bluuebunny/crossref_metadata_2025 huggingface dataset:
Towards automatic software generation
Authors: Rudall B. H.
Published: March 2009

Cybernetic techniques already ensure that computing machines are produced efficiently. Consideration is now given to the case for automating the means of producing computer software. A formal notation to describe software production is outlined and some machine portable systems are introduced. New and powerful techniques for modelling machines and producing ‘program’ generators are described.
Changing needs of industrial and commercial education and training
Authors: Taylor R. G.
Published: March 2009

It has become a truism that the introduction of modern technology requires new skills from both management and workforce. Yet recent reports confirm that the supply of trained manpower is failing to match present and future demand. Government action may be required, but more important is the need to promote greater liaison between higher education and industry, and to move - at craft and technician level - to a standard of training already being achieved by our competitors overseas. To accomplish these objectives requires a change in our attitude to education and training.
Robust control of a robot manipulator with nonlinearity
Authors: Furuta Katsuhisa , Kosuge Kazuhiro , Yamano Osamu , Nosaki Kageharu
Published: March 2009

SUMMARUY

This paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.
Programming industrial robots in FMS (A survey with particular reference to off-line, high-level robot program generation using VAL, VAL-II, AML And MARTI)
Authors: Ranky Paul G.
Published: March 2009

There is a great deal to be done in machine tool and robot programming research. The major problems include the slowness of the introduction of machine controllers, which have similar operating system and interfacing capabilities as the current 16 bit and 32 bit microcomputers, and the lack of intelligent, high-level standard languages, providing access not only at a high level, but also at the robot system programming level. The introduced and illustrated “MARTI” off-line robot program generator, under development by the author, attempts to provide software in this area.
Overall control within a flexible manufacturing system and the development of a cell controller
Authors: Taylor Ian
Published: March 2009

The centre of a Flexible Manufacturing System is its computer control. This paper identifies the component parts for computer control and explains how they have been combined to produce a turnkey cell controller, which provides the intelligence requirements to control cells utilising up to six resources that may be a combination of numerically controlled machine tools, inspection machines, workstations, robots, etc. It provides for various types of part/tool transport and schedules the parts movement within the cell. A second computer handles part programme information within the cell and also gathers management information during the cells operation.
An application of simulation theory in F.M.S.
Authors: Micheletti G. F. , Cantino V. , Fenoglio F.
Published: March 2009

This paper describes the use of abstract or metamodels to optimize factory production. The methodology of such models is first outlined and goal functions are then defined. A case already illustrates the application of this simulation procedure.
A review of expert systems principles and their role in manufacturing systems
Authors: Rayson P. T.
Published: March 2009

The objectives of this paper are twofold: The first is to briefly review for manufacturing engineers some of the early work undertaken by Artificial Intelligence researchers and the issues addressed which have culminated in today's “expert systems’ or ‘intelligent knowledge based systems’ (IKBS), as they are becoming known.

The second is to indicate some early applications in manufacturing and to point out that any major success in this field requires long-term commitment, in depth familiarity withA.I.techniques and access toA.I.development tools, all of which are currently in short supply internationally.
Robot ensembles for building construction
Authors: Muspratt Murray A.
Published: March 2009

Robot intensiveness in the manufacturing industry is growing rapidly, but the construction industry has been slow to capitalise on the array of robotic technology now available. An attempt is made to indentify various robot ensembles that may prove economically viable in building construction, and to configure these in such a way that particular characteristics of robot work methods are used to maximum advantage within the constraints of the construction environment.
A note on planning station loading in flexible manufacturing systems
Authors: Gunawardane Gamini
Published: March 2009

In a 1985 issue of this journal, Kusiak presented a formulation of the single period station loading problem related to planning of Flexible Manufacturing Systems. This note makes several observations about this formulation and the linear programming solution technique used. Possible variations and some structural properties of the fomulation are highlighted.
Geometric model of the DCR-LAI compliant device
Authors: Jutard A. , Redarce T. , Fakri A. , Betemps M.
Published: March 2009

In this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.
Efficient Sliding Mode Control for Robot Manipulator with Prescribed Tracking Performance
Authors: Lee Ju-Jang , Lee Jung-Hoon , Lee Jong-Soo
Published: March 2009

In this paper, we discuss the accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. Due to the modeling error or environmental uncertainties, sliding mode control may present a significantchatteringproblem by using a conventional Sliding Mode Control (SMC) which can obtain the desired tracking performance, because the controller design is carried in the uncertainty space of the system parameters.

