROBOT 477
REFERENCES 477
Chapter 10.CAD-based Robot Planning and Control 480
INTRODUCTION 480
ROBOT TASK PLANNING AND CAD 480
A DEDICATED OFF-LINE PROGRAMPMING SYSTEM FOR WELD PLANNING 481
ROBOT CONTROL SYSTEM 483
CONCLUSIONS 483
REFERENCES 484
Chapter 11. A 3D Closest Pair Algorithm and its Applications to Robot Motion Planning 486
INTRODUCTION 486
MODELING 486
FINDING THE CLOSEST PAIR OF POINTS 489
EXPERIMENTAL RESULTS 490
DISCUSSIONS 491
CNONCLUSIONS 493
REFERENCES 493
APPENDIX I 493
Chapter 12. An Efficient Formulation for the Dynamic Simulation of Robots 496
1. INTRODUCTION 496
2. FORMULATION OF THE INEATIA MATRIX 496
3. ALGORITHM 497
4. GENERAL CHAIN WITH A TREE STRUCTURE 498
5. LINEAR EQUATION SOLVERS 499
5. CONCLUSIONS 499
REFERENCES 500
Chapter 13. Requirements for Advanced Graphic Robot Programming Systems 502
INTRODUCTION 502
SYSTEM DESCRIPTION 503
SIMULATION OF WORK CELLS 503
MODELING 503
GRAPHIC ROBOT PROGRAMMING 505
DELAY 0.1 MOVES approach_location SPEED 100, ALWAYS 506
CONCLUSION 507
REFERENCES 507
Chapter 14. A Reasoning System for Solid Modeling Techniques Applicable to Robotics 508
INTRODUCTION 508
THE FRAMEWORK FOR REASONING 509
REASONING SYSTEM FOR ROBOTIC APPLICATIONS 511
CONCLUSION 512
REFERENCES 512
Chapter 15. Simulation of Vision in Robot Applications 514
INTRODUCTION 514
MODELING 514
SYSTEM OVERVIEW 516
IMPLEMENTATION OF THE CAMERA SIMUALTION 518
PICTURE PROCESSING 518
CONCLUSION 519
RESERENCES 519
Chapter 16. A Sensitivity Approach to Optimal Spline Robot Trajectories 520
Introduction 520
Spline robot trajectories 521
Optimization problem formulation 521
A solution algorithm 522
Sensitivity analysis 522
Numerical simulations 523
Conclusions 524
References 524
Appendix 524
Chapter 17. Ability of a Robot to Move Between Two Points within Cartesian Free Workspace 
526 
INTRODUCTION 526
DEFINITIONS 526
CHARACTERIZATION OF THE ROBOT ABILITY TO MOVE THROUGH Ca 527
ALGORITHMIC ANALYSIS OF THE ROBOT ABILITY TO TRAVEL THROUGH Ca 527
RESULTS 528
CONCLUSION 528
REFERENCES 529
Chapter 18. A Practical Approach for Planning and Realization of Optimal Trajectories for Industrial Robots 532
INTRODUCTION 532
COMPARISON OF OPTIMAL' PLANNING METHODS 532
SELECTED NUMERICAL CONCEPT 533
Conclusion 534
References 534
Chapter 19. On the Optimal Path Generation for Redundant Robot Manipulators 538
1. Introduction 538
2. The Inverse Kinematics Problem 539
3. A Singularities Avoidance Approach 539
4. A Local OPPP Formulation 540
5. A Global Formulation 541
6. Conclusions 543
References 543
Chapter 20. Analytic Formulation if the Principle of Increasing Precision with Decreasing 
544 
1. INTRODUCTION 544
2. THE MATHEMATICAL THEORY OF INTELLIGENT CONTROLS 544
3. KNOWLEDGE FLOW AND THE PRINCIPLE OF IPDI 545
4. THE ANALYTIC FORMULATION OF THE IPDI 546
5. A CASE STUDY: THE DERIVATION OF THE BOLTZMANN MACHINE 547
6. APPLICATION TO ROBOTIC SYSTEMS 548
ACKNOWLEDGEMENT 548
REFERENCES 548
Chapter 21. Advanced Carrier Systems and Telerobotics 550
INTRODUCTION 550
DESCRIPTION OF ADVANCED TELEROBOTICS SYSTEMS 550
BASIC COMMON CONCEPTS 551
CONCLUSION 553
REFERENCES 553
Chapter 22. Robotic Arc Welding - Programming and Control 556
INTRODUCTION 556
HIERARCHICAL CONTROL 556
CORRECTION OF POSITIONAL ERRORS 558
THE KINEMATICS OF A POSITIONER 558
DISCUSSION 561
CONCLUSIONS 561
REFERENCES 561
Author Index 562
Keyword Index 564