ROBOTICS AND MANUFACTURING

REGENT TRENDS IN RESEARCH, EDUCATION, AND APPLICATIONS

Proceedings of the Second International Symposium on Robotics and Manufacturing: Research, Education, and Applications, held

November 16-18,1988, in Albuquerque, New Mexico, USA

EDITORS

M. Jamshidi CAD Laboratory for Systems/Robotics

Department of Electrical and Computer Engineering University of New Mexico

Albuqerque, NM 87131

J.YS.Luh Department of Electrical and Computer Engineering

Clemson University Clemson, SC 29631

H. Seraji Jet Propulsion Laboratory

California Institute of Technology Pasadena, CA 91109

G.R Starr Department of Mechanical Engineering

University of New Mexico Albuquerque, NM 87131

ASME PRESS NEW YORK 1988

TABLE OF CONTENTS

PREFACE

PART 1: Kinematics and Dynamics 1

Efficient Inverse Transformations for Robot Arms Т.К. Lien 3

A Comparative Study of Newton-Euler, Euler-LaGrange and Kane's Formulations For Robot Manipulator Dynamics

С A. Balafoutis, R. V. Patel, and J. Angeles 13

Comparative Study of Unconstrained Optimization Techniques Applied to Robotic Kinematic Control

Y. Bestaoui 21

Control of Joint Motions of a 7 Degree-of-Freedom Manipulator in Order to Change Manipulator Configurations

F. L. Litvin, M. Shaheen, and J. Tan 29

Scheduling Parallel Computation of Inverse Dynamics Formulation S. Ramos and P. K. Khosla 35

Recursive Forward Dynamics For Multiple Robot Arms Moving a Common Task Object

G. Rodriguez 45

Robot Dynamics Emulation V. D. Tourassis 55

PART 2: Trajectory Generation 63

Trajectory Planning and Control of a Biped Locomotive Robot - Simulation and Experiment

Y. Kurematsu, S. Kitamura, and Y. Kondo 65

A Study of Twice Interpolation for Motion Trajectory Q. Tao, A.-Y. Li, and H. Cai 73

An Environment for Robot Trajectory Planning and Generation

S. E. Thompson and R. V. Patel 81

III

IV

Robot Path Generation by Dual Parabolic Interpolation Q. Sun and W.-H Qian 91

A Findpath Algorithm for a Manipulator by Finite Division of Configuration Space

B. Zhang, J. Zhang, L. Zhang, and T. Zhang 99

PART3: Control Architecture 107

Designing Algorithm-Specific Computational Hardware for Robotic Control

S. S. Leung and M. A. Shanblart 109

Performance Benchmarks of RIPS: An Advanced Robot Control System

Y. Wang and S. Butner 119

Robot Control Computation in Microprocessor Systems With Multiple Arithmetic Processors

B. Li and S. Ahmad 129

Real-Time Robot-Arm Control with Dataflow Multiprocessor Architecture

A. Katbab 137

A Specialized Parallel Architecture for Robotic Controllers J. N. Anderson and A. Smiarowski 147

Real-Time Control of Robots: Tutorial on Strategies Hardware and Software Development

E. M. Sollbach and A. A. Goldenberg 157

Compliant Motion Control of a Statically Balanced Direct Drive Robot

H. Kazerooni and S. Kim 165

PART 4: Adaptive and Nonlinear Control 175

Adaptaive Force/Position Control of a Robot Manipulator With Closed-Kinematic Chain Mechanism

C. С. Nguyen and F. J. Pooran 177

V

Adaptive Computed Torque Control of a Cylindrical Robot Using Linear Compensation

A. Karim and G. K. F. Lee 187

An Inverse Adaptive Control Strategy for Robot Manipulators A. Zilouchian 197

On the Discrete Time Model Reference Adaptive Control of a Two-Link Robot

H. Bolandi, R. L. Carroll, and M. Jamshidi 203

Stability and Robustness in Robotic Nonlinear Feedback Control With Imaginary Robot Model

Y.-L Gu and N. K. Loh 211

Adaptation in Control of Multiple Coordinated Manipulators L K. Daneshmend and V. Hayward 219

On the Adaptive Edge-Following Force Control of a PUMA 560 Robot

J. N. Liou, M. Jamshidi, and G. P. Starr 227

Adaptive Position Control of Dual-Arm Robots

H. Seraji 237

PART 5: Intelligent Control 247

A Neural Network Architecture for Robot Path Planning V. Seshadri 249

A Connection Network for Robotic Gripper Control B. Home and M. Jamshidi 257

On the Intelligent Control of Robots F. Pourboghrat 265

Two-Dimensional System Models for Learning Control Systems Z. Geng and M. Jamshidi 273