To solve thischatteringproblem, the efficient compensation of the disturbance observer has been introduced. Thus the design of the proposed SMC is not influenced by the modeling error or parameter uncertainties.

To ensure bounded stability, the proposed sliding mode controls have been analysed in a preliminary lemma and two main theorems. The stability of the proposed control method is proved in this paper, and the efficiency of the control algorithms has been demonstrated by simulations for a position tracking control of a two-link robot subject to parameter and payload uncertainties.
A Splines–Based Control Method for Robot Manipulators
Authors: Kanarachos A. , Sfantsikopoulos M. , Vionis P.
Published: March 2009

In this paper, a new splines–based control method for robot manipulators is presented and discussed. The above method can be effectively used for path planning and control of rigid and flexible robots. The computational simplicity of the proposed algorithm, together with its flexibility and its high–level intelligence built in, can be considered as promising tools for achieving the goals of modem robot manipulator design.
An Approach to Biped Control Synthesis
Authors: Borovac B. , Vukobratović M. , Surla D.
Published: March 2009

A novel approach to control synthesis of biped locomotion mechanisms is suggested. The synthesis is carried out in two stages: the stage of nominal regimes (the synthesized control has to ensure the realization of gait in the absence of any disturbance), and the stage of perturbed regimes (the control has to eliminate deviations from the nominals under an additional condition of preserving the stability of the overall System). At the level of perturbed regimes, the proposed control synthesis should ensure the compensating movements such to bring the System ot its nominal during the gait. However, the compensating movements can, as a side–effect, induce the undesirable inertial forces which can influence the mechanism overall stability. To avoid this, it is suggested such a control which ensures that the acceleration of compensating movements does not exceed a value given in advance. In addition, the case is considered when an additional correction of the zero moment point ZMP position is accomplished by different mechanism joints.
Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators
Authors: Garg Devendra P.
Published: March 2009

This paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.
Accuracy improvement: Modeling of elastic deflections
Authors: Yao Junjie
Published: March 2009

Actual positions of industrial robot end-effectors differ from those commanded off-line. Consequently, it is then difficult for robots to fulfill certain tasks, such as automated assembly sequences or tasks where high performance accuracy is required. This paper shows that the accuracy of robot performance can be improved by introducing deviation matrices which are functions of many possible error sources. As a first approach, an experiment was carried out where structural elastic deflections, one of the many error sources, of a robot ASEA Irb 6/2 were taken into account. The experiment showed that using the improved model, the positioning accuracy of an ASEA Irb 6/2 robot carrying a weight of 5.6kg was improved from 2.5mm to 0.25mm and the orientation accuracy was improved from 0·45° to 0·3°.
Automatic simulation of a robot program for a sequential manufacturing process
Authors: Jacak Witold , Rozenblit Jerzy W.
Published: March 2009

This paper presents a framework for the design of a hierarchical Simulator of a robotized sequential technological process. The framework employs concepts of discrerte event simulation modelling. The Simulator consists of two layers: the Simulator of a robot and technological process, and the interpreter and planner of robot tasks. A format specification of both layers is presented. The proposed simulation approach is expected to result in significant improvements in the robot task plan generation and in higher efficiency of a technological process.
A gait simulator for a quadruped walking robot
Authors: Stoner John , Davis Robert H.
Published: March 2009

The description is provided for the design and implementation of a system capable of simulating the motions of a quadruped walking robot. The system aims to investigate the feasibility of the robot's walking cycle. This is achieved by considering the robot's stability and more specifically the position of its centre of gravity in relation to its supporting legs. The robot is modelled as a solid body connected to four jointed limbs which are moved through a series of gaits, their positions being calculated at a set of discrete intervals. The resulting information is displayed using a graphical module to present an image of the moving robot and indicate its centre of gravity and support pattern. The complete system indicates the stability of the robot throughout a user-defined gait cycle and is both portable and adaptable.

