Proceedings of the NATO Advanced Research Workshop on Kinematic and Dynamic Issues in Sensor Based Control held in Il Ciocco, Italy, October 25-31, 1987

This volume contains a series of papers originally presented at a NATO Advanced Research Workshop (ARW) entitled Kinematic and Dynamic Issues in Sensor Based Control. The workshop, one of a series concerned with topics in sensory robotics, took place at II Ciocco, Castelvecchio di Pascoli, Italy in October 1987. Attendance was by invitation only and the majority of participants are recognised leaders in their field- some from the robotics community, others with a more general control background. The main topics of interest were grouped into eight sessions represented by the eight main sections of the book: 1: Modelling Techniques: General Kinematic and Dynamic Issues 2: Sensor Signal Processing 3: Force Control 4: Further Control Topics 5: Vision Based Control 6: Further Kinematic and Dynamic Issues 7: Computational Issues 8: Learning from Sensor Input Also included are brief reports of the roundtable discussions which sought to determine important future directions of research in this area. My thanks to all those who made the workshop possible: The NATO Scientific Affairs Division and the panel on Sensory Systems for Robotic Control who provided most of the financial support; the workshop committee, Dr. B. Espiau, Dr. P. Coiffet, Dr. P. Front Matter....Pages I-XI Front Matter....Pages 1-1 Sensory-Based Control Robustness Issues and Modelling Techniques Application to Proximity Sensing....Pages 3-44 The Inverse Function Approach to Sensor-Driven Kinematic Control of Redundant Manipulators....Pages 45-58 Front Matter....Pages 59-59 Sensor Data Processing for Flexible Manufacturing Processes....Pages 61-80 Self-Tuning Algorithms in Robot Joint Control and Sensor Signal Processing....Pages 81-95 A Sensory Data-Driven Rule-Based Strategy for Error Recovery in Robotic Assembly....Pages 97-110 Front Matter....Pages 111-111 Hybrid Position Force Control Implementation on a Parallel Manipulator....Pages 113-125 Sensor Based Control of Robot Movement and Force....Pages 127-142 Force-feedback control of parallel kinematics manipulators....Pages 143-158 Front Matter....Pages 159-159 Recent Advances in Experimental Robot Control....Pages 161-178 On the Optimal Path Planning for Robot Manipulators....Pages 179-200 Frequency Domain Analysis of Robot Joint Dynamics....Pages 201-219 Front Matter....Pages 221-221 Extracting Dense Motion Information from an Image Sequence: Optic Flow Estimation and Related Segmentation Issues....Pages 223-250 Dynamic Vision:Theoretical Capabilities and Practical Problems....Pages 251-280 Vision Sensor Integration for Direct Manipulator End-Point Control....Pages 281-299 Front Matter....Pages 301-301 Kinematics and Dynamics in a Hierarchically Organized Robot Control System....Pages 303-320 Sonar techniques for autonomous navigation with a mobile robot....Pages 321-339 Pseudomuscular linear actuators: Modelling and simulation experiences in the motion of articulated chains....Pages 341-360 Front Matter....Pages 361-361 A Decentralized Multiprocessor System for Control of Complex Robotized Systems....Pages 363-369 Methodologies for Multi-Sensor System Integration: Building Descriptions to Make Decisions....Pages 371-397 Front Matter....Pages 399-399 Redundant Robotic Manipulators I: Regularizing by Mechanical Impedance....Pages 401-416 Front Matter....Pages 399-399 Redundant Robotic Manipulators II: Learning Dynamics Via Repeated Trials....Pages 417-428 Applications of Sensor Based Control....Pages 429-438 Multisensory Assembly and Error Recovery....Pages 439-450 Round-table discussions/Summaries....Pages 451-452 Back Matter....Pages 453-459 This volume contains papers presented at the NATO Advanced Research Workshop (ARW) held at Il Ciocco, Italy, in October 1987. The volume results from the activities of the NATO Special Scientific Programme on Sensory Systems for Robotic control. Most of the contributors are recognized leaders in their fields, some from the robotics community, others with a more general background. The main topics covered are: - Modeling techniques: general kinematic and dynamic issues - Sensor signal processing - Force control - Further control topics - Vision based control - Further kinematic and dynamic issues - Computational issues - Learning from sensor input. Also included are brief reports of the roundtable discussions which sought to determine important directions of research in this area. Proceedings of the NATO Advanced Research Workshop on Kinematic and Dynamic Issues in Sensor Based Control held in Il Ciocco, Italy, October 25-31, 1987