Robotics and Factories of the Future '87

Systems.- FMS and Organization.- Universal Machine Tools Make Flexible Manufacturing Systems More Efficient.- Universal Assembly Systems - Making Low Volume Assembly Pay.- A Simulation System for Flexible Manufacturing Cells.- Defining Requirements for Computer Integrated Manufacturing Systems.- Kinematic Analysis.- Differential Relationships with Applications to Robot Inverse Joint Solution and Motion Correction.- A Kinematic Model of Flexible Robot Arms.- Closed-form Solution of Inverse Kinematics for the Puma Manipulator.- Inverse Kinematic Analysis for a Five Axis Robot Using Monte Carlo Method.- Relative Robot Inaccuracy Compensation Using Kinematic and Stochastic Modeling.- Optimization of Angular Position and Location Accuracy in Robots.- Dynamics and Control.- Controller Design and Dynamic Simulation of Elastic Robot Arm Mounted in Spacecraft in Presence of Uncertainty.- An Adaptive Control Algorithm for Robot Machine and Process Control.- Persistently Exciting Trajectories for Estimation.- The Rational Fractional Approach: A Tool for Computer Aided Feedback System Design.- Direct and Inverse Dynamic Modelling for Complex Kinematic Structure Robots.- Computer Simulation of Manipulator Dynamics Using Different Control Laws.- Computer-Assisted Robot Modeling for Real-Time Dynamic Control.- Optimal Distributive Relation Between Fingertip Forces For the Active Robot Hand to Manipulate an Object.- A PID Sliding Mode Controller for a Robotic Link.- Trajectory Planning.- An Intelligent Path Planner in 2D and 3D with Rotation.- Robot Path Adaptation Based on Axis Drive Current Monitoring Including Discrimination Between Collision and Acceleration Transients.- Off-Line Integration Techniques for Robot Path Planning.- Collision Detection Using Sphere Approximations.- A Derivation of Robot Control Algorithms From the Lagrange Formalism.- Probabilistic Estimate of Robot End-Effector's Position Error Due to Process Noise.- Sensors and Vision Systems.- Methodology and Development of a Software Package for a Low Cost Machine Vision System for Real Time Applications.- A Sensorized System for Delicate Piece Selection, Handling and Packaging.- Adaptive Visual Control of a Robot Arm Using Tiled Space.- Dynamic Six Components Measurement of Robot Precision.- Tactile Pattern Recognition of Polyhedra on a Plane.- Sensor Fusion: The Quest for Autonomous Robots.- A Simple Vision System for an Educational Robot.- Visual Robot Guidance for Materials Handling Operations.- A Geometric State Sensor for Robot Workcell Monitoring.- Development of End-Effector Sensors for Industrial Robots.- A Management Perception - Need for Quality Control.- Digital Image System Software for Automated Part Identification.- Modern Inspection Techniques for Computer Aided Quality Control.- AI and Expert Systems.- The Use of Expert Systems in CIM.- Expert Systems Application for Optimal Production Scheduling.- Inaccuracy Mapping of 2-D Surfaces for Robot Off-Line Programming.- Diagnosis of Robotic Workcells by Behavioral Models.- A Spatial Modeling and Reasoning System for Robotics Research.- A Structural Framework for an Expert Authoring System.- Robot Selection Through Fuzzy Set Optimization.- Robot Programming Languages - A State of the Art Survey.- Mobile Robots/Robotic Devices.- Intergration of Material Buffering Devices in an Automated Factory.- Robotics System - Elephant Trunk Type Elastic Manipulator Combined With a Quadruped Walking Machine.- Bipedal Balancing: A New Approach.- On the Conversion of an Industrial Robot to a Mobile Robot.- Simulation of Steady Human Walking and its Application to Artificial Locomotive System.- A Navigation Control System for an Autonomous Mobile Robot.- Robot Applications.- Case Study of the Implementation of a Vision System in a Robotic Assembly Application.- The Effect of Mechanical Vibrations on the Robotic Assembly Process.- Integration of Vision, Transportation and Assembly Tasks in a Flexible Assembly Cell Using Robot Cooperation.- An RCS Application Example: Tool Changing on a Horizontal Machining Center.- The Low Volume Robot Assisted Assembly of Engine Components.- A Reconfigurable Multicomputer System for Robotics Applications.- Real-Time Functional Programming.- A Computer Integration of Reconfigurable Fixtures and Drilling of Sheet Metal Parts.- Failsafe/Diagnosable Multiprocessor System for Robotics Applications.- Automation and Innovation in Mining.- A Concept of a Rock Imaging System for an Underground Computer-Controlled Drilling Machine.- Application of Artificial Intelligence and Robotics to Mining.- Remote Control of Drill and Blast Excavation and Demolition.- CAD/CAM and Robotics Education/Training.- Survey of Robotics in Industrial Engineering Education.- Impact of Robotics and CAD/CAM on an Industrial Technology Curriculum.- Undergraduate Robotics Education on a Shoestring.- Development of a Robotics Course for Engineering Students.- Safety, Human Resources, Social Economic Implications.- The Human Resources Policy Implications of Advanced Manufacturing Systems.- Displaced and Excess Workers: Rebalancing the Workforce in the Factories of the Future.- Human Health and Safety with the Robot.- Author Index.