The system is implemented on a HLH Orion and an Atari 1040ST in the C programming language and is aimed at providing support for the Department of Mechanical Engineering at Edinburgh University where the particular robot is being built.
Automated planning and programming environments for robots
Authors: ElMaraghy H. A. , Rondeau J. M.
Published: March 2009

Traditionally, most industrial robots are programmed by teaching. Automatic planning of robotic tasks has many potential benefits for flexible automation. It allows the user to describe a task to the robot programming system in a formal and natural manner, and reduces the time required to generate and update robot programs. Two main levels of abstraction in describing robot tasks can be identified.Robot-levelprogramming is based on robot movements and actions, as detailed by the programmer.Object-levelortask-levelprogramming allows the user to describe assembly tasks in terms of operations performed on objects being manipulated instead of specifying the individual motions of the robot end-effector. However, commercially available robot-level programming languages still fall short of the robot user's need to programme complex tasks and consequently are not widely used in industry. There is an increasing need for integrating sensors feedback into the robot system to provide better perception and for improving the capacity of the robot to reason and make decisions intelligently in real-time. Task-level programming represents the highest level of abstraction and is the most attractive, as it uses reasoning capabilities provided by Artificial Intelligence. To date, no system of this class has been completely implemented in industry. This paper reviews the progress made in robot programming and task planning systems in the last twenty years, and discusses the current research trends.
A model algorithmic learning method for continuous-path control of a robot manipulator
Authors: Oh Sang–Rok , Bien Zeungnam , Suh Il Hong
Published: March 2009

A new type of an iterative learning control method is proposed for dynamic systems with uncertain parameters. The method, which employs the model algorithmic control concept in the iteration sequence, is shown to be convergent for linear time-varying systems. Then the method is shown to be applicable for continuous-path control of a robot manipulator.
Automatic robot program synthesis for assembly
Authors: ElMaraghy H. A. , Rondeau J. M.
Published: March 2009

This paper describes a revised version of ROBOPLAN, a goal-oriented robot task planning system for automatic generation, decomposition and execution of high-level robot plans for assembly. It emphasizes its new features, i.e., modularity, formal definition of the task, robust plan synthesis, and execution of each assembly step. A task definition language allows a formal description of the robot universe and the assembly task to be input to ROBOPLAN. The expert task planner is a non-linear backward chaining problem solver, using a goal driven depth-first strategy. The implemented search strategy has been tested in the assembly domain, but it could be used in other domains where planning is needed. The motion planner provides a non-optimal, safe robot trajectory; collision free path planning has not been included yet. A robot executable code is generated for each assembly step and monitored in real time. The error detection and recovery capability of the system is rather limited at present, since no sensors are used. The initial implementation of the system has been tested and evaluated on the assembly of a DC motor. The potential of extending this planning framework to other applications is also discussed.
Multivalue coding: application to autonomous robots
Authors: Pruski A.
Published: March 2009

The paper describes a free space modeling method by multivalue coding. Each code defines some numerical values representing a set of cells from a grid. The idea consists in using the grid as a Karnaugh board whose rows and columns are binary coded rather than Gray coded. This operating method allows to define, for each code, its grid location and allows numerical comparison in order to locate a code relatively to another. This aspect is helpful for path planning. The free space model is represented by a switching function or a tree to which boolean algebra rules and mathematic operations are applied. We describe an application to mobile robot path planning.
SYM-program environment for manipulator modeling, control and simulation
Authors: Timčenko Aleksandar , Kirćanski Nenad , Urošević Dragan , Vukobratović Miomir
Published: March 2009

This paper describes the structure of the program package for manipulator modeling, control law synthesis and simulation SYM. While the underlying algorithms have been explained elsewhere, this paper puts emphasis on SYM as a program environment with both research and educational purposes. The control law synthesis in symbolic form, as well as system simulation, are given in more details since those features have been introduced into SYM recently. As an illustration we present few instances of SYM outputs which depict main steps in manipulator control system creation process: manipulator structure as a 3D scheme, control law definition form and system simulation results as 2D plots.
An algebraic approach to collision-avoidance trajectory planning for dual-robot systems: Formulation and optimization
Authors: Suh Suk-Hwan , Kim Myung-Soo
Published: March 2009