PART 6: Redundant Robots 281

Kinematic and Dynamic Performance Optimization of Redundant Robot Manipulators

K. L Glass and R. D. Colbaugh 283

VI

Self-Motion Determination Based on Joint Velocity Bounds for Redundant Robots

J. A. Euler, R. V. Dubey, and S. M. Babcock 291

Design of Continuous Robotic Arms Т. Kokkinis and J. D.Wilson 301

Dynamics of Closed Link Robots with Actuational Redundancy Y. Nakamura 309

Adaptive Position and Force Control of Redundant Robot Manipulators

R. D. Colbaugh 319

PART 7: Multiple Robots and Closed Chains 329

Analysis of Dynamically Decoupled Mechanisms K. Youcef-Toumi and M. Yahiaoui 331

Dynamic Modeling of a Planar Three-Degree-of-Freedom Parallel Manipulator

J. Angeles and A. Ben-Zvi 341

Kinematics and Dynamics of a six-Degree-of-Freedom Robot Manipulator with Closed Kinematic Chain Mechanism

С. С. Nguyen and F. J. Pooran 351

Hybrid Control of a Two Arm Robot: The Relative Motion Problem

P. Dauchez, A. Foumier, R. Jourdan 361

Two Arm Hybrid Position/Force Control with Dynamic Compensation

C D . Kopf 371

Synchronizing Multiple Manipulators A. Nilakantan and V. Hayward 381

A Control Perspective for Multiple-Arm Systems J. T. Wen and K. Kreutz 391

MAROSIM: A Simulation Tool for the Design of Multi-Arm Robot Control Systems

H. Bruhm, P. Ganzmann and M. Wortmann 401

VII

Coordination and Load Balancing for Multi-Arm Systems M. Milman, K. Kreutzand A. Lokshin 411

Generalized Master/Slave Coordination and Control for a Dual Arm Robotic System

S. Hayati, K. Tso, and T. Lee 421

Dynamic Formulation for Control of Cooperating Robots with Internal force Considerations

T. Kokkinis 431

Stability Analysis of Position and Force Control for Two Industrial Robots Handling a Single Object

K. I. Kim and Y. F. Zheng 439

PART 8: Mobile and Flexible Robots 449

Application of the Voronoi Diagram Technique for Mobile Robot Navigation

F. Mortezaie and B. Bavarian 451

Obstacle Avoidance Using Sparse Vision Data Within Factory Aisle Markings

D. Alley and R. Inigo 459

Position Accuracy Using Real-Time Moment Generation M. Kabukaand B. Hussain 467

Spatial Reasoning for Mobile Robots S.-SChen 475

Control System Architecture for the TEAM Program S. Szabo, H. Scott and R. Kilmer 483

Formulation and Computer Simulation of the Dynamic Equations for Flexible Robots

K.H.Low 493

Hamiltonian Description of Flexible Robots S. Nicosia, P. Tomei and A. Tomambe 503

A Modified Lagrangian Formulation for Elastic Robots M. A. Serna and E. Bayo 513

VIII

A Feedforward Decoupling Concept for the Control of Elastic Robots

F. Pfeiffer 521

Inversion Techniques for Open and Closed-loop Control of Flexible Robot Arms

A. De Luca, P. Lucibello, and G. Ulivi 529

PART 9: Robots in Unstructured Environments 539

System Structure for an Autonomous Underwater Vehicle O. J. Rodseth, J. O. Hallset and G. Mathisen 541

On the Development of Underwater Robotic Vehicles J. S. Fox, J. Yuh and S. Negahdaripour 549

Teleoperation in the Subsea Environment Utilizing Robotic Interchange of Manipulator Tooling

T. Schilling 559

The Role of Model Based Control in Robotics R. W. Harrigan 567

The J PL Telerobot Teleoperation System E. P. Kan and E. Austin 577

NASREM: Robot Control System and Testbed R. Lumia, J. Fiala and A. Wavering 587

Integration of Robotics and Teleoperation for the Advanced Servomanipulator

G. K. Corbett, M. W. Noakes, and С. Т. Kring 597

Telerobotic Vehicle for Evaluating Remote Battlefield Support Operations

B. S. Richardson, G. A. Armstrong, and W. W. Manges 607

PART 10: Acuators, Sensors, Grippers, and Language 613

Excitation Design for Variable Reluctance Motor Drives D. A. Torrey 615

Locating 3D Circular Features by Monocular Vision Y. С Shiu and S. Ahmad 625

IX

A Robot Audio System and the Realizing Strategy of Its Semantic Subroutine

С Yang, Y. Zhang, Z. Lai, G. Lu, and W. Han 633

Active Compliance for Assembly Using a Dexterous Hand G.P.Starr 641

The Design of a Robot Finger for Tactile Sensing S. O. Leaver, J. M. McCarthy, J. E. Bobrow 651

Electric Motors as Motion Sensors: A Summary of Experiences J.H.Lang 659

An Integrated Architecture for Robot Cell Programming and Monitoring

A. Steiger-Garcao and L. M. Camarinha-Matos 665

Instrumentation and Robotic Image Processing Using Top-Down Model Control

L Stark, B. Mills, A. H. Nguyen, and H. X. Ngo 675

Adaptive Control of Electric Drive Robot

L Miller, G. A. Pajunen 683

PART 11: Optimization and Sensitivity 693

The Forward Object Motion Problem J. С Trinkle 695

Step Size Selection for Straight Line Suboptimal Control of Robotic Manipulators

M. S. Fadali and M. Wei 703

Sensitivity Analysis for a Planar Two Link Robot Arm D. Khalili 711

Effect of Discretization on the Performance of Robot Control Systems

M.Tarokh 719

X

PART 12: Flexible Structures and Systems 727

LQG Control for Minimizing Lateral Vibrations in a Web Process L Sievers and M. Balas 729

FMS: Zero QC V/S Advanced Integrated QC - Are Zero Defects Really Possible?

