Robotics, mechatronics and manufacturing systems : transactions of the IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, Japan, 16-20 September, 1992

Content: Front Matter , Page iii Copyright , Page iv Preface , Page v , Toshi Takamori, Kazuo Tsuchiya Physical Analogies for Rapid Robot Motion Planning and Execution in Dynamic Environments , Pages 3-8 , Günther K. Schmidt, Kianoush Azarm IDENTIFICATION OF BASE PARAMETERS OF A DIRECT DRIVE ARM - A New Experimental Result - , Pages 9-14 , K. Osuka, S. Endo, M. Tomizuka, T. Ono, H. Mayeda A Six Degree of Freedom Robot Measurement System I: A Precision Universal Joint , Pages 15-20 , J.P. Prenninger, M. Vincze, S. Decker, H. Gander, P. Mayerl Parallel manipulators: state of the art and perspectives , Pages 21-26 , J-P. Merlet Development of the Parallel Manipulator , Pages 27-32 , Katsumi NAKASHIMA, Michiya KATAOKA, Osamu NAGATA, Takao WADA, Tatsuo ARAI New Robotic Mechanism Using a Parallel Moving Platform , Pages 33-38 , K. Machida, Y. Toda, S. Iikura, T. Komatsu, T. Iwata, T. Honda An Analysis of Passive Impedance of 6-DOF Direct-Drive Wrist Joint , Pages 39-44 , Kiyoshi MAEDA, Kenji FUJIMOTO, Satoshi TADOKORO, Toshi TAKAMORI Design and simulation of a parallel link compliant wrist , Pages 45-50 , M. Hashimoto, Y. Imamura Simulation study of dynamic properties and nodal offset of truss-type parallel mechanism , Pages 51-56 , M. Tanaka, K. Hanahara GROUP MATHEMATICS AND PARALLEL LINK MECHANISMS , Pages 57-62 , Jacques M. Hervé Bilateral Control for Parallel-Link Manipulators , Pages 63-68 , Tatsuo Arai, Robert Stoughton, G. Jagannath Raju Design and control of a very fast 6-dof parallel robot , Pages 69-74 , Masaru Uchiyama, Ken-ichi Iimura, François Pierrot, Kunihiko Unno, Osamu Toyama Bio-Parallel Mechanism of Mastication Robot , Pages 75-80 , Hideaki TAKANOBU, Masaru KUMEI, Atsuo TAKANISHI, Ichiro KATO A Minimal, Minimal Linkage: The Tension-Compression Parallel Link Manipulator , Pages 81-88 , Samuel E. Landsberger, Thomas B. Sheridan Kinematic and Control Issues on a Tendon-Controlled Wrist Mechanism , Pages 89-94 , Kazuhito HYODO, Hiroaki KOBAYASHI A Modular Multi Purpose Robotic Testbed for Space Applications , Pages 95-100 , W. Schulz, Th. Seidl Photo - pneumatic control robot arm , Pages 101-106 , K. Yamamoto, O. Oyama, T. Tokunaga An Intelligent Wrist Mechanism for Robot Assembly of Chamferless Parts , Pages 107-112 , C.M. Jung, MS. Student, D.G. Gweon, Professor A Finite State Control Model for Flexible Robotized Assembly Cell , Pages 113-118 , Yuan ZHANG, Alain DELCHAMBRE, Pierre GASPART Diagnosing Contact Situations in Intelligent Robotics , Pages 119-124 , Michael Spreng Vehicle Guidance System Using On–board Laser Beam Emitters and Corner Cubes along the Course , Pages 125-130 , T. Tsumura, H. Okubo, N. Komatsu Environment recognition using a virtual corner point , Pages 131-136 , Heungsik Noh, Minkee Park, Hyunduck Kim, Mignon Park Development of welding line detecting sensor system , Pages 137-141 , Toshio Nakamura, Koji Tanaka, Kayoko Hayakawa, Kunihiro Mori, Munenori Tsuge Occlusion Cues for 3-D Stereoscopic Display , Pages 143-148 , Masanori Idesawa Statistical Reliability of 3-D Interpretation from Images , Pages 149-154 , Kenichi