Collision-Avoidance is a key issue in planning trajectories for dual robots whose workspaces overlap. In this paper, we develop a new trajectory planning method by proposing a traffic control schemes. The traffic controller determines the next positions for each robot based on the motion priority and path direction subject to the collision-avoidance conditions and the robots' physical limits. The problem of determining the next positions is formulated and optimized. Algebraic expressions for collision avoidance between every-pair of links – one from the first robot and the other from the second robot – are derived inconfiguration space. These algebraic expressions are then used to solve the problem of determining “optimal” (in the sense of path direction and motion priority) robots' trajectories. A solution procedure is developed using a nonlinear programming (NLP) solver. The main advantage of our approach is that the two robots' trajectories can be determined simultaneously without requiring anya prioripath information. Several numerical examples are presented to demonstrate the validity and effectiveness of the proposed approach.
Tactile sensing of 3-dimensional surface features
Authors: Russell R. Andrew
Published: March 2009

Robots will require some form of proximity sensing in order to perform many delicate exploration, assembly and manipulation tasks. This paper describes a novel articulated tactile probe which can locate and accurately measure the 3-dimensional surface contours of small objects. Although lacking the speed of data acquisition possible with vision and other non-contact sensors, the resulting data is easily processed to give useful information about an object.
Optimization of manipulator dynamics in non extreme design case
Authors: Youlun Xiong , Han Ding
Published: March 2009

This paper is concerned with the dynamic merit of robot manipulators and method for the optimization of manipulator dynamics in the case of an extremely bad design, which can be put into three categories: 1. Acceleration performance: minimize2. Velocity performance: minimize3. Comprehensive performance: minimize,andare the dynamics indices of API, VPI and CD PI under various conditions respectively.

The exchange algorithm is presented and a procedure is developed to solve this kind of Minimax problem. An example is discussed to illustrate the application of the optimization method. The large uniform magnitude of a joint relative driving torque provided by this dynamics optimization procedure will be made into a large work space and large torques.
CAD of Devices for Gripping Prismatic Components
Authors: Pham D. T. , Tacgin E.
Published: March 2009

This paper describes the generation of profiles of jaws of robot grippers for holding parallel-sided workpieces. The profiles are effectively ruled surfaces. The line segments of the ruled surfaces are designed to contact workpieces of different thicknesses. The optimum design of these gripping surfaces is considered in this paper
Kinematics of a n–bay triangle–triangle variable geometry truss manipulator
Authors: Beiner L.
Published: March 2009

Variable geometry truss manipulators (VGTM) are static trusses where the lengths of some members can be varied, allowing one to control the position of the free end relative to the fixed one. This paper deals with a planar VGTM consisting of a n–bay triangle-triangle truss with one variable length link (i.e. one DOF) per bay. Closed-form solutions to the forward, inverse, and velocity kinematics of a 3-DOF version of this VGTM are presented, while the forward and inverse kinematics of an n–DOF (redundant) one are solved by a recursive and an iterative method, respectively. A numerical example is presented.
A new wheel control system for the omnidirectional HERMIES-III robot
Authors: Reister D. B.
Published: March 2009

We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot.
Planning of collision-free movements of a manipulator with dynamic constraints
Authors: Ozaki H. , Mohri A.
Published: March 2009

In this paper the joint trajectories of a manipulator, which avoids obstacles in the work space and follows given path, are planned considering the dynamics of the manipulator system. The planning problem has four types of constraints: collision-free conditions, structural joints movable ranges, joints velocity limits and actuators input limits. This problem is formulated using artificial potentials which give feasible joint movements under these constraints. An algorithm using the linear programming is given to solve the problem. This algorithm enables the successive adjustment of the weighting factors of artificial potentials and gives the desired joint trajectories. The algorithm is effectively applied to the planar movements of a manipulator with four links and four degrees of freedom.
Special configurations of robot-arms via screw theory
Authors: Hunt K. H.
Published: March 2009