M. Ercole 737

Adaptive Control Systems in Flexible Manufacturing Cells and Systems

S. Arsovski 745

PART 13: Manufacturing Systems 753

Principles of Integration in Automatic Manufacturing Systems L Polyakov 755

Stackelberg Strategy to Material Inventory Management Problems in Manufacturing Systems

Y. W. Jing and S. Y. Zhang 761

High-Speed Laser Cutting Machine for Automated Sewing Preparation System

H. Sasai, N. Miyake, and H. Okubo 769

Basic Criteria Followed in Design and Implementation of New Fiat Plants for Automobile Production with Reference to Product Quality

G. F. Micheletti 777

AGVS - Low End Applications E. Chinnici and M. Bertino 785

Development of a Working Model of an Automated Window Cleaner

H. E. Ang and P. S. K. Chua 793

XI

Human Factors in Manufacturing System Design and Implementation. A Case Study in a Medium Size Plant for Plastic Production

M. Valentini 801

PART 14: Research and Education 807

Robotics Research at Sandia National Laboratories P.J. Eicker 809

Manufacturing Engineering Education in New Mexico J. H. Mullins 819

Issues in Maintaining Multidisciplinary Industry-Supported Graduate Programs in Manufacturing

R. L. Henneman and A. H. Haddad 827

Graduate Manufacturing Education at Rensselaer Polytechnic Institute

G.R.Simons 835

Robotics Research and Education in China - A Survey D.-NTu 843

Development of a Robotics Course Sequence and Laboratory at New Mexico State University

K. D. Perryman and R. D. Colbaugh 853

An Outline of the National Automation Technology Development Program in China

X. Jiang 859

A Master's Program in Manufacturing Engineering J. E. A. John 867

Education and Development Works on Robotics at the Nanyang Technological Institute, Singapore

D. T. Lwin annd P. S. K. Chua 873

A University/Industrial Graduate Education and Research Program in Manufacturing Systems Engineering

С F. Zorowski 881

XII

PART 15: Intelligent Systems 889

Expert Systems and Optimization in Manufacturing A. Kusiak 891

HUTCAPP - A Machining Operations Planner M. Mantylaand J.Opas 901

Integrating Al and OR in Solving Cutting Stock Problems С. Н. Dagli 911

Knowledge Based Process Planning for Electronic Assembly V. M. Irizarry-Lopez and T.-C Chang 919

The Intelligence Decision Support System for Iron-Steel Enterprise Production Management

Y.-LHu 927

Navigation and Learning Experiments by an Autonomous Robot G. de Saussure, С. R. Weisbin, and P. F. Spelt 935

Intelligent Control of Automated Manufacturing Cells

P. O'Grady and K. H. Lee 949

PART 16: CAD/CAM/CIM 957

CAD Directed Robotic Deburring K. M. Murphy, R. J. Norcross, and F. M. Proctor 959

The Role of Off-Line Robot Programming in Hierarchical Control

N. Tarnoff and R. Lumia 967

Machine Reasoning and Understanding of Manufacturing Operations

B.O. Nnaji 975

An Information System Architecture for Computer Integrated Manufacturing

W. I. Builers, Jr. and R. A. Reid 983

The Use of Relational Data Bases for Real Time Data Collection and Process Control

К. М. Upchurch 993

XIII

PART 17: Robots in Manufacturing 1001

Robotic Mechanical Assembly in Manufacturing: Force Directed Insertions

D.R.Strip 1003

Ability of a Robot to Travel Through Its Workspace with an Encumbered Environment: Five Characterizations

Ph. WengerandP. Chedmail 1011

A VLSI DP Algorithm and Architecture for Curve Detection J.Liu 1019

Adaptive Runout Correction System for Disk Drives M. D. Sidman 1027

Optimum Stiffness Study for a Parallel Link Robot Crane Under Horizontal Force

J. Unger, N. G. Dagalakis, T.-M. Tsai and J. D. Lee 1037

Performance Measures of a Robotic Micropositioner J. D. Lee, J. S. Albus, N. G. Dagalakis, and T. Tsai 1047

Progress in a Parallel Manipulating System Developments for Assembly Tasks

P. Bidaud, D. Fontaine, F. Boudin, J. С Guinot, P. Coiffet 1075

Automatic Cell Programming and Monitoring Through the Cooperative Interplay of Operation Specialists

L. Basanez, С Torras, A. Sanfeliu, and J. Ilari 1067

A Force Controlled Approach to Robotic Deburring

S. Shim and B. Kramer 1075

PART 18: Case Studies 1083

Automated Guided Vehicle System Technology and Applications D.W.Hopkins 1085

Subject Index 1093

Author Index 1109