Kanatani Tracking a Moving Object by an Active Vision System: PANTHER-VZ , Pages 155-160 , Jun Miura, Hideharu Kawarabayashi, Makoto Watanabe, Teruaki Tanaka, Minora Asada, Yoshiaki Shirai Multisensor integration and fusion: Issues, approaches, and future trends , Pages 161-169 , Ren C. Luo, Michael G. Kay, W. Gary Lee SYSTEM FOR THE REMOTE MONITORING AND CONTROL OF ROBOTIZED DEVICES , Pages 171-176 , F. CHAVAND, E. COLEE, M. MALLEM, A. IOUKIL Auditory-Visual Fusion Using Multi-Input Hidden Markov Model , Pages 177-184 , Toshihiro Aono, Masatoshi Ishikawa Flexible control of autonomous vehicle utilizing hierarchical map and planning , Pages 185-190 , M. Niizuma, Y. Kawano, M. Tomizawa, M. Sugiyama, S. Degawa A Neural Network Approach to Sensorimotor Fusion —Intentional Sensing for Recognizing Three-Dimensional Objects— , Pages 191-196 , D. Masumoto, T. Kimoto, S. Nagata Minimum-Time Trajectory Planning for Multi-Degree-of-Freedom System under Average Heat Generation Restriction , Pages 197-202 , K. ONO, T. TERAMOTO DEVELOPMENT OF AN EFFICIENT AND SUBOPTIMAL OBSTACLE AVOIDANCE ALGORITHM FOR PLANAR ROBOTS , Pages 203-208 , Han-Pang Huang, Pei-Chien Lee An adequate robot modelling for rapid and good 3D collision-free path planning , Pages 209-214 , C. Balaguer, F.J. Rodríguez, J.M. Pastor, E. Gambao, R. Aracil, A. Barrrientos A Seven-League-Boots Algorithm for Path Planning in Configuration Spaces , Pages 215-220 , Jan M. Nauta Design and development of an electric wheelchair mounted robotic arm for use by people with physical disabilities. , Pages 221-226 , S.D. Prior, P.R. Warner, J.T. Parsons, P. Oettinger Modeling and Control of Flexible Robot Arm with Flexible Drive System , Pages 227-232 , Hideaki Kanoh A study on tasks of dealing with moving objects , Pages 233-240 , T. Sakaguchi, S. Sato, F. Miyazaki ON-LINE RECURRENT PROGRAMMING OF A ROBOT-TASK SYSTEM IN TWO OPERATING MODES , Pages 241-248 , V. MAHOUT, P. LOPEZ Application of Parallel Computing to Robot Dynamics , Pages 249-256 , P. Schäfer, W. Schiehlen Adaptive vs Learning Controls for Flexible N-Link Robotic Systems , Pages 257-262 , Michel Cotsaftis A Single Link Dual Actuation System for High Speed and High Accuracy , Pages 263-268 , Toshihiko Koyama Stability of manipulators interacting with unstructured and structured dynamic environments , Pages 269-274 , J. Edward Colgate A Robust Robotic Manipulator Controller Based on P-D MRAC for Payload Adaptability , Pages 275-280 , Shamsudin H.M. Amin, Alan S. Morris Hybrid Position and Force Control with Unsteady Assembly Dynamics , Pages 281-286 , H. Wapenhans, W. SeyfFerth, F. Pfeiffer On Synthesis of a Hybrid Position/Force Controller for Robot Manipulators , Pages 287-293 , Hirokazu Mayeda, Nobuya Ikeda, Kohichi Miyaji Principle of Orthogonalization for Hybrid Control of Robot Manipulators , Pages 295-302 , Suguru Arimoto, Tomohide Naniwa, Takashi Tsubouchi Robust Control of Pneumatic Servo System using a Disturbance Observer , Pages 303-308 , T. Noritsugu, M. Takaiwa H ∞ Control of a Robot Manipulator Using the Loop Shaping Design Procedure , Pages 309-314 , Masayuki Fujita, Hiroaki Kagaya, Fumio Matsumura Robustness and Stability of Actuator based on Dynamic Impedance Matching , Pages 315-320 , Shigeru