Robotics最新文献

Important components of IR-application programs are geometric data which are partly available from CAD-systems. In this paper the derivation and transformation of CAD-data into the required representation of IR-application programs is discussed. For the description of the geometric part of the robots task a frame concept with homogeneous coordinates is used. For the production task spot welding the determination of frames out of the geometric data from the CAD-system is shown in detail. Furthermore, the use of CAD-data for simulation purposes is pointed out.

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.

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.

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 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.

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.