Robotics in Alpe-Adria Region: Proceedings of the 2nd International Workshop (RAA ’93), June 1993, Krems, Austria (Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich)

Industrial robots as a kind of a mechatronic system were the objects for intensive scientific research in the last years. Kinematics and kinetics, advanced control algorithms, flexible robots, mobile robots, cooperation of robots were research topics. Meanwhile the industrial robot is more or less a tool on the shop floor level like NC- and CNC-machines, transportation and storage devices. The current research landscape on industrial robots can be divided in two directions. The first direction is the scientific one and topics like fuzzy control, applications of neuronal networks, application of methods of artificial intelligence for robot control, optimal path planning are currently headlines in this field. On the other hand the application oriented research goes in the direction to develop and create new low-cost concepts including industrial robots applicable in a commercially efficient way mainly in small and medium sized companies. The industry in most of the member countries of the Alpe-Adria Group are dominated by small and medium sized companies. Industrial robots together with the appropriate CIM-concepts are a very efficient tool for increasing the flexibility of such companies. At the first meeting in Portoroz (June 1992), a first overview on robotics research and applications in Alpe-Adria countries was given. First steps were done in the direction of a broader cooperation in science, development, production and level of education among these countries. Front Matter....Pages I-X Robotics Research in Austria....Pages 1-7 Considerations on Objectives, Tasks, and Organisation of Alpe-Adria Centre for Robotics and Automation....Pages 8-12 Advanced Control Concepts for Industrial Robots....Pages 13-23 IMProvement in Automation and Control Technology A Joint European initiative....Pages 24-28 Research Activities in Robotics at RISC-Linz....Pages 29-33 Applied Robotics Group Research Activities at the ITIA-Institute for Industrial Technologies and Automation of CNR....Pages 34-38 Robotic Research at the Scientific Academy of Lower Austria....Pages 39-43 Robot Wrist Configurations, Mechanisms and Kinematics....Pages 44-48 Parallel Evaluation of Robot Kinematic Transformations....Pages 49-53 Robot Arm Modelling and Control....Pages 54-58 Dynamic Model of a Mobile Robot for Analyzing End-effector Deviations Caused from Ground Unevenness....Pages 59-63 Considerations for the Construction of Lightweight Robots....Pages 64-68 Design and Construction of a Modular Robot with Eulerian Joints....Pages 69-73 Design of SCARA robot....Pages 74-78 Design Measures for Lightweight Industrial Robots....Pages 79-83 Designing Manipulators for a Robotized Manufacturing....Pages 84-88 Optimal Stochastic Design of a Parallel Robot for Tolerance....Pages 89-93 USIS — An advanced 3D-Robot Simulation System....Pages 94-98 Emulation of Articulated Robots....Pages 99-103 ALMORO — Symbolic Robot Dynamics Customizer....Pages 104-107 Techniques to Improve the Performances of an Industrial SCARA Robot....Pages 108-112 Experimental Multiprocessor Robot Controller....Pages 113-117 Implementation of a Low Cost Robot Controller PC-ROBOCONT on Hydraulic Robot for Spray Painting G-201....Pages 118-122 Robust Adaptive Lyapunov-Based Robot Control....Pages 123-127 Stability of Hybrid Position/Force Control Scheme During Free Motion....Pages 128-132 Recognition of Three-Dimensional Objects Using Two-Dimensional Subspaces Gained by Intersections....Pages 133-137 Multi-sensor Technique for Increasing Intelligence of Assembly Robots....Pages 138-142 Design of a Planetary Leg Mechanism Using Chebyshev’s Optimization Method....Pages 143-147 A New Hybrid Locomotion Mobile Robot for Semi-structured Environments....Pages 148-152 Commanding a Robot by Voice: Speech and Autonomous Navigation for the Mobile Robot of MAIA....Pages 153-157 Robot Welding of Tubes....Pages 158-162 CAD for Robot Workcells in Battery Manufacturing....Pages 163-167 An Automatic Control on Band Saw Tool Vibrations in the Primar Cutting Process....Pages 168-172 Low-cost CAD/CAM-coupling Applications of Artificial Intelligence to Robotic Assembly....Pages 173-177 Scheduling in Flexible Manufacturing Systems, Supported through Cyclic Net Analysis....Pages 178-182 Computer Aided Planning of Robotized Assembly Systems....Pages 183-187 A user-friendly Software Tool for the semiautomatic Design of small Assembly Cells....Pages 188-192 Data Structures and Procedures for Computer Representation of Robot Cells....Pages 193-197 Robot Guided Anthropoidic Measuring Device....Pages 198-202 Circular Test: A new method for testing Industrial Robots....Pages 203-207 A low cost robot system for stylus and workpiece manipulation in computer aided quality control....Pages 208-212 Low Cost Automated Measuring System For Circularity Measurements....Pages 213-216 Rationalization of the CAD Data Management in Quality Assurance Systems....Pages 217-220 Modular Parallel Gripper System....Pages 221-225 Robotics in Transportation....Pages 226-230 This volume contains selected papers from the 2nd meeting of the Robotic Group in the Alpe Adria Initiative dealing with reviews of industrial applications of robots in Alpe Adria Region, research activities of universities and research centres, low-cost automation for small and medium sized companies, robotics and intelligent manufacturing systems (especially in assembly automation) and education in robotics. Latest developments like fuzzy-control, applications of neuronal networks, and applications of methods for artificial intelligence for robot control are also included.