Kobayashi, Toshi Takamori H-infinity as a Tool for Control Assessment in Mechatronics , Pages 321-326 , Raoul Herzog, Hannes Bleuler Control of Impact for a Hammering Robot Using a Flexible Link , Pages 327-332 , T. Izumi, Y. Hitaka A Dynamical Approach to Force Control without Force Sensor , Pages 333-338 , Toshiyuki Murakami, Fangming Yu, Kouhei Ohnishi Robust Impedance Control and Its Application to Peg Insertion , Pages 339-344 , T. Harada, Y. Nishida, H. Nagaoka, N. Kimura Active Tactile Sensing by Robotic Fingers , Pages 345-350 , Makoto Kaneko Whole-Hand Robotic Manipulation: Considerations on Results and Open Problems , Pages 351-358 , Claudio Melchiorri, Gabriele Vassura Recent Advances in Grasp Planning Task Representation and Learning Hybrid Control for Dexterous Manipulation , Pages 359-366 , G. Casalino, M. Aicardi, G. Cannata Quadratic programming for dextrous dual-arm manipulation , Pages 367-372 , Masaru Uchiyama, Yasutaka Kanamori New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation , Pages 373-379 , Antonio Bicchi, Domenico Prattichizzo Movement Control of Brachiation Robot Using CMAC Between Different Distance and Height , Pages 381-386 , Fuminori SAITO, Toshio FUKUDA, Fumihito ARAI Towards a Learning Control Scheme for Biped Locomotion , Pages 387-392 , N.J. Archer, K. Warwick Vision-based Mobile Robots , Pages 393-395 , Volker Graefe Coordinated motion control for multiple industrial mobile robots transporting a material , Pages 397-402 , M. Hashimoto, F. Oba Mobile robot localization using integrated dead reckoning and laser/corner cube based location systems , Pages 403-408 , M. Hashimoto, F. Oba, K. Imamaki, T. Nishida PATH-PLANNING FOR MULTIPLE MOBILE ROBOTS BY USING GENETIC ALGORITHMS , Pages 409-414 , Takanori Shibata, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai ROUGH TERRAIN ROBOT WITH 4 TURN-OVER TRACK FRAMES (MINIATURE MODEL) , Pages 415-420 , Tetsuo Torii, Tomoo Matsuda, Kimihiko Takagi, Takuya Sakamoto Motion estimation of a mobile robot with uncadenced bearings only measurements , Pages 421-426 , O. DEVISE, C. DONCARLI Self Organizing Manipulator System Based on the Concept of Cellular Robotic System , Pages 427-432 , Toshio FUKUDA, Guoqing XUE, Fumihito ARAI, Kazuhiro KOSUGE, Hajime ASAMA, Hiromichi OMORI, Isao ENDO, Hayato KAETSU Distributed Sensing, Control and Planning - Cellular Robotics Approach - , Pages 433-438 , Tsuyoshi Ueyama, Toshio Fukuda, Fumihito Arai, Tsunehiko Sugiura, Akira Sakai, Takehiro Uesugi TOWARDS A MODULAR STANDARD FOR ROBOTIC DESIGN AND PROGRAMMING , Pages 439-444 , G. Barrall, K. Warwick Variable Structure Approach for Motion Control Systems , Pages 447-452 , Hideki HASHIMOTO, Yusuke KONNO Sliding Mode Control, Discrete Time Approach , Pages 453-458 , Alireza Jabbari, Graduate Student, Masayoshi Tomizuka, Professor Sliding Mode Control of Uncertain Systems , Pages 459-464 , Y. Fujisaki, K. Yasuda Dynamic Sliding Mode Control and Application to Robot Manipulators , Pages 465-470 , Katsuhisa FURUTA, Zhiqiang QU Variable Structure Control of Flexible Robotic Arm , Pages 471-478 , Yasuaki Kuroe VSS Control of Robotic Manipulators by Joint Acceleration Controller , Pages 479-484 , K. Jezernik, B. Curk, J. Harnik, A. Ŝabanović