Robotics最新文献

Flexible Manufacturing Systems involving a large number of independent control computers require convenient interfaces between the computers, and if the system is to be largely or entirely under computer control, it is necessary to include facilities for automatic error recovery. The main purpose of this paper is to describe the logical organization of a robotic interface, implemented in our laboratory, that supports automatic error recovery in a convenient way. This organization was inspired by, but is different from, the approach to error condition handling implemented in a widely used computer operating system.

This paper presents the results of a series of experiments using custom tooled vibratory bowls for presenting non-standard electronic parts to a robot for insertion on printed circuit boards.

The concept of programmed grammars is generalized to two-dimensional programmed grammars. Examples for generating all possible squares and rhombuses are presented. A concise representation of a derivation chain is also presented. Problems for future research are stated. The results may have useful applications in picture description, region filling, visual languages, pattern recognition, robotics, and artificial intelligence.

The use of interactive computer graphics for simulation and off line programming provides a powerful tool in implementing robots. This capability essentially became available with the CAD/CAM system.

This paper will present the theory of robot modeling and simulation techniques. An overview of CAD/CAM system in robotic application, such as robot off-line programming, simulation and workcell layout will also be represented.

The paper describes the trends in the development of sensor systems in the area of robotics. Presented are contact sensors with special emphasis on “skin” sensors for a robot's hand on the basis of piezo-electric materials, such as polyvinylidene fluoride (PVF₂). Among the methods of non-contact sensor perception, vision systems are considered to be most appropriate for robots. Described are industrial vision systems, image processing operations and image recognition. Reference is also made to proximity sensors. The paper further describes robot control systems utilizing sensory information and utilization of artificial intelligence theory in robotics.

An increasingly important topic in capital equipment acquisition is the analysis of robots in the manufacturing environment. Due to the unique characteristics of robots, it is important to recognize all the costs and benefits of a robotic installation in evaluating the feasibility of including this new piece of equipment in the production process. What makes analyzing the proposed robotic acquisition different from the usual capital equipment purchase is dealing with the many secondary and tertiary benefits and costs afforded by robotic systems.

The chief difficulty is estimating the costs and benefits due to the flexibility of the robot installation.

There are three important and essential steps in the determination of the value of a robotics installation. Initially it is necessary to make an informed estimate of the total investment required to obtain and install the equipment. Secondly, the effect of the incremental investment on the operation of the firm both in terms of expenses and profitability must be carefully measured. And finally, the third step is an analysis of the value of the equipment in terms of the return provided in relation to the required investment.

Task level programming systems previously proposed by several authors are briefly discussed and another approach is also offered.

The possibilities of integration of components such as vision and tactile modules, cad systems, robot simulators, specialized planners, etc., are analysed. This should help us to understand their interrelations and limitations when their integration in a system is attempted. The notion of robot station, rather than a mere manipulator, will be kept in view.

The conceptual structure presented has two phases:

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  - off-line: automatic plan generation (implicit programming) and plan testing (in simulated execution)

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  - on-line: execution supervision with sensorial feedback and local planning capability.

The usual limitations of an off-line approach are analyzed and a more active role of simulation of the whole station is suggested, specially in what concerns a comprehensive sensorial simulation, allowing moving to this phase most verifications, previously mandatory on the on-line phase. This should allow a more realistic plan generation and, eventually, interactive planning (with better debugging tools).

In the on-line stage, emphasis is placed on the relationship between execution supervision and sensorial feedback. One suggestion of automatic plan repair, valid for any of the phases is also presented.

The International Symposium on Robot Manipulators: Modeling, Control and Education took place in Albuquerque, New Mexico, u.s.a. from November 12 to November 14, 1986. Over 100 specialists and interested participants from 14 countries took part in the symposium. Due to its small nature, the symposium provided a good technical forum for open exchange of ideas and information regarding robotics — modeling control and education. Presentations were related to five different areas: modeling, control, education, applications, and nsf engineering research centers.

Symposium organizers were M. Jamshidi, Chairman (University of New Mexico) and M. Shahinpoor, Co-Chairman (University of New Mexico). J.Y.S. Luh (Clemson University) chaired the Program Committee. The conference was sponsored by the College of Engineering/University of New Mexico and co-sponsored by the ieee Control Systems Society.

We present below a report on selected lectures delivered at this conference.