The Jacobian of serial robot-arms is examined, and the matrix of cofactors of a singular Jacobian is presented as a means of explaining the physical nature of special configurations. Because the columns of both these matrices are screw coordinates, screw theory is central to proper understanding. ‘Realistic’ robot-arms are seen to behave in ways that can be explained not by particularizing from a general formulation but rather by carefully interpreting the relevant special screw systems from the outset. Higher singularities (with more than one freedom-loss) are then touched upon.
Robots in the construction industry
Authors: Warszawski A.
Published: March 2009

Robots have a considerable potential of application on the building site; they can adapt to varying tasks, move and interact with environment. The building process may be restructured in such way that a majority of tasks would be performed by 4 configurations of robots: an assembling robot for handling of large structure components, a general purpose robot for interior finishing works, an exterior wall, and a floor finishing robot for finishing of large vertical and horizontal surfaces, respectively. A preliminary feasibility study reveals that such robots may be justified economically, especially under conditions which reduce human productivity or require high quality of work.
Resolved position control for two cooperating robot arms
Authors: Lim Joonhong , Chyung Dong H.
Published: March 2009

The problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.
On a human-arm-like mechanical manipulator
Authors: Hemami A.
Published: March 2009

This paper investigates the kinematics and motion of a human arm as a manipulator with seven degrees of freedom, and how to deal with the extra degree of freedom that exists. It proposes that a change of configuration be divided into a sequence of motions where each time one of the joints is locked. It then presents a general technique to solve inverse kinematic equations of the different reduced models that arise.
Automated Mobile Robots under the Influence of Random Disturbances
Authors: Hongler M. -O.
Published: March 2009

The dynamics of sensors operated devices such as Automated Mobile Robots and more generally automated target seeking devices is studied in presence of noise. We introduce a simple and analytically tractable class of dynamics which permits to classify qualitatively and somehow quantitatively also the approach to the targets when fluctuations corrupt the ideal trajectories. Our model constitute a first evaluation of the feasibility of an efficient approach when the parameters of the model (statistics of the noise, lengths of the path and progressing steps and heading velocity) are known.
An Efficient Computational Method of the Jacobian for Robot Manipulators
Authors: Li Chang-Jin , Hemami A. , Sankar T. S.
Published: March 2009

In this paper, an efficient method for computing the Jacobian matrix for robot manipulators on a single processor computer is developed. Compared with the existing methods, the number of required numerical operations is considerably smaller, making the proposed technique the fastest, or the least expensive, one for any general N degrees-of-freedom manipulator.
Learning Task Strategies in Robotic Assembly Systems
Authors: Ahn D. S. , Cho H. S. , Ide K. , Miyazaki F. , Arimoto S.
Published: March 2009

This paper presents a practical method for generating task strategies applicable to chamferless and high-precision assembly. The difficulties in devising reliable assembly strategies result from various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices.

In order to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal through iterative task execution. The strategy is realized by adopting a learning algorithm and is represented in a binary tree-type database. To verify the effectiveness of the proposed algorithm, a series of experiments are carried out under simulated real production conditions. The experimental results show that sensory signal-to-robot action mapping can be acquired effectively and, consequently, the assembly task can be performed successfully.
Efficient computation of force distributions for walking machines on rough terrain
Authors: Gardner J. F.
Published: March 2009

The force distribution problem for legged vehicles on rough terrain is considered. A general formulation of the force distribution problem in which the feet contact the ground at arbitrary inclinations, is presented. Three techniques are used to solve the force distribution problem for three representative tasks. The Moore-Penrose pseudo-inverse, a numerical optimization scheme and an approximation to the optimal solution are described. The optimal scheme computes the forces which minimize the maximum ratio of tangential foot reaction force to foot normal force. The approximation is used to achieve certain desirable characteristics of the optimal scheme with considerably less computational resources.
A Knowledge-Based Approach to Modelling of Robotic Assembly Cells
Authors: Kim Dae-Won , Lee Bum-Hee , Ko Myoung-Sam
Published: March 2009

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the System structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.
A study of application areas for modular robots
Authors: Harrison R. , Western R. H. , Moore P. R. , Thatcher T. W.
Published: March 2009

The paper describes a study of potential industrial applications where modular robots can be used in preference to conventional pedestal mounted robots and/or specially designed automatic machines. The study was conducted with reference to a particular family of pneumatically actuated robot modules.