Discontinuous Control of Sliding Base Isolated Structures under Earthquakes , Pages 485-490 , K. David Young A Use of the Ultrasonic Motor as a Fine Positioning Actuator , Pages 491-496 , Reiji Mitarai, Hiroaki Takeishi, Takeshi Sawada Walking Drive – A New Precision Feed Drive – , Pages 497-502 , Eiji Shamoto, Toshimichi Moriwaki Micro Flow Control Devices for Integrated Medical and Chemical Analyzing Systems , Pages 503-508 , Shuichi Shoji, Nico F. de Rooij, Masayoshi Esashi, Bart H. van der Schoot A Vacuum-compatible X-Y Microactuator using the Levitational Effect of a Superconductor , Pages 509-514 , Yoshihiko Maeda, Kazuyuki Aihara, Hiroyuki Fujita Applying Flexible Microactuators to Pipeline Inspection Robots , Pages 515-520 , Koichi Suzumori, Akira Abe Development of a Screw Tightening Machine for Elastic Parts on Clean Room Environment , Pages 521-527 , Hiroyuki Makimoto, Tadashi Ojiro, Mai Shiraishi, Takeshi Hoh, Kazuo Aoyama Some Developments of Machine Intelligence for Fully Automatic Drilling Process , Pages 529-534 , Shane Y. Hong, Ph.D. Perspective of Future Generation Manufacturing Systems , Pages 537-544 , FURUKAWA YUJI A PROJECT PLANNING METHOD WITH TIME CONSTRAINTS , Pages 545-550 , Susumu FUJII, Kenichi KANEDA A DEFINITION OF A REFERENCE SET AS A TOOL FOR PRODUCTION TECHNOLOGY ACQUISITION POLICY DEVELOPMENT , Pages 551-556 , H. Fujimoto, P. Abril Simultaneous Optimization of Tool Allocation and Scheduling for FMS's: An Application of Simulated Annealing , Pages 557-562 , Hiroshi Kise, Yoshiyuki Karuno, Hironori Matsumoto An analysis of dynamic scheduling for job-shop scheduling and its improvement using intelligent algorithms , Pages 563-568 , T. Watanabe, H. Tokumaru, Y. Hashimoto Optimal scheduling models under JIT environments , Pages 569-574 , S. Miyazaki An Expert System for Scheduling of Plastic Molding Process , Pages 575-580 , T. Maeda, A. Abe, G. Nakano, M. Ishiguro, A. Nagai Scheduling Expert System for Continuous Annealing Line , Pages 581-586 , T. Iwatani, K. Nose, M. Konishi, H. Nakano The structure of the service task control system in an automatic shop floor for One-of-a-Kind Production , Pages 587-592 , Yiliu Tu, Hans Holm, J⊘gen A. Nielsen Testing Rules for a Scheduling Expert System in a Steel Plant , Pages 593-598 , J. Larraneta, L. Onieva, S. Lozano SENSOR FUSION FOR IN-PROCESS IDENTIFICATION OF CUTTING PROCESS BASED ON NEURAL NETWORK APPROACH , Pages 599-604 , T Moriwaki, Y. Mori A study of plasma gun orientation control with ultrasonic sensors for thermal spraying robot , Pages 605-611 , A. Higashimoto, T. Watanabe, Y. Nakano, I. Murakami, Y. Kakino Implementation of an integrated FMS model plant , Pages 613-618 , Myoung-Sam Ko, Jongwon Kim A Neural Network Approach to Part-Machine Grouping in GT Manufacturing , Pages 619-624 , S. Lozano, L. Onieva, J. Larrañeta, J. Teba Determination of an Optimum Bending Sequence - Application of AI Techniques in Production Planning , Pages 625-630 , H. Grabowski, S. Götze Automatic Generation of NC Tapes for Machining Tools , Pages 631-636 , Yoshikuni Okawa, Makoto Miyazaki Development of the Autonomous Guided Vehicle System Using Laser Navigation Method , Pages 637-641 , Noboru. Ida, Yukio. Tanaka, Yoshiaki. Satoh Development of shape