Robotics and Factories of the Future ’87: Proceedings of the Second International Conference San Diego, California, USA July 28–31, 1987

Front Matter....Pages i-xvii
Front Matter....Pages N1-N1
Elements of Effective CIM....Pages 1-9
Intelligent Task Automation Manufacturing System....Pages 10-17
Robotic Manufacture of Hazardous Substances....Pages 18-25
Robotics and Factories of the Future as Applied to Large Mechanical Products Allison World Transmission Program....Pages 26-26
Microcomputer Applications for CAD/CAM in Engineering Education....Pages 27-36
Front Matter....Pages N2-N2
Methodology of Assembly Automation: A New Approach....Pages 37-45
The Application of the Second Law Technique for the Prediction of Trends in the Development of a Factory of the Future....Pages 46-57
A Coherent Model of Production Highlighted from an Epistemological Approach....Pages 58-65
Probabilistic Calculation of Critical Clearing Time in a Large Power System....Pages 66-74
Critical Observations on “The Japanese Manufacturing Competitive Advantage”....Pages 75-82
Preliminary Study on Design Methods for Large Scale Systems Applications: Integrating Distributed-Problem-Solving....Pages 83-89
Producibility Awareness....Pages 90-96
Application of a Stochastic Inventory Model....Pages 97-104
A Just-In-Time/Group Technology Based Scheduling Model....Pages 105-110
Single Facility Location Problem With Non-Traditional Cost Function....Pages 111-118
Cellular Manufacturing—Some Design Considerations....Pages 119-124
Single—Source, Single—Truck Models for the Location—Production—Distribution Problem....Pages 125-134
Front Matter....Pages N3-N3
An Interface Between CAD/CAM Softwares....Pages 135-143
Isoparametric Finite Elements for Micropolar (Cosserat) Elasticity....Pages 144-151
An Interface Standard for Communicating Between Dimensional Measuring Equipment and CAD Data Bases....Pages 152-158
Front Matter....Pages N3-N3
Integrating the Management of Product Design....Pages 159-166
Use of CAD Systems in Design of Space Station and Space Robots....Pages 167-183
Relevance of Numerical Controlled and Computer Controlled Machine Tools in India....Pages 184-192
CAD/CAM Data Representation and Interchange: An Assessment of Current Practice and Future Trends....Pages 193-203
A Program in Basic to Calculate Electronic Box Moment of Inertia....Pages 204-214
A Computer Aided Procedure for the Selection of Manufacturing Materials....Pages 215-221
Theory and Practice of Minimum Weight Design....Pages 222-231
Front Matter....Pages N4-N4
A Work-Orientation Device for Castings in an Automated Foundry....Pages 235-241
CIM Framework for Electronics Manufacturing Systems....Pages 242-249
FMS and Organization....Pages 250-256
Universal Machine Tools Make Flexible Manufacturing Systems More Efficient....Pages 257-264
Universal Assembly Systems—Making Low Volume Assembly Pay....Pages 265-272
A Simulation System for Flexible Manufacturing Cells....Pages 273-280
Defining Requirements for Computer Integrated Manufacturing Systems....Pages 281-291
Front Matter....Pages N5-N5
Differential Relationships with Applications to Robot Inverse Joint Solution and Motion Correction....Pages 293-300
A Kinematic Model Of Flexible Robot Arms....Pages 301-308
Closed-Form Solution of Inverse Kinematics for the Puma Manipulator....Pages 309-316
Inverse Kinematic Analysis for a Five Axis Robot Using Monte Carlo Method....Pages 317-329
Part Relative Robot Inaccuracy Compensation Using Kinematic and Stochastic Modeling....Pages 330-337
Optimization of Angular Position and Location Accuracy in Robots....Pages 338-345
Front Matter....Pages N6-N6
Controller Design and Dynamic Simulation of Elastic Robot Arm Mounted in Spacecraft in Presence of Uncertainty....Pages 347-354
An Adaptive Control Algorithm for Robot Machine and Process Control....Pages 355-363
Persistently Exciting Trajectories for Estimation....Pages 364-382
The Rational Fractional Approach: A Tool for Computer Aided Feedback System Design....Pages 383-388
Direct and Inverse Dynamic Modelling for Complex Kinematic Structure Robots....Pages 389-395
Computer Simulation of Manipulator Dynamics Using Different Control Laws....Pages 396-404
Computer-Assisted Robot Modeling for Real-Time Dynamic Control....Pages 405-412
Optimal Distributive Relation Between Fingertip Forces for the Active Robot Hand to Manipulate an Object....Pages 413-420
A PID Sliding Mode Controller for a Robotic Link....Pages 421-428
Front Matter....Pages N7-N7
An Intelligent Path Planner in 2D and 3D with Rotation....Pages 429-436
Robot Path Adaptation Based on Axis Drive Current Monitoring Including Discrimination Between Collision and Acceleration Transients....Pages 437-446
Off-Line Integration Techniques for Robot Path Planning....Pages 447-455
Collision Detection Using Sphere Approximations....Pages 456-460
A Derivation of Robot Control Algorithms From the Lagrange Formalism....Pages 461-466
Probabilistic Estimate of Robot End-Effector’s Position Error Due to Process Noise....Pages 467-474
Front Matter....Pages N8-N8
Methodology and Development of a Software Package for a Low Cost Machine Vision System for Real Time Applications....Pages 475-482
A Sensorized System for Delicate Piece Selection, Handling and Packaging....Pages 483-488
Adaptive Visual Control of a Robot Arm Using Tiled Space....Pages 489-496
Dynamic Six Components Measurement of Robot Precision....Pages 497-502
Tactile Pattern Recognition of Polyhedra on a Plane....Pages 503-510
Front Matter....Pages N8-N8
Sensor Fusion: The Quest for Autonomous Robots....Pages 511-518
A Simple Vision System for an Educational Robot....Pages 519-527
Visual Robot Guidance for Materials Handling Operations....Pages 528-534
A Geometric State Sensor for Robot Workcell Monitoring....Pages 535-542
Development of End—Effector Sensors for Industrial Robots....Pages 543-550
A Management Perception—Need for Quality Control....Pages 551-555
Digital Image System Software for Automated Part Identification....Pages 556-563
Modern Inspection Techniques for Computer Aided Quality Control....Pages 564-571
Front Matter....Pages N9-N9
The Use of Expert Systems in CIM....Pages 573-579
Expert Systems Application for Optimal Production Scheduling....Pages 580-586
Inaccuracy Mapping of 2-D Surfaces for Robot Off-Line Programming....Pages 587-594
Diagnosis of Robotic Workcells by Behavioral Models....Pages 595-602
A Spatial Modeling and Reasoning System for Robotics Research....Pages 603-606
A Structural Framework for an Expert Authoring System....Pages 607-616
Robot Selection Through Fuzzy Set Optimization....Pages 617-624
Robot Programming Languages—A State of the Art Survey....Pages 625-635
Front Matter....Pages N10-N10
Integration of Material Buffering Devices in an Automated Factory....Pages 637-648
Robotics System—Elephant Trunk Type Elastic Manipulator Combined with a Quadruped Walking Machine....Pages 649-656
Bipedal Balancing: A New Approach....Pages 657-661
On the Conversion of an Industrial Robot to a Mobile Robot....Pages 662-669
Front Matter....Pages N10-N10
Simulation of Steady Human Walking and its Application to Artificial Locomotive System....Pages 670-677
A Navigation Control System for an Autonomous Mobile Robot....Pages 678-686
Front Matter....Pages N11-N11
Case Study of the Implementation of a Vision System in a Robotic Assembly Application....Pages 687-695
The Effect of Mechanical Vibrations on the Robotic Assembly Process....Pages 696-706
Integration of Vision, Transportation and Assembly Tasks in a Flexible Assembly Cell Using Robot Cooperation....Pages 707-714
An RCS Application Example: Tool Changing on a Horizontal Machining Center....Pages 715-724
The Low Volume Robot Assisted Assembly of Engine Components....Pages 725-734
A Reconfigurable Multicomputer System for Robotics Applications....Pages 735-742
Real—Time Functional Programming....Pages 743-750
A Computer Integration of Reconfigurable Fixtures and Drilling of Sheet Metal Parts....Pages 751-759
Failsafe/Diagnosable Multiprocessor System for Robotics Applications....Pages 760-766
Front Matter....Pages N12-N12
A Concept of a Rock Imaging System for an Underground Computer-Controlled Drilling Machine....Pages 767-778
Application of Artificial Intelligence and Robotics to Mining....Pages 779-786
Remote Control of Drill and Blast Excavation and Demolition....Pages 787-794
Front Matter....Pages N13-N13
Survey of Robotics in Industrial Engineering Education....Pages 795-802
Impact of Robotics and CAD/CAM on an Industrial Technology Curriculum....Pages 803-806
Undergraduate Robotics Education on a Shoestring....Pages 807-815
Development of a Robotics Course for Engineering Students....Pages 816-823
Front Matter....Pages N14-N14
The Human Resources Policy Implications of Advanced Manufacturing Systems....Pages 825-831
Displaced and Excess Workers: Rebalancing the Workforce in the Factories of the Future....Pages 832-839
Front Matter....Pages N14-N14
Human Health and Safety with the Robot....Pages 840-844
Back Matter....Pages 845-846