The paper also describes a modular robotic system which was designed to automate assembly processes in the manufacture of a family of egg coddlers. The manipulator comprises multi-axis groups of modules which operate concurrently to perform the assembly operations. Flexibility is incorporated through the use of a hierarchical control system architecture.
An approach for negating the view that technology ‘competes’ with humans
Authors: Primrose P. L. , Leonard R.
Published: March 2009

Engineers have traditionally invested in Advanced Manufacturing Technology (AMT), such as FMS, Robots, CAD/CAM, CNC and MRP to achieve a reduction in the labour force. Similarly, government incentives for introducing AMT, have also placed an undue emphasis on the ‘need to replace labour with technology’. This policy creates severe industrial relations problems and leads to the view that technology, especially robots, ‘competes’ with human beings for employment. Research at U.M.I.S.T. has shown that AMT is much more viable when the objective of the investment is to increase a company's overall competitive ability, thereby generating increased sales which, in turn, necessitates an INCREASED labour force. The paper discusses various aspects of AMT and in each case it is shown how the acceptability of the investment is improved when the new technology is viewed ‘company-wide’. When this occurs, technology is viewed as being ‘complementary to’ and not ‘instead of’ humans.
Robust tracking control for robot manipulators: theory, simulation, and implementation
Authors: Dawson D. , Quf† Z. , Duffie J.
Published: March 2009

In this paper, we propose a robust controller for the tracking of robot motion. This controller is a nonlinear-based controller that compensates for the uncertainties present in the manipulator dynamic equation. The main result of this paper is that we explicitly show how the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error is Global Exponential Stability (GES). We then illustrate how similar control approaches are related to the proposed controller. Finally, simulation and experimental results are utilized to illustrate the performance of the robust controller.
Geometric tools for the off-line programming of robots
Authors: Stobart R. K.
Published: March 2009

Off-line programming of robots has a number of clear advantages over traditional ‘teach1’ methods which require the robot to be taken out of production. However, off-line programming techniques require extensive geometric facilities which are ideally provided by a geometric modelling system.

The use of modelling covers the planning of the robot workcell, as well as the detailed planning of the robot operations. Assembly, in particular, requires detailed geometric information concerning geometric features and solid properties.
ARC robot programming and control system
Authors: Huebener J. , Zecha M.
Published: March 2009

Programming and control of industrial robots in a flexible manufacturing environment is a problem of increasing complexity. The paper deals with a software system, which is as much as possible independent of the real robot and suitable for different microprocessor configurations. It contains, furthermore, some components for off-line programming.
Towards sensor-based general purpose robot programming language
Authors: Milovanovic Rajko
Published: March 2009

We present an analysis of currently available user language facilities for sensor-based programming of robot assembly tasks. A common criterion is defined that a language support for sensor-based programming must satisfy. Finally, drawing upon a novel mechanism of generalized exception, we present a framework for a complete solution of these problems in a high level block structured and complex language, as well as a possible implementation of such tools.
A structured geometric database in an off-line robot programming system
Authors: Aken L. Van , Brussel H. Van
Published: March 2009

This work describes a hierarchically structured geometric database in an off-line robot programming system. The data structure contains the numerical definition of the frame variables, as well as an indicator of the respective reference frames. Moreover, the physical relations between the objects in the environment are included. The database is implemented such that it continuously reflects the actual structure of the environment. As a result, all calculations of the frame locations are carried out automatically. Moreover, the programming system is capable to autonomously updating the numerical information after changes in the environment. Making this database the heart of a robot programming system greatly simplifies the off-line programming of complex robot tasks, like f.i. assembly tasks.
Iterative learning control with feedback using Fourier series with application to robot trajectory tracking
Authors: Lee Jong-Woon , Lee Hak-Sung , Bien Zeungnam
Published: March 2009