discriminant methods and robot arm control for part pick-up at an assembly line. , Pages 643-648 , Saburo OKADA, Masaaki IMADE, Hidekazu MIYAUCHI, Tetsuhiro SUMIMOTO, Hideki YAMAMOTO DEVELOPMENT OF A RULE-BASED GRAPHIC SIMULATOR FOR FMCs , Pages 649-655 , Han-Pang Huang Wafer Fab Management Optimization Using Simulation , Pages 657-662 , G. Cardarelli, P.M. Pelagagge INFORMATION SYSTEM IN DISTRIBUTED INTELLIGENT AUTOMATION PROCESSES , Pages 663-668 , M. BAYART, M. STAROSWIECKI CAD Model Based System for Visual Inspection , Pages 669-674 , Jharna Majumdar, Krishnan Rangarajan, Adil Hameed Automatic calculation of dimensions and tolerances in manufacturing , Pages 675-680 , G. Zhang, M. Porchet Formal Models of Flexibility for Manufacturing Systems , Pages 681-686 , P. Valckenaers, H. Van Brussel Identification of Lathe Alignment Errors by Measuring Machined Parts , Pages 687-692 , Fumiki Tanaka, Takeshi Kishinami, Makoto Yamada A product modeling system considering geometric constraints and its application to basic design of machine tools , Pages 693-698 , N. Sugimura, T. Moriwaki AN EXPERT PROCESS PLANNING AND FTXTURING SYSTEM WITH 3D CAD DATA INPUT IN STEP STANDARD , Pages 699-704 , M Gülesin, R M Jones Concurrent processing of product modeling and fault simulation for intelligent design aid , Pages 705-710 , T. Murayama, F. Oba Evaluation Method for Geometrical Forms in Coordinate Metrology , Pages 711-716 , Pavel G. Ikonomov, Fumiki Tanaka, Takeshi ICishinamia, Hideaki Okamoto, Toyoharu Sasaki Evaluation of Polished Surface for Automation of Polishing Work , Pages 717-722 , Yoshimi Takeuchi, Naoki Asakawa, Dong-fang Ge The Organization of Human – Oriented C. I. M. , Pages 723-727 , Norihiko Matsuo Fuzzy Control Technologies and Their Applications , Pages 731-736 , Seiji YASUNOBU A Study on Hovering of Model Helicopter Using Visual Information and Fuzzy Controller , Pages 737-742 , Kwang-Keun Shin, Jun-Ho Oh A Learning Method Fusing Fuzzy Reasoning and Genetic Algorithm , Pages 743-748 , H. Nomura, I. Hayashi, N. Wakami A Self-Organizing Adaptable Control Scheme Based on Constraint-Oriented Fuzzy Inference , Pages 749-754 , Osamu KATAI, Masaaki IDA, Tetsuo SAWARAGI, Sosuke IWAI On Some Attempts for Improving Learning Performance in Multi-layered Neural Networks of Back-propagation Methods , Pages 755-760 , Motohide Umano, Teruhiko Teraoka, Itsuo Hatono, Hiroyuki Tamura Adaptive Control by Neural Networks with Application to Temperature Control , Pages 761-766 , Sigeru Omatu, Marzuki Khalid, Julio Tanomaru VQ controller using recurrent neural networks , Pages 767-772 , Y. Kojima, Y. Izui, S. Kyomoto, T. Goda Neural Networks and Inverse Problems in Measurement and Control , Pages 773-778 , Shinzo Kitamura MODELING MANNED TRAFFIC SYSTEMS , Pages 779-784 , P.H. Wewerinke An Iterative Learning Fuzzy Control for Multi-Link Manipulators , Pages 785-790 , Keigo Watanabe, Sangho Jin, Spyros G. Tzafestas An autonomous robot system controlled by neural networks , Pages 791-796 , Ken-ichi TANAKA, Masako SHIMIZU, Kazuo TSUCHIYA Image Analysis of Melting Polymer in Heat Barrel of Injection Molding Machine , Pages 797-802 , Yukio Tada, Yukiko Iwasaki High Speed Conveyed Bill Money Recognition with Neural Network , Pages 803-808 , Fumiaki Takeda, Sigeru Omatu, Takashi Inoue, Saizo Onami Simulated annealing with modified generation mechanism for flow shop scheduling problems , Pages 809-814 , H. Ishibuchi, S. Misaki, H. Tanaka An Architecture for the Integration of Industrial Artificial Intelligence Systems , Pages 815-820 , Vladimir Bacvanski Fault Diagnosis in Dynamic Systems , Pages 821-828 , Paul M. Frank Failure diagnosis under uncertain conditions by use of failure diagnosis table , Pages 829-834 , T. Kohda, K. Inoue Acoustic diagnosis with neural networks , Pages 835-840 , M. Kotani, K. Uno, H. Matsumoto, T. Kanagawa Knowledge aided model-based approach to failure diagnosis of adaptively controlled systems , Pages 841-846 , K. Kumamaru, K. Inoue, S. Nonaka, T. Nakashima Model based approach to the real-time fault diagnosis , Pages 847-852 , Koji OKUDA, Taku Fujii, Nobuji Miyasak Modified Schemes of Sequential Probability Ratio Test for Incipient Failure Detection in Dynamic Systems , Pages 853-858 , M. Takahashi, M. Kitamura, O. Glöckler Information Diversification for Improving Diagnostic Reliability in Complex Dynamic Processes , Pages 859-864 , Masaharu Kitamura, Keiji Kuchimura, Hiroshi Furukawa Multi–sensor Based Active Error Detection, Diagnosis, and Recovery for Flexible Assembly , Pages 865-870 , Yuan ZHANG, Alain DELCHAMBRE, Pierre GASPART Dynamics and control of advanced space systems , Pages 871-876 , Yoshiaki Ohkami SYMBOLIC MULTI-BODY FORMALISM FOR SPACE MANIPULATORS , Pages 877-882 , J. Sadigh, A.K. Misra Robust Controller Design for LSS Attitude Control and Experimental Demonstration , Pages 883-888 , Y. Chida, T. Kida, I. Yamaguchi, M. Mine, H. Soga Distributed Modeling and Control for Multibody Systems , Pages 889-894 , K. David Young Modeling and Control of Flexible Solar Array Paddles , Pages 895-900 , F. Matsuno, M. Hatayama, H. Senda, Y. Sakawa Control of a Space Robot at Capturing a Target , Pages 901-906 , Shoji Yoshikawa, Katsuhiko Yamada Control of a flexible space structure with a tip mass in minimum time slew maneuver , Pages 907-912 , Hironori FUJII, Shigeyuki TAKEDA Reaction Rejection Techniques for Control of Space-Robotic Structures , Pages 913-918 , Jianke Xu, Peter M. Bainum, Feiyue Li Nonlinear control of the space-based flexible manipulators , Pages 919-924 , V.J. Modi, F. Karray, A. Ng Simulation based analysis of elastic multi-arm robot control in cooperative motion: dynamic model formulation , Pages 925-930 , Mikhail M. Svinin, Hartmut Bruhm, Henning Tolle Finite-Dimensional MRAC Method for Flexible One-Link Arms Subject to Random Disturbances , Pages 931-936 , Junji Kaneko, Hiroyuki Kano Configuration-dependent multi-link spatial flexible vibration control of manipulators , Pages 937-942 , Atsushi Konno, Masaru Uchiyama Design of flexible hydromechanical manipulators with active control against fatigue and vibrations , Pages 943-948 , E.K. Keskinen, M.J. Hirvonen, R.O. Tuokko Shape Determination of Flexible Space Structures by Using a Remote Optical Sensing System , Pages 949-954 , H. Okubo, N. Komatsu, O. Fukudomi, T. Tsumura Applications of Petri-Net to Modeling and Scheduling Problems of Flexible Manufacturing System Using Robots , Pages 955-960 , Shifang Li, T. Takamori, S. Tadokoro