The Fourier series is employed to approximate the input/output (I/O) characteristics of a dynamic system and, based on the approximation, a new learning control algorithm is proposed in order to find iteratively the control input for tracking a desired trajectory. The use of the Fourier series approximation of I/O renders at least a couple of useful consequences: the frequency characteristics of the system can be used in the controller design and the reconstruction of the system states is not required. The convergence condition of the proposed algorithm is provided and the existence and uniqueness of the desired control input is discussed. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. It is shown that, by adding a feedback term in learning control algorithm, robustness and convergence speed can be improved.
An investigation of fuzzy logic control of flexible robots
Authors: Lin Yueh-Jaw , Lee Tian-Soon
Published: March 2009

In this paper a control law, which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator, is presented. The nonlinear effects negotiator is used to enhence the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed.
Learning control for robot motion under geometric end-point constraint
Authors: Arimoto Suguru , Naniwa Tomohide
Published: March 2009

Learning control is a new approach to the probelm of skill refinement for robotic manipulators. It is considered to be a mathematical model of motor program learning for skilled motions in the central nervous system.

This paper proposes a class of learning control algorithms for improving operations of the robot arm under a geometrical end-point constraint at the next trial on the basis of the previous operation data. The command input torque is updated by a linear modification of present joint velocity errors deviated from the desired velocity trajectory in addition to the previous input. It is shown that motion trajectories approach an e-neighborhood of the desired one in the sense of squared integral norm provided the local feedback loop consists of both position and velocity feedbacks plus a feedback term of the error force vector between the reactive force and desired force on the end-point constrained surface. It is explored that various passivity properties of residual error dynamics of the manipulator play a crucial role in the proof of uniform boundedness and convergence of position and velocity trajectories.
Minimum jerk for trajectory planning and control
Authors: Kyriakopoulos K.J. , Saridis G.N.
Published: March 2009

It has been experimentally verified that the jerk of the desired trajectory adversely affects the performance of the tracking control algorithms for robotic manipulators. In this paper, we investigate the reasons behind this effect, and state the trajectory planning problem as an optimization problem that minimizes a norm of joint jerk over a prespecified Cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.
An approach to autonomous robot assembly
Authors: Koditschek Daniel E.
Published: March 2009

Assembly problems require that a robot with fewer actuated degrees of freedom manipulate an environment containing a greater number of unactuated degrees of freedom. From the perspective of control theory, these problems hold considerable interest because they are characterized by the presence of non-holonomic constraints that preclude the possibility of feedback stabilization. In this sense they necessitate the introduction of a hierarchical controller. This paper explores these issues in the simple instance when all of the pieces to be assembled are constrained to lie on a line. A hierarchical controller is devised for this problem and is shown to be correct: the closed loop system achieves any desired final assembly from all initial configurations that lie in its connected component in configuration space; the generated sequence of motions never causes collisions between two pieces. Further examination of this approach interprets the controller's mediation of conflicting subgoals as promoting an M-player game amongst the pieces to be assembled.
Information-efficient robotic control
Authors: Maimon Oded , Last Mark
Published: March 2009

The work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.

The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.
A qualitative theoretical framework for ‘common-sense’ based multiple contact robotic manipulation
Authors: Ananthanarayanan S.P. , Goldenberg A.A. , Mylopoulos J.
Published: March 2009

This paper presents a qualitative theoretical formulation for synthesis and analysis of multiple contact dexterous manipulation of an object, using a robot hand. The motivation for a qualitative theory is to build a formalisation of ‘human-like’ common-sense reasoning in robotic manipulation. Using this formalisation, a robot hand can perform finger-tip manipulative movements by analysing the physical laws that govern the robot hand, the object, and their interaction. Traditionally, such analysis have been framed in quantitative terms leading to mathematical systems which become intractable very quickly. Also, quantitative synthesis and analysis, often demand an accurate specification of the parameters in the universe of discourse, which is almost impossible to provide. The qualitative approach inherently encounters both these problems successfully.

The qualitative theory is presented in three developmental stages. A qualitative framework of spatial information in the context of dexterous manipulation has been provided. Qualitative models of an object configuration and transformations in them that occur during a manipulation process, have been developed. Finally, the development of a ‘quasi-static’ qualitative framework of a dexterous manipulation process that performs the desired object transformation, has been presented.
Using NASREM for telerobot control system development
Authors: Lumia Ronald
Published: March 2009

Using a functional architecture such as the NASA/NIST Standard Reference Model for Telerobot Control System Architecture (NASREM) to implement specific applications is helpful because much of the work resides in the infrastructure and the infrastructure is the same for all applications. Rather than recreating this infrastructure, our approach is to develop the additional 20% of the code which tailors the infrastructure for the specific application. This paper describes the process by which a system based on NASREM is developed.
Solving the motion planning problem by using neural networks
Authors: Chan R.H.T. , Tam P.K.S. , Leung D.N.K.
Published: March 2009

This paper presents a new neural networks-based method to solve the motion planning problem, i.e. to construct a collision-free path for a moving object among fixed obstacles. Our ‘navigator’ basically consists of two neural networks: The first one is a modified feed-forward neural network, which is used to determine the configuration space; the moving object is modelled as a configuration point in the configuration space. The second neural network is a modified bidirectional associative memory, which is used to find a path for the configuration point through the configuration space while avoiding the configuration obstacles. The basic processing unit of the neural networks may be constructed using logic gates, including AND gates, OR gates, NOT gate and flip flops. Examples of efficient solutions to difficult motion planning problems using our proposed techniques are presented.
A tactile sensor based on thin-plate deformation
Authors: Ellis R.E. , Ganeshan S.R. , Lederman S.J.
Published: March 2009

Traditionally, tactile sensors have been designed using compliant, rubber-like materials; when such a sensitized gripper grasps or otherwise manipulates an object, the normal strain deformation in the compliant material is sampled. The resulting information can be used to deduce simple local geometry of the contact, but the transduction process does not typically permit use of the individual strains in determining large-scale properties of the object (e.g., the inertia). Measurements of inertial parameters of grasped objects require accurate, low-hysteresis transduction that few tactile sensors currently provide.

An alternative is to work from the task specification, and determine the tactile information that is necessary to accomplish the task. Here, we consider how to sense the length and mass of a uniform object that is gripped in a gravitational field, and show the design and assessment of a new kind of tactile sensor that is based on the theory of the deformation of thin plates. Features of this design include its potentially rugged realization, and its high-accuracy measurement that is more typical of force sensors than of tactile sensors.
On the use of optical fibres in a pulsed time-of-flight laser rangefinder
Authors: Nissilä Seppo , Kostamovaara Juha
Published: March 2009

The pulsed time-of-flight laser rangefinding technique has been used in many industrial measurement applications, including 3D-coordinate measuring devices, hot surface profilers and mobile robot sensors. Optical fibres, typically 1–10 m in length and 100–400 μm in diameter can be used to guide optical pulses to the separate sensing head of the measurement device. The use of a large multimode fibre may cause problems, however, when aiming at millimetre accuracy, as the construction and adjustment of the optics of the sensor head may affect the transit time linearity and measurement accuracy via multimode dispersion. Environmental effects, such as bending, vibration due to the moving sensing head and temperature, also cause measurement errors. The error sources are studied and characterized in this paper.
A tuning procedure for stable PID control of robot manipulators
Authors: Kelly Rafael
Published: March 2009

In this paper we propose some simple rules for PID tuning of robot manipulators. The procedure suggested requires the knowledge of the structure of the inertia matrix and the gravitational torque vector of the robot dynamics, but only upper bounds on the dynamics parameters are needed. This tuning procedure is extracted from the stability analysis by using a suitable Lyapunov function together with the LaSalle invariance principle. We show that with this guideline, the overall closed-loop system is asymptotically stable. This procedure is illustrated for a two degrees-of-freedom robot
A motion planning strategy for multifingered hands considering sliding and rolling contacts
Authors: Chong Nak Young , Choi Donghoon , Suh Il Hong
Published: March 2009

An algorithm for the motion planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find the minimum joint velocity and the minimum contact force to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints