- Email: [email protected]
Industrial robots
Computers in lndustrr' Green, Prab Robots, Incorporated) Robot Implementation and the Domino Effect (Thomas M. Kager, General Electric Company) Robot and Carousel System for Automatic WIP Inventory Handling (Lawrence J. Kamm, MOBOT Corporation, and Donald K. Riley, IBM Corporation) What Robots Mean to the Injection Modling Process (Herbert W. Snyder, The Hoover Company) Automatic Mixing, Weighing, and Compressing of Powder Into Small Pellets (John D. Bert, Jack G. Grundmann, Alex A. Peterson, Chad A. Tall)' and Terry N. Travis, Rockwell International) An Automated System for Heavy-Duty Truck Axle Gear Support Case Machining (Gilbert Bandry and Michael Foley, Eaton Corporation) Robot Unloading Dial Index Machines (Robert L. Spencer, Delco Moraine Division of G.M.C.) Robot Loading Differential Housings (Phillip L. Aver)', Eaton Corporation) Application of Robotics in a Nuclear Fuel Furnace Operation (W. W. Bowen, Westinghouse Hanford Company) Flexible Materials Handling for Industrial Robots (Keith L. Kerstetter, IBM Corporation)
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Coordinates Suitable for Angular Motion Synthesis in Robots (Veljko Milenkovic, Ford Motor Company) Trajectory Generation and Control of a Robot Arm Using Spline Functions ( C. W, Edwall, C. E Ho and H.J. Pottinger, University of Missouri, Rolla) Section 2: Sensors Connecting the PUMA Robot with the MIC Vision System and Other Sensors (Hanan Lechtman, Roger N. Nagel, Lawrence E. Plomann, Terry Sutton and Nell Webber, International Harvester) Tactile Sensory Feedback for Difficult Robot Tasks (Donald S. Seltzer, Charles Stark Draper Laboratory, Incorporated) Safety Sensor Systems for Industrial Robots (Roger D. Kilmer, National Bureau of Standards) Magnetoelastic Force Feedback Sensors for Robots and Machine Tools (John M. Vranish, Naval Surface Weapons Center) Flexible Handling System for Small Parts (Kazuo Hattori, Nobuhiro Kyura, Mitsuo Seryu, Takeo Suzuki and Masato Tanaka, YASKAWA Electric Manufacturing Co. Ltd.)
Section 4: Finishing Robotic Paint Spraying at Fairchild Republic Company (Philip A. Barone, Fairchild Republic Company)
Section 3: Mechanisms A Decade of Automation Research at IBM (David D. Grossman, IBM Corporation) A Self-Adaptive Guided Assembler (SAGA) (G. BelJorte, N. D'Alfio and A. Romiti, lstituto di Meccanica Applicata alle Macchine-Politecnico) Conception and Realization of an Intelligent and Autonomous End Effector (Michael Edel and Daniel Jolly, Universit~ des Sciences et Techniques de Lille I)
Section 5: Assembly, Inspection/Testing Robotized Assembly System of Terminal Connector (Fernand Goyette, Northern Telecom Canada Ltd.) Robot System for Automotive Choke Testing (J.G. Kourtesis, B. Seth and L.A. Sylvia, Texas Instruments Incorporated)
Section 4: Controls Utilization of Microprocessors in Robot-Automation Systems (George F. Girod, Southern Illinois University at Carbondale) Control of DC Serve-Motor Driven Robots (Yoram Koren and A. Galip Ulsov, University of Michigan)
Section 3: Welding Robotic Arc Welding - Adding Science to the Art (Richard E. Hohn and John G. Holmes, Cincinnati Milacron, Incorporated)
RESEARCH AND DEVELOPMENT Section 1: Programming and Languages Robot Command Languages and Artificial Intelligence (Karl G. Kempf, The General Electric Company Ltd.) Programming Vision and Robotics Systems with RAILT M (James W. Franklin and Gordon J. VanderBrug, Automatix Incorporated)
These lectures are published in full in the Conference Proceedings and are available from the Society of Manufacturing Engineers and Robot Institute of America, One SME Drive, P.O. Box 930, Dearborn, Michigan 48128, U.S.A. 1982. ISBN 0-87263-078-1. 604 pages.
Industrial Robots The 11th International Symposium on Industrial Robots (ISIR) was held in Tokyo, Japan from October 7-9, 1981. This conference, the third one held in Japan, was organized by the Society of Biomechanisms Japan (SOBIM) and by the Japan Industrial Robot Association (JIRA).
Since the first ISIR in 1970, the number and significance of participants and presentations have increasingly developed at each subsequent meeting. This favorable progress has paved the way for ISIR becoming the world's most authoritative symposium on industrial robot technology. The ISIR conferences fur-
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ther contribute a great deal to industries and human welfare in all regions of the world. Trends in the next stage of development in robot technology were discussed at length at this 11th ISIR. Another highlight of the symposium was the emphasis on future industrial robots from a global viewpoint. Socio-economic consideration of the robot age in the 21st century was also a focus point. Almost 100 lectures were presented at this 1 l t h ISIR. The participants, respresenting more than 20 countries, helped clarify the new movements in the industrial robot technology on a global basis, They also provided useful guidelines to future study. We feature below a review of several stateof-the-art lectures presented at the 11th International Symposium on Industrial Robots. A list of other lectures delivered at the symposium is also provided. Socio-Economic Impacts According to Kanji Yonemoto (Japan Industrial Robot Association, Japan), industrial robots have brought about and are expected to bring about many socio-economic and technological impacts, such as improvement of productivity and humanization of working life. Automation of mass-production systems, he said, was the main current of industry up until the 1970's. However, the predominant trend in and after the 1980's will be automation of small-batch production of many different varieties of products, or flexible automation of the production system. Yonemoto further observed that the technological development and utilization of industrial robots is expected to form the nucleus of the new production system. He believes, thus, that industrial robots will make an outstanding contribution to the growth of productivity, to the stabilization of prices, to the humanization of working life, and to the development of new industries. His views were expressed in a lecture entitled "The Art of Industrial Robots in Japan - Their Socio-Economic Impacts". Robotics in France All the industrial countries are now heavily involved in large scale programs to introduce flexible automation systems in the factories. Joel 12 Quement (Universit6 de Paris-Sud, France) and Michel Parent (Agence de I'Informatique, France)
Computers in lndust~y
believe that tiffs does not occur by mere coincidence but because the governments of these countries are now convinced that such systems and the control of their development and production are strategic factors in the international economic competition. Le Quement and Parent presented the elements of this new industrial revolution brought forth by the robots and the different actions taken in France to meet the challenge. Their lecture was entitled "National Robotics Research and Development Programs in France". Robotics in Poland Adam Morecki (Technical University of Warsaw. Poland) and Jerzy Bud" (Institute for Precision Mechanics. Poland) presented some results concerning the design and application of industrial robots in Poland in the period 1977-1980. Some general remarks about the trends in research and application were given. The area of possible industrial applications was illustrated by the description of the RIMP robots designed at the Institute for Precision Mechanics in Warsaw and the assembly robots designed at the Technical University of Warsaw. Morecki and Bu~ also described the realizatton of an anthropomorphic manipulator with seven degrees of freedom. They concluded their lecture with a discussion of perspectives and trends for further development of robotics in Poland. Investigating Robot Activities For the purpose of examining the present status of robot activities and latent demands in main industries, an investigation was recently carried out by JIRA in 4400 main factories and Companies in Japan. Kanji Yonemoto (JIRA, Japan), Kenji Shiino (Nomura Research Institute, Japan) and Minoru Soeda (Tokai University, Japan) presented the results of this investigation. Aspects examined in the distributed questionnaire included: forging, die-casting, plastic formation, heat treatment, cast, ing, press and shearing, spot and arc welding, spraying paint, coating and plating, machining, assembling and inspection. As many as 13,I20 robots were being used for 716 processes in 395 factories/companies. T h e lectures reported on the method of investigation, the summarization of answers, and the analysis of the results. The followinglectures, all pertaining to Industrial Robots. were also presented at the 1lth ISIR:
Computers in Industry
Conference Reports
SOME ASPECTS OF THE MODULARITY PRINCIPLES DEVELOPMENT IN THE CONSTRUCTION A N D OPERATION OF W O R K I N G SITES WITH I N D U S T R I A L ROBOTS J. Nemcsics, ZTS, Institute of Technology and Racionalisa-
tion (C.S.S.R.) TASK ANALYSIS FOR I N D U S T R I A L ROBOTS USE AND DESIGN G. Li~geois, M. Betempts, A. Jutard and P. Romand,
lnstitut National des Sciences Appliqubes (FRANCE) ROBOTIZATION OF R E I N F O R C E D CONCRETE BUILDING CONSTRUCTION Y. Hasegawa, System Science Institute, Waseda Universi O'
(JA PA N) I N D O C T R I N A T I O N A N D T R A I N I N G FOR THE USER OF COMPUTER CONTROLLED ROBOTS T.M. Larson and M.J. Dunne, Unimation Inc. (U.S.A.) APPLICATION OF MANIPULATOR FOR ENVIRONMENTAL CONTROL SYSTEM BED R I D D E N PATIENTS IN PRIVATE HOUSE H. Funakubo, T. Yamaguchi *, Y. Saito *, H. Itoh *, T. lsomura, M. lida ** Y. Tetsugu ***, and M. Yoshida, The
University of Tokyo, Tokyo Electrical Engg. College *, Toshiba Prec. Mechanics Ltd. **, and Matsushita Electric Ltd. *** (JAPAN) POCKETABLE MICROCOMPUTER SYSTEM, ITS APPLICATION ON ENVIRONMENTAL CONTROL SYSTEM A N D PROSTHESIS FOR PHYSICALLY HANDICAPPED PERSONS Y. Saito, H. Funakubo *, H. ltoh, T. Yamaguchi, and T. Kamata **, Tokyo Denki University, The University of
Tokyo *, and Ntppon Electric Co., Ltd. ** (JAPAN) FIRST APPROACH TO THE DEVELOPMENT OF THE PATIENT CARE ROBOT E, Nakano, T. Arai, K. Yamaba, S. Hashino, T. Ono, and S. Ozaki, Mechanical Engineering Laboratory, M1TI (JAPA N) G U I D E DOG ROBOT - FEASIBILITY EXPERIMENTS WITH MELDOG MARK llI S. Tachi, K. Komoriya, K. Tanie, T, Ohno, and M. Abe,
Mechanical Engineering Laboratory, M1TI (JAPAN) A N T H R O P O M O R P H I C FEATURES IN ARTIFICIAL VISION S. Gaglio, P. Morasso, G. Sandini, and V. Tagliasco, Istituto
di Elettrotecnica, Universitit di Genova (ITALY)
A. Riad and M. Briot, Laboratoire d'A utomatique et d'A nalyse
des Systkmes du C.N.R.S. (FRANCE) A
VISUAL SENSOR FOR ARC-WELDING ROBOTS T. Bamba, H. Maruyama, E. Ohno, and Y. Shiga, Mitsu-
bishi Electric. Corporation (JAPAN) TOTAL SENSORY SYSTEM FOR ROBOT CONTROL AND ITS DESIGN APPROACH R. Masuda, K. Hasegawa, and Wei-Ting Gong*, Tokyo
Insitute of Technology and Peking UniversiO~ of Technology * (JAPAN) SENSORIALITY ASPECTS IN ROBOTIZED ASSEMBLY PROCESS I.D. Gaudio, Olivetti O.S.A.1. (ITALY) NEW METHODS FOR DIRECTION SENSORS BY USING PROJECTED IMAGE T. Okada, Electrotechnical Laboratory, MIT1 (JAPAN) AN EXPERIMENTAL SYSTEM FOR AUTOMATIC GUIDANCE OF ROBOTED VEHICLE FOLI_OWING THE ROUTE STORED IN MEMORY T. Tsumura, N. Fujiwara, T. Shirakawa *, and M. Hashimoto, University of Osaka Prefecture and Universio, of
Tsukuba * (JAPAN) EDGE DISTRIBUTION UNDERSTANDING FOR LOCATING A MOBILE ROBOT T. Nakamura, Mechanical Engineering Laborato(v, MITI
(JA PA N) DEVELOPMENT OF GUIDELESS ROBOT VEHICLE K. Fujiwara, Y. Kawashima, H. Kato. and M. Watanabe,
Mitsubishi Electric" Corporation (JAPAN) ELEMENTARY F U N C T I O N S OF A SELF-CONTAINED ROBOT "YAMABICO 3.1" J. Iijima, S. Yuta *, and Y. Kanayama*, University of
= Electro-Communications and (JA PA N)
University of Tsukuba *
COMPUTER CONTROL OF A LOCOMOTIVE ROBOT WITH VISUAL FEEDBACK S. Fujii *, K. Yoshimoto, H. Ohtsuki **, H. Kikuchi **, H. Matsumoto***, and K. Yamada***, The University of
Tokyo,. Tokyo Denki University*, Hitachi Ltd. **, and Mitsubishi Electric Corp. *** (JA PA N) ADAPTIVE CONTROL OF H I G H VELOCITY MANIPULATORS M. Le Borgne, J.M. lbarra, and B. Espiau, 1RISA.
Laboratoire d'Automatique (FRANCE)
PATTERN R E C O G N I T I O N PROBLEM ON MODELED 3-D GEOMETRY Y. Kakazu, N. Okino, and K. Utsumi, Faculty of Engineer-
ing, Hokkaido University (JAPAN)
THE POSITIONING CONTROL OF ROBOT USING MICROCOMPUTER B.J. Lee and T.S. Nho, PMTG Korea Institute of Science
and Technology (KOREA)
ROBOT CONTROL A N D INSPECTION BY MULTIPLE CAMERA VISION SYSTEM A.G. Makhlin, Westinghouse Research and Development
Center (U.S.A.)
CONTRIBUTION TO DYNAMIC CONTROL OF INDUSTRIAL MANIPULATORS M. Vukobratovi6, D. Stoki6, and M. Kireanski, Mihailo
Pupin Institute ( YUGOSLA VIA)
A REAL TIME SHAPE R E C O G N I T I O N OF MOVING OBJECTS M. Ueda, F. Matsuda, and Y. Takahara, Department of
Electrical Engineering, Nagoya University (JAPAN)
Research (NORWA Y) OF
THE DIGITAL COMPUTER CONTROL OF THE TEACHING-PLAYBACK TYPE INDUSTRIAL MANIPULATOR R.F. Xue, G.L. Ma, and J.Z. Wang, Shanghai Jio Tong
University (P.R. CHINA)
S1MAGE - SI'S IMAGE R E C O G N I T I O N SYSTEM J.R. I-I~fe~lt and H. Hhkonsen, Central Insitutefor Industrial I D E N T I F I C A T I O N A N D LOCALIZATION TIALLY OBSERVED PARTS
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PAR-
A CONTROL A L G O R I T H M FOR T R A C I N G A N D VISUAL SERVOING BY INDUSTRIAL ROBOTS S. Futami, N. Kyura, and 1. Matsumoto, Yaskawa Electric
Mfg. Co. Ltd. (JAPAN) SOFTWARE
AND
HARDWARE
ASPECTS
OF
A
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SENSORY G R I P P I N G SYSTEM P.M. Taylor, G.E. Taylor, D.J. Kemp, J. Seim, and A. Pugh,
University of Hull (U.K.) ON DEVELOPMENT A N D REALIZATION OF A MULTIPURPOSE G R A S P I N G SYSTEM A. Rovetta, P. Vicentini *, and I. Franchetti *, Politecnico di
Milano and Alfa Romeo Auto S.p.A.* (ITALY) P I C K I N G FROM A BIN T H R O U G H TACTILE SENSING A. Romiti, G. Belforte, N. D'Alfio, and F. Ouagliotti,
Politecnico di Torino (ITALY) A PROGRAM FOR AUTOMATIC G R A S P I N G OF OBJECTS WITH A ROBOT ARM C. Laugier, IMAG (FRANCE) SAMPLED-DATA O N - O F F G R A S P I N G FORCE CONTROL S. Inagaki, Nagoya Municipal Industrial Research Institute
(JAPAN) D E F I N I N G OF THE SCHEME A N D THE PARAMETERS OF AN I N D U S T R I A L ROBOT GRIPPER BY A G R O U P OF SPECIFICATIONS S. Kolpashnikov and I. Chelpanov, Leningrad Polytechnic
(U.S.S.R.) SPECIAL C O N F I G U R A T I O N S OF I N D U S T R I A L ROBOTS K. Sugimoto and Joseph Duffy *, Hitachi Ltd. and Univer-
sity of Florida * C O N S I D E R A T I O N OF THE I N F L U E N C E OF LOCAL DEF O R M A T I O N S OF I N D U S T R I A L ROBOT LINKS PROD U C E D UPON RESILIENT ERRORS OF P O S I T I O N I N G S. Belolikov, O. Korytko, and K. Tress, Leningrad Polytech-
nic (U.S.S.R.) T H E MANEUVERABILITY OF A M A N I P U L A T O R WITH MULTI-JOINTS G. Kinoshita, Chuo University (JAPAN) BIOMECHANISM ANALYSIS OF F O R E A R M PROSTHESIS L.L. Ming and L.W. Ying, Shanghai Jiao Tong University
(P.R. CHINA) RATIONAL DISPLACEMENT LAYOUTS OF D R I V I N G MECHANISMS APPLIED TO ASSEMBLY MANIPULATORS S. Tadeusz, Warsaw Technical University (POLAND) COMPUTER-AIDED PLANNING OF INDUSTRIAL ROBOT APPLICATION IN WORKPIECE H A N D L I N G H.-J. Warnecke, R.D. Schraft, and U. Schmidt-Streier,
Fraunhofer-lnstitate for Production and Automation, IPA ( W. GERMAN Y) A ROBOT SYSTEM FOR SMALL PARTS ASSEMBLY E. Gerelle, Ecole Polytechnique F~dbrale de Lausanne
(S WI TZERLA ND) PRACTICAL APPROACH FOR U N M A N N E D OPERAT I O N OF FMS K. Kobayashi and H. Inaba, Fujitsu Fanuc Ltd. (JAPAN) F U R T H E R DEVELOPMENTS OF THE ACTIVE ADAPTIVE COMPLIANT WRIST (AACW) F O R ROBOT ASSEMBLY H. Van Brussel, H. Thielemans*, and J. Simons **
Katholieke Universiteit Leuven, Institute for Scientific Research in Industry and Agriculture *, and National Fund for Scientific Research ** (BELGIUM) ON THE WAYS OF ROBOT CONTROL IN ASSEMBLING OPERATIONS
Computers tn Industry F.M. Kulakov. Leningrad Research Computer Centre AS
USSR (U.S.S.R. J TRAINABLE ASSEMBLY SYSTEM WITH AN ACTIVE SENSORY TABLE POSSESSING 6 AXES M. Kasai. K. Takeyasu. M. Uno. and K. Muraoka. Hitachi
Ltd. (JAPAN) MOTION CONTROL OF A JOINTED ARM ROBOT U T I L I Z I N G A MICROCOMPUTER H. Makino and N Furuya, Yamanasht University" (JAPAN) A N D R O M A T M A N I P U L A T O R ARMS AN EXPERIENCE OF S T A N D A R D CENTRAL UNITS IN SPECIFIC SYSTEMS G. Rooryck, Compagme de Signaux et d'Entreprises Electrt-
ques and Association Franqaise de Robotique Industrielle (FRANCE) I N D U S T R I A L ROBOTS CONTROLLED WITH H I G H SPEED MICRO-COMPUTER N. Sasaki and K. Matsushima. Kawasakt Heavy Industries
Ltd. (JAPAN, C O N T O U R I N G C O N T R O L OF AN A R T I C U L A T E D ROBOT ARM W I T H M A N I P U L A T I O N VARIABLE FEEDBACK H. Hanafusa. T. Yoshikawa. Y. Nakamura. and M. Takeda.
Kyoto University (JAPAN) T H R E E - D I M E N S I O N A L MEASUREMENT SYSTEM BY SERVOMECHANISM AN APPLICATION TO SOME M E A S U R E M E N T [N THE CASE OF M A R I N E PROPELLER N. Okina. K. Minowa. and K. Okamoto. Sumitomo Heavv -
Industries Ltd (JAPAN j DEVELOPMENT OF A NEW ROBOT PROFILE FOLLOWING METHOD S. Ando and N. Miyake, Hitachi Ltd. (JAPAN) COMPLEX INDUSTRIAL A U T O M A T I O N SYSTEMS W. Apalkow and J. Bu6. Institute of Precision Mechanics
(POLANDj W E L D I N G ROBOT G U I D A N C E SYSTEMS G.l Sergatskii. O.K. Nazarenko. and Yu.M. Korotun. E.O.
Paton Electric Welding Institute (U.S.S.R.j ROBOT FOR INSPECTION BRIEF REPORT OF ACHIEVEMENTS OF LAR C. Hao. L. You-de. and S. Mei-gong, Shanghai University of
Technology tP.R. CHINA I FLEXIBLE ASSEMBLY M O D U L E WITH VISION CONTROLLED PLACEMENT DEVICE W.B. Heginbotham. D.F. Barnes. D.R. Purdue. and D.J. Law. PERA (U.K.I D I R E C T K I N E M A T I C CONTROL OF I N D U S T R I A L MANIPULATORS A N D ROBOTS M.S. Konstantinov. P.I. Genova. and E.V. Zahariev ~.
Higher Institute of Mechanical and Electric Engineering and Bulgarian Academy of Sciences tBULGARIAj H I E R A R C H I C A L CONTROL FOR SENSORY INTERACTIVE ROBOTS J.S. Albus. A.J. Barbera. and M.L. Fitzgerald. National
Bureau of Standards (U. S.A.I ROBOTIZATION OF AUTOMOBILE PRODUCTION: A SOCIOLOGICAL INVESTIGATION INTO ITS EFFECTS ON WORK C O N D I T I O N S A N D EMPLOYMENT P. Kalmbach. R. Kasiske, F. Manske, O. Mickler. W. Pelull, and W. Wobbe-Ohlenburg, Soziologisehes Forschungsinstitut
If4(GERMANY)
Computers in Industry " S O F T BIONIC M A N - M A D E BRAIN" C O N T R O L L I N G T H E LIMBS M O T I O N OF ROBOT X.-S. Lu and Z.-S. Ying, Shanghai University of Technology
(P.R. CHINA) C O M P U T E R S I M U L A T I O N OF T H E C H A R A C T E R I S T I C S OF HUMAN THINKING L. Tai-Hang, Shanghai Institute of Computer Technology
(P. R. CHINA) C O N T R I B U T I O N TO T H E C O M P U T E R - A I D E D DESIGN OF I N D U S T R I A L M A N I P U L A T O R S M. Vukoratovi~, V. Potkonjak, and D. Hristi~, Mihailo
Pupin Institute (YUGOSLA VIA) C O M P U T A T I O N OF INVERSE K I N E M A T I C S A N D INVERSE D Y N A M I C S IN M A N I P U L A T O R A R M CONTROL S. Gaglio, P. Morasso, V. Tagliasco, and R. Zaccaria,
lstituto di Elettrotecnica, Universitd di Genova (ITAL Y) K I N E M A T I C C O N T R O L OF R E D U N D A N T M A N I P U L A TORS M.S. Konstantinov, M.D. Markov, and D.N. Nenchev,
Central Laboratory for Manipulators and Robots Higher Institute of Mechanical and Electric Engineering (BULGARIA) O P T I M A L P R O G R A M M I N G OF SIGMA ASSEMBLY ROBOT G. Andorlini, R. Bedini, A. Del Taglia, and G. Tani,
University of Florence (1TAL Y) A P O R T A B L E ROBOT S O F T W A R E SYSTEM J. Courtney and G. Herlin, Ecole Polytechnique Fbdbrale de
Lausanne (SWITZERLAND) T H E F O R M A L D E F I N I T I O N OF VML A N D A PROPOSED P O R T A B L E I M P L E M E N T A T I O N P. Bison, G. Lorenzin, and E. Pagello, LADSEB-CNR
(ITALY) R O B O T S I M U L A T I O N SYSTEM AS A TASK PROG R A M M I N G TOOL T. Sata, F. Kimura, and A. Amano, University of Tokyo
(JAPAN) A CARTESION C O O R D I N A T E S M A N I P U L A T O R WITH ARTICULATED STRUCTURE S. Hirose and Y. Umetani, Tokyo Institute of Technology
(JAPAN) ON APPLICATIONS OF D I F F E R E N T I A L G E A R MECHANISM TO M A N I P U L A T O R T. Mizutani and K. Hasegawa, Tokyo Institute of Technologr'
(JAPAN) S T U D Y ON SPEED-UP OF ROBOT M O T I O N
S. Toyama and M. Takano, University of Tokyo (JAPAN) DESIGN C O N C E P T OF D I R E C T - D R I V E M A N I P U L A TORS U S I N G R A R E - E A R T H DC T O R Q U E MOTORS H. Asada, T. Kanade, and R. Reddy, Carnegie-Mellon
University (U.S.A.) P R O G R A M M A B L E E L E C T R O - H Y D R A U L I C MOTR1CITY M O D U L E S F. Lhote, D. Simon, J. Berger * and P. Andre *, Laboratoire
d'Automatique-C.N.R.S, and SociktO SORMEL * (FRANCE) ON T H E R E M O T E MINI M A N I P U L A T O R "TINYM I N I " - C O N T R O L , ITS A R M A N D G R I P P E R K. Matsushima and A. Nagai *, University of Tsukuba and
Tokyo Institute of Technology * (JAPAN) R O B E X - A N O F F - L I N E P R O G R A M M I N G SYSTEM FOR I N D U S T R I A L ROBOTS
Conference Reports
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M. Weck, W. Eversheim, and D. Zuehlke, Werkzeug-
maschinenlabor, TH Aachen (W. GERMANY) A S T R U C T U R E D WAY OF I M P L E M E N T I N G T H E H I G H LEVEL P R O G R A M M I N G L A N G U A G E AL ON A MINIAND MICROCOMPUTER CONFIGURATION C. Blume, Universitgtt Karlsruhe ( W. GERMAN Y) DESIGN A N D I M P L E M E N T A T I O N OF HIGH LEVEL ROBOT LANGUAGE H. lnoue, T. Ogasawara, O. Shiroshita, and O. Naito,
University of Tokyo (JAPAN) LM: A HIGH-LEVEL P R O G R A M M I N G L A N G U A G E FOR C O N T R O L L I N G ASSEMBLY ROBOTS J.-C. Latombe and E. Mazer, 1MAG (FRANCE) T H E P R O G R A M M I N G L A N G U A G E FOR W E L D I N G ROBOT R. Abe, S. Ueno, S. Tsujikado, and H. Takagi, Komatsu Ltd
(JAPAN) A U T O M A T I Z E D C O M P L E X OF M E T A L W O R K I N G WITH I N D U S T R I A L ROBOTS G. Chelidze, O. Ezikashvili, and V. Natbiladze. Georgian
Polytechnic Institute (U. S. S. R.) T R A N S I S T O R CHIP S O R T I N G A P P A R A T U S K. Edamatsu, T. Kiuchi, Y. Isono, S. Naruse, and A. Momose, Fuji Electric Co. Lid (JAPAN) PILOT I N S T A L L A T I O N FOR F E T T L I N G OF CASTINGS W I T H I N D U S T R I A L ROBOTS BASIC EQUIPMENT, STRATEGIES, EXPERIMENTS A N D RESULTS H.-J. Warnecke, E. Abele, R.-D. Schraft, and M. Schweizer, -
Fraunhofer Institute for Production and Automation, IPA ( W. GERMAN Y) D E V E L O P M E N T OF PLASMA C U T T I N G ROBOT FOR THE AUTOMOBILE INDUSTRY E. Tsuda, H. Koyama, and F. Noguchi, Shin Meiwa In-
dustry Co., Ltd (JAPAN) T H E T A P E - W I N D I N G ROBOT F O R L A R G E G E N E R A T O R STATOR COIL R. Ueda, Y. Sakaue, and H. Maruyama, Mitsubishi Electric
Corporation (JAPAN) O P T I M A L C O N T R O L OF M A N I P U L A T O R A R M N. Sprinceana and M. Ivanescu, Polytechnical Institute of
Bucharest, University of Craiova (ROMANIA) BILINEAR M A N I P U L A T O R MODELS: A P P L I C A T I O N TO SUBOPTIMAL CONTROL M.A. Armada and J. NO, Instituto de Autom~tiea Industrial
(SPAIN) G E O M E T R I C A N D K I N E M A T I C MODELS OF A ROBOT M A N I P U L A T O R : C A L C U L A T I O N OF THE JACOBIAN M A T R I X A N D ITS INVERSE M. Renaud, Laboratoire d'Automatique et d'Analyse des
Systkmes du CN.R.S. (FRANCE) N E W L A G R A N G I A N F O R M U L A T I O N OF M A N I P U L A TOR DYNAMICS S. Megahed, Laboratoire d'Automatique et d'Analyse des
Systbmes du C.N.R.S. (FRANCE) D E R I V A T I O N OF O P T I M A L M O D E L USING HAMILT O N ' S PRINCIPLE J. Lenar~i~, P. Oblak, U. Stani~, and S. Strm~nik, Institute
Jo2ef Stefan (YUGOSLA VIA) IMPROVED WORKING ENVIRONMENT ROBOTIC A R C W E L D I N G STATIONS B. Lagerl~)f, ESAB AB (SWEDEN)
WITH
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AUTOMATION OF ARC WELDING PROCESS BY USING INDUSTRIAL ROBOTS V.I. Zagrebelny, E.O. Paton Welding Institute ( U. S. S. R.) STOCHASTIC MODEL OF ROBOT SPOT WELDING OF ITEM WITH UNSTABLE GEOMETRIC PARAMETERS G.A. Spinu, V.T. Antonenko, and K.P. Gurksy, E.O. Paton
Welding Institute (U. S. S. R:) INDUSTRIAL ROBOTS FOR WELDING WITH LINEAR DISCRETE ELECTRIC DRIVE V.T. Antonenko, Yu.P. Kotyhin, A.A. Afonin * and R.R. Bilozor *, E.O. Paton Welding Institute and Institute of
Electrodynamics
of the Ac. of Ses, of the Ukr. SSR *
(U.S.S.R.) ARC WELDING ROBOT WITH VISION I. Masaki, R.R. Gorman, B.H. Shulman, M.J. Dunne *, and H. Toda **, Joint R&D Team of Unimation and Kawasaki,
Unimation Inc. *, and Kawasaki Heavy Industries Ltd **
(U.S.A.) A R T I F I C I A L C O N S C I O U S N E S S IN I N D U S T R I A L ROBOTS A. Irtem, Delegate of International Association for Turkey
('omputers m lndust£v and Middle,East (TURKE Y) AN APPROACH TO CONTROL HIERARCHY AND CONTROL ALGORITHM FOR INDUSTRIAL ROBOT Yu Lee-Chi, Beijing Machine Tool Research Institute, Chang Hsiao-tsu. Shenyang Machine Tool Industrial College (P.R,
CHINA) BALANCE-ARM TYPE INDUSTRIAL ROBOT Chang Hsiao-tsu, Shenyang Machine Tool Industrial College, Tsao Kwang-chuan and Cheng Hsing,dao, Hunan Province
Xiang-Tan 8th Mechanical Design Institute (P.R. CHINA) THE AUTOMATIC PERONEAL ORTHOSIS Novak Jaukovi~, University of Titograd, Electrical engineer-
mg department ( YUGOSLA VIA)
The Proceedings of the 11th International Symposium on Industrial Robots are available from the Japan Industrial Robot Association (JIRA), 3-5-8, Shiba Koen Minatoku, Tokyo, Japan. 1981. vi + 854 pages.
CAD/CAM in Developing Nations A Working Conference on CAD/CAM as a Basis for the Development of Technology in Developing Nations was held in Sao Paulo, Brazil from October 21-23, 1981. This important event was sponsored by the International Federation for Information Processing, Working Group 5.2 (Computer-Aided Design) and by the Society of Computer and Subsidiary Equipment Users (SUCESU). According to E. Warman and J. Encarnagao, chairmen of the conference, IFIP is aware of the need for technology transfer to developing nations and the need to endorse within these nations activities that assist in the process of technology transfer. This meeting in Brazil was the first of many interactions where both sides could benefit. This benefit was not only in the scientific and technical sense but was also able to produce the social benefits of better understanding between nations at their working level. The conference did not produce any instant solutions but it was a positive and correct move toward the application and exploitation of the powerful techniques of CAD/CAM. Seven sessions, covering the following aspects, were held at the conference: (1)
Principles and Techniques, (2) Graphics Standards, (3) CAD in Civil Engineering, (4) CAD in Mechanical Engineering, (5) CAD for Digital Systems Design, (6) CAD/CAM Practice and Promotion, (7) CAD/CAM and Technology Transfer. In addition, four tutorials were presented at the event. We feature below a synopsis of this relevant Working Conference
Key-Address
Reality of CAD According to J. Vlietstra (N.V. Philips' Gloeilampenfabrieken. The Netherlands), the various C A D programs that have been developed so far provide solutions only for parts of the design and manufacturing activities in industry. The input description of the design data has not been tuned to the specific requirements of designers and product engineers, the output documents are not in conformity with the demands imposed by an industrial organization. Standard data processing techniques, Vlietstra further observed, are a rarity or have not yet been properly introduced. His
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217
Coordinates Suitable for Angular Motion Synthesis in Robots (Veljko Milenkovic, Ford Motor Company) Trajectory Generation and Control of a Robot Arm Using Spline Functions ( C. W, Edwall, C. E Ho and H.J. Pottinger, University of Missouri, Rolla) Section 2: Sensors Connecting the PUMA Robot with the MIC Vision System and Other Sensors (Hanan Lechtman, Roger N. Nagel, Lawrence E. Plomann, Terry Sutton and Nell Webber, International Harvester) Tactile Sensory Feedback for Difficult Robot Tasks (Donald S. Seltzer, Charles Stark Draper Laboratory, Incorporated) Safety Sensor Systems for Industrial Robots (Roger D. Kilmer, National Bureau of Standards) Magnetoelastic Force Feedback Sensors for Robots and Machine Tools (John M. Vranish, Naval Surface Weapons Center) Flexible Handling System for Small Parts (Kazuo Hattori, Nobuhiro Kyura, Mitsuo Seryu, Takeo Suzuki and Masato Tanaka, YASKAWA Electric Manufacturing Co. Ltd.)
Section 4: Finishing Robotic Paint Spraying at Fairchild Republic Company (Philip A. Barone, Fairchild Republic Company)
Section 3: Mechanisms A Decade of Automation Research at IBM (David D. Grossman, IBM Corporation) A Self-Adaptive Guided Assembler (SAGA) (G. BelJorte, N. D'Alfio and A. Romiti, lstituto di Meccanica Applicata alle Macchine-Politecnico) Conception and Realization of an Intelligent and Autonomous End Effector (Michael Edel and Daniel Jolly, Universit~ des Sciences et Techniques de Lille I)
Section 5: Assembly, Inspection/Testing Robotized Assembly System of Terminal Connector (Fernand Goyette, Northern Telecom Canada Ltd.) Robot System for Automotive Choke Testing (J.G. Kourtesis, B. Seth and L.A. Sylvia, Texas Instruments Incorporated)
Section 4: Controls Utilization of Microprocessors in Robot-Automation Systems (George F. Girod, Southern Illinois University at Carbondale) Control of DC Serve-Motor Driven Robots (Yoram Koren and A. Galip Ulsov, University of Michigan)
Section 3: Welding Robotic Arc Welding - Adding Science to the Art (Richard E. Hohn and John G. Holmes, Cincinnati Milacron, Incorporated)
RESEARCH AND DEVELOPMENT Section 1: Programming and Languages Robot Command Languages and Artificial Intelligence (Karl G. Kempf, The General Electric Company Ltd.) Programming Vision and Robotics Systems with RAILT M (James W. Franklin and Gordon J. VanderBrug, Automatix Incorporated)
These lectures are published in full in the Conference Proceedings and are available from the Society of Manufacturing Engineers and Robot Institute of America, One SME Drive, P.O. Box 930, Dearborn, Michigan 48128, U.S.A. 1982. ISBN 0-87263-078-1. 604 pages.
Industrial Robots The 11th International Symposium on Industrial Robots (ISIR) was held in Tokyo, Japan from October 7-9, 1981. This conference, the third one held in Japan, was organized by the Society of Biomechanisms Japan (SOBIM) and by the Japan Industrial Robot Association (JIRA).
Since the first ISIR in 1970, the number and significance of participants and presentations have increasingly developed at each subsequent meeting. This favorable progress has paved the way for ISIR becoming the world's most authoritative symposium on industrial robot technology. The ISIR conferences fur-
218
ConferenceReports
ther contribute a great deal to industries and human welfare in all regions of the world. Trends in the next stage of development in robot technology were discussed at length at this 11th ISIR. Another highlight of the symposium was the emphasis on future industrial robots from a global viewpoint. Socio-economic consideration of the robot age in the 21st century was also a focus point. Almost 100 lectures were presented at this 1 l t h ISIR. The participants, respresenting more than 20 countries, helped clarify the new movements in the industrial robot technology on a global basis, They also provided useful guidelines to future study. We feature below a review of several stateof-the-art lectures presented at the 11th International Symposium on Industrial Robots. A list of other lectures delivered at the symposium is also provided. Socio-Economic Impacts According to Kanji Yonemoto (Japan Industrial Robot Association, Japan), industrial robots have brought about and are expected to bring about many socio-economic and technological impacts, such as improvement of productivity and humanization of working life. Automation of mass-production systems, he said, was the main current of industry up until the 1970's. However, the predominant trend in and after the 1980's will be automation of small-batch production of many different varieties of products, or flexible automation of the production system. Yonemoto further observed that the technological development and utilization of industrial robots is expected to form the nucleus of the new production system. He believes, thus, that industrial robots will make an outstanding contribution to the growth of productivity, to the stabilization of prices, to the humanization of working life, and to the development of new industries. His views were expressed in a lecture entitled "The Art of Industrial Robots in Japan - Their Socio-Economic Impacts". Robotics in France All the industrial countries are now heavily involved in large scale programs to introduce flexible automation systems in the factories. Joel 12 Quement (Universit6 de Paris-Sud, France) and Michel Parent (Agence de I'Informatique, France)
Computers in lndust~y
believe that tiffs does not occur by mere coincidence but because the governments of these countries are now convinced that such systems and the control of their development and production are strategic factors in the international economic competition. Le Quement and Parent presented the elements of this new industrial revolution brought forth by the robots and the different actions taken in France to meet the challenge. Their lecture was entitled "National Robotics Research and Development Programs in France". Robotics in Poland Adam Morecki (Technical University of Warsaw. Poland) and Jerzy Bud" (Institute for Precision Mechanics. Poland) presented some results concerning the design and application of industrial robots in Poland in the period 1977-1980. Some general remarks about the trends in research and application were given. The area of possible industrial applications was illustrated by the description of the RIMP robots designed at the Institute for Precision Mechanics in Warsaw and the assembly robots designed at the Technical University of Warsaw. Morecki and Bu~ also described the realizatton of an anthropomorphic manipulator with seven degrees of freedom. They concluded their lecture with a discussion of perspectives and trends for further development of robotics in Poland. Investigating Robot Activities For the purpose of examining the present status of robot activities and latent demands in main industries, an investigation was recently carried out by JIRA in 4400 main factories and Companies in Japan. Kanji Yonemoto (JIRA, Japan), Kenji Shiino (Nomura Research Institute, Japan) and Minoru Soeda (Tokai University, Japan) presented the results of this investigation. Aspects examined in the distributed questionnaire included: forging, die-casting, plastic formation, heat treatment, cast, ing, press and shearing, spot and arc welding, spraying paint, coating and plating, machining, assembling and inspection. As many as 13,I20 robots were being used for 716 processes in 395 factories/companies. T h e lectures reported on the method of investigation, the summarization of answers, and the analysis of the results. The followinglectures, all pertaining to Industrial Robots. were also presented at the 1lth ISIR:
Computers in Industry
Conference Reports
SOME ASPECTS OF THE MODULARITY PRINCIPLES DEVELOPMENT IN THE CONSTRUCTION A N D OPERATION OF W O R K I N G SITES WITH I N D U S T R I A L ROBOTS J. Nemcsics, ZTS, Institute of Technology and Racionalisa-
tion (C.S.S.R.) TASK ANALYSIS FOR I N D U S T R I A L ROBOTS USE AND DESIGN G. Li~geois, M. Betempts, A. Jutard and P. Romand,
lnstitut National des Sciences Appliqubes (FRANCE) ROBOTIZATION OF R E I N F O R C E D CONCRETE BUILDING CONSTRUCTION Y. Hasegawa, System Science Institute, Waseda Universi O'
(JA PA N) I N D O C T R I N A T I O N A N D T R A I N I N G FOR THE USER OF COMPUTER CONTROLLED ROBOTS T.M. Larson and M.J. Dunne, Unimation Inc. (U.S.A.) APPLICATION OF MANIPULATOR FOR ENVIRONMENTAL CONTROL SYSTEM BED R I D D E N PATIENTS IN PRIVATE HOUSE H. Funakubo, T. Yamaguchi *, Y. Saito *, H. Itoh *, T. lsomura, M. lida ** Y. Tetsugu ***, and M. Yoshida, The
University of Tokyo, Tokyo Electrical Engg. College *, Toshiba Prec. Mechanics Ltd. **, and Matsushita Electric Ltd. *** (JAPAN) POCKETABLE MICROCOMPUTER SYSTEM, ITS APPLICATION ON ENVIRONMENTAL CONTROL SYSTEM A N D PROSTHESIS FOR PHYSICALLY HANDICAPPED PERSONS Y. Saito, H. Funakubo *, H. ltoh, T. Yamaguchi, and T. Kamata **, Tokyo Denki University, The University of
Tokyo *, and Ntppon Electric Co., Ltd. ** (JAPAN) FIRST APPROACH TO THE DEVELOPMENT OF THE PATIENT CARE ROBOT E, Nakano, T. Arai, K. Yamaba, S. Hashino, T. Ono, and S. Ozaki, Mechanical Engineering Laboratory, M1TI (JAPA N) G U I D E DOG ROBOT - FEASIBILITY EXPERIMENTS WITH MELDOG MARK llI S. Tachi, K. Komoriya, K. Tanie, T, Ohno, and M. Abe,
Mechanical Engineering Laboratory, M1TI (JAPAN) A N T H R O P O M O R P H I C FEATURES IN ARTIFICIAL VISION S. Gaglio, P. Morasso, G. Sandini, and V. Tagliasco, Istituto
di Elettrotecnica, Universitit di Genova (ITALY)
A. Riad and M. Briot, Laboratoire d'A utomatique et d'A nalyse
des Systkmes du C.N.R.S. (FRANCE) A
VISUAL SENSOR FOR ARC-WELDING ROBOTS T. Bamba, H. Maruyama, E. Ohno, and Y. Shiga, Mitsu-
bishi Electric. Corporation (JAPAN) TOTAL SENSORY SYSTEM FOR ROBOT CONTROL AND ITS DESIGN APPROACH R. Masuda, K. Hasegawa, and Wei-Ting Gong*, Tokyo
Insitute of Technology and Peking UniversiO~ of Technology * (JAPAN) SENSORIALITY ASPECTS IN ROBOTIZED ASSEMBLY PROCESS I.D. Gaudio, Olivetti O.S.A.1. (ITALY) NEW METHODS FOR DIRECTION SENSORS BY USING PROJECTED IMAGE T. Okada, Electrotechnical Laboratory, MIT1 (JAPAN) AN EXPERIMENTAL SYSTEM FOR AUTOMATIC GUIDANCE OF ROBOTED VEHICLE FOLI_OWING THE ROUTE STORED IN MEMORY T. Tsumura, N. Fujiwara, T. Shirakawa *, and M. Hashimoto, University of Osaka Prefecture and Universio, of
Tsukuba * (JAPAN) EDGE DISTRIBUTION UNDERSTANDING FOR LOCATING A MOBILE ROBOT T. Nakamura, Mechanical Engineering Laborato(v, MITI
(JA PA N) DEVELOPMENT OF GUIDELESS ROBOT VEHICLE K. Fujiwara, Y. Kawashima, H. Kato. and M. Watanabe,
Mitsubishi Electric" Corporation (JAPAN) ELEMENTARY F U N C T I O N S OF A SELF-CONTAINED ROBOT "YAMABICO 3.1" J. Iijima, S. Yuta *, and Y. Kanayama*, University of
= Electro-Communications and (JA PA N)
University of Tsukuba *
COMPUTER CONTROL OF A LOCOMOTIVE ROBOT WITH VISUAL FEEDBACK S. Fujii *, K. Yoshimoto, H. Ohtsuki **, H. Kikuchi **, H. Matsumoto***, and K. Yamada***, The University of
Tokyo,. Tokyo Denki University*, Hitachi Ltd. **, and Mitsubishi Electric Corp. *** (JA PA N) ADAPTIVE CONTROL OF H I G H VELOCITY MANIPULATORS M. Le Borgne, J.M. lbarra, and B. Espiau, 1RISA.
Laboratoire d'Automatique (FRANCE)
PATTERN R E C O G N I T I O N PROBLEM ON MODELED 3-D GEOMETRY Y. Kakazu, N. Okino, and K. Utsumi, Faculty of Engineer-
ing, Hokkaido University (JAPAN)
THE POSITIONING CONTROL OF ROBOT USING MICROCOMPUTER B.J. Lee and T.S. Nho, PMTG Korea Institute of Science
and Technology (KOREA)
ROBOT CONTROL A N D INSPECTION BY MULTIPLE CAMERA VISION SYSTEM A.G. Makhlin, Westinghouse Research and Development
Center (U.S.A.)
CONTRIBUTION TO DYNAMIC CONTROL OF INDUSTRIAL MANIPULATORS M. Vukobratovi6, D. Stoki6, and M. Kireanski, Mihailo
Pupin Institute ( YUGOSLA VIA)
A REAL TIME SHAPE R E C O G N I T I O N OF MOVING OBJECTS M. Ueda, F. Matsuda, and Y. Takahara, Department of
Electrical Engineering, Nagoya University (JAPAN)
Research (NORWA Y) OF
THE DIGITAL COMPUTER CONTROL OF THE TEACHING-PLAYBACK TYPE INDUSTRIAL MANIPULATOR R.F. Xue, G.L. Ma, and J.Z. Wang, Shanghai Jio Tong
University (P.R. CHINA)
S1MAGE - SI'S IMAGE R E C O G N I T I O N SYSTEM J.R. I-I~fe~lt and H. Hhkonsen, Central Insitutefor Industrial I D E N T I F I C A T I O N A N D LOCALIZATION TIALLY OBSERVED PARTS
219
PAR-
A CONTROL A L G O R I T H M FOR T R A C I N G A N D VISUAL SERVOING BY INDUSTRIAL ROBOTS S. Futami, N. Kyura, and 1. Matsumoto, Yaskawa Electric
Mfg. Co. Ltd. (JAPAN) SOFTWARE
AND
HARDWARE
ASPECTS
OF
A
220
ConferenceReports
SENSORY G R I P P I N G SYSTEM P.M. Taylor, G.E. Taylor, D.J. Kemp, J. Seim, and A. Pugh,
University of Hull (U.K.) ON DEVELOPMENT A N D REALIZATION OF A MULTIPURPOSE G R A S P I N G SYSTEM A. Rovetta, P. Vicentini *, and I. Franchetti *, Politecnico di
Milano and Alfa Romeo Auto S.p.A.* (ITALY) P I C K I N G FROM A BIN T H R O U G H TACTILE SENSING A. Romiti, G. Belforte, N. D'Alfio, and F. Ouagliotti,
Politecnico di Torino (ITALY) A PROGRAM FOR AUTOMATIC G R A S P I N G OF OBJECTS WITH A ROBOT ARM C. Laugier, IMAG (FRANCE) SAMPLED-DATA O N - O F F G R A S P I N G FORCE CONTROL S. Inagaki, Nagoya Municipal Industrial Research Institute
(JAPAN) D E F I N I N G OF THE SCHEME A N D THE PARAMETERS OF AN I N D U S T R I A L ROBOT GRIPPER BY A G R O U P OF SPECIFICATIONS S. Kolpashnikov and I. Chelpanov, Leningrad Polytechnic
(U.S.S.R.) SPECIAL C O N F I G U R A T I O N S OF I N D U S T R I A L ROBOTS K. Sugimoto and Joseph Duffy *, Hitachi Ltd. and Univer-
sity of Florida * C O N S I D E R A T I O N OF THE I N F L U E N C E OF LOCAL DEF O R M A T I O N S OF I N D U S T R I A L ROBOT LINKS PROD U C E D UPON RESILIENT ERRORS OF P O S I T I O N I N G S. Belolikov, O. Korytko, and K. Tress, Leningrad Polytech-
nic (U.S.S.R.) T H E MANEUVERABILITY OF A M A N I P U L A T O R WITH MULTI-JOINTS G. Kinoshita, Chuo University (JAPAN) BIOMECHANISM ANALYSIS OF F O R E A R M PROSTHESIS L.L. Ming and L.W. Ying, Shanghai Jiao Tong University
(P.R. CHINA) RATIONAL DISPLACEMENT LAYOUTS OF D R I V I N G MECHANISMS APPLIED TO ASSEMBLY MANIPULATORS S. Tadeusz, Warsaw Technical University (POLAND) COMPUTER-AIDED PLANNING OF INDUSTRIAL ROBOT APPLICATION IN WORKPIECE H A N D L I N G H.-J. Warnecke, R.D. Schraft, and U. Schmidt-Streier,
Fraunhofer-lnstitate for Production and Automation, IPA ( W. GERMAN Y) A ROBOT SYSTEM FOR SMALL PARTS ASSEMBLY E. Gerelle, Ecole Polytechnique F~dbrale de Lausanne
(S WI TZERLA ND) PRACTICAL APPROACH FOR U N M A N N E D OPERAT I O N OF FMS K. Kobayashi and H. Inaba, Fujitsu Fanuc Ltd. (JAPAN) F U R T H E R DEVELOPMENTS OF THE ACTIVE ADAPTIVE COMPLIANT WRIST (AACW) F O R ROBOT ASSEMBLY H. Van Brussel, H. Thielemans*, and J. Simons **
Katholieke Universiteit Leuven, Institute for Scientific Research in Industry and Agriculture *, and National Fund for Scientific Research ** (BELGIUM) ON THE WAYS OF ROBOT CONTROL IN ASSEMBLING OPERATIONS
Computers tn Industry F.M. Kulakov. Leningrad Research Computer Centre AS
USSR (U.S.S.R. J TRAINABLE ASSEMBLY SYSTEM WITH AN ACTIVE SENSORY TABLE POSSESSING 6 AXES M. Kasai. K. Takeyasu. M. Uno. and K. Muraoka. Hitachi
Ltd. (JAPAN) MOTION CONTROL OF A JOINTED ARM ROBOT U T I L I Z I N G A MICROCOMPUTER H. Makino and N Furuya, Yamanasht University" (JAPAN) A N D R O M A T M A N I P U L A T O R ARMS AN EXPERIENCE OF S T A N D A R D CENTRAL UNITS IN SPECIFIC SYSTEMS G. Rooryck, Compagme de Signaux et d'Entreprises Electrt-
ques and Association Franqaise de Robotique Industrielle (FRANCE) I N D U S T R I A L ROBOTS CONTROLLED WITH H I G H SPEED MICRO-COMPUTER N. Sasaki and K. Matsushima. Kawasakt Heavy Industries
Ltd. (JAPAN, C O N T O U R I N G C O N T R O L OF AN A R T I C U L A T E D ROBOT ARM W I T H M A N I P U L A T I O N VARIABLE FEEDBACK H. Hanafusa. T. Yoshikawa. Y. Nakamura. and M. Takeda.
Kyoto University (JAPAN) T H R E E - D I M E N S I O N A L MEASUREMENT SYSTEM BY SERVOMECHANISM AN APPLICATION TO SOME M E A S U R E M E N T [N THE CASE OF M A R I N E PROPELLER N. Okina. K. Minowa. and K. Okamoto. Sumitomo Heavv -
Industries Ltd (JAPAN j DEVELOPMENT OF A NEW ROBOT PROFILE FOLLOWING METHOD S. Ando and N. Miyake, Hitachi Ltd. (JAPAN) COMPLEX INDUSTRIAL A U T O M A T I O N SYSTEMS W. Apalkow and J. Bu6. Institute of Precision Mechanics
(POLANDj W E L D I N G ROBOT G U I D A N C E SYSTEMS G.l Sergatskii. O.K. Nazarenko. and Yu.M. Korotun. E.O.
Paton Electric Welding Institute (U.S.S.R.j ROBOT FOR INSPECTION BRIEF REPORT OF ACHIEVEMENTS OF LAR C. Hao. L. You-de. and S. Mei-gong, Shanghai University of
Technology tP.R. CHINA I FLEXIBLE ASSEMBLY M O D U L E WITH VISION CONTROLLED PLACEMENT DEVICE W.B. Heginbotham. D.F. Barnes. D.R. Purdue. and D.J. Law. PERA (U.K.I D I R E C T K I N E M A T I C CONTROL OF I N D U S T R I A L MANIPULATORS A N D ROBOTS M.S. Konstantinov. P.I. Genova. and E.V. Zahariev ~.
Higher Institute of Mechanical and Electric Engineering and Bulgarian Academy of Sciences tBULGARIAj H I E R A R C H I C A L CONTROL FOR SENSORY INTERACTIVE ROBOTS J.S. Albus. A.J. Barbera. and M.L. Fitzgerald. National
Bureau of Standards (U. S.A.I ROBOTIZATION OF AUTOMOBILE PRODUCTION: A SOCIOLOGICAL INVESTIGATION INTO ITS EFFECTS ON WORK C O N D I T I O N S A N D EMPLOYMENT P. Kalmbach. R. Kasiske, F. Manske, O. Mickler. W. Pelull, and W. Wobbe-Ohlenburg, Soziologisehes Forschungsinstitut
If4(GERMANY)
Computers in Industry " S O F T BIONIC M A N - M A D E BRAIN" C O N T R O L L I N G T H E LIMBS M O T I O N OF ROBOT X.-S. Lu and Z.-S. Ying, Shanghai University of Technology
(P.R. CHINA) C O M P U T E R S I M U L A T I O N OF T H E C H A R A C T E R I S T I C S OF HUMAN THINKING L. Tai-Hang, Shanghai Institute of Computer Technology
(P. R. CHINA) C O N T R I B U T I O N TO T H E C O M P U T E R - A I D E D DESIGN OF I N D U S T R I A L M A N I P U L A T O R S M. Vukoratovi~, V. Potkonjak, and D. Hristi~, Mihailo
Pupin Institute (YUGOSLA VIA) C O M P U T A T I O N OF INVERSE K I N E M A T I C S A N D INVERSE D Y N A M I C S IN M A N I P U L A T O R A R M CONTROL S. Gaglio, P. Morasso, V. Tagliasco, and R. Zaccaria,
lstituto di Elettrotecnica, Universitd di Genova (ITAL Y) K I N E M A T I C C O N T R O L OF R E D U N D A N T M A N I P U L A TORS M.S. Konstantinov, M.D. Markov, and D.N. Nenchev,
Central Laboratory for Manipulators and Robots Higher Institute of Mechanical and Electric Engineering (BULGARIA) O P T I M A L P R O G R A M M I N G OF SIGMA ASSEMBLY ROBOT G. Andorlini, R. Bedini, A. Del Taglia, and G. Tani,
University of Florence (1TAL Y) A P O R T A B L E ROBOT S O F T W A R E SYSTEM J. Courtney and G. Herlin, Ecole Polytechnique Fbdbrale de
Lausanne (SWITZERLAND) T H E F O R M A L D E F I N I T I O N OF VML A N D A PROPOSED P O R T A B L E I M P L E M E N T A T I O N P. Bison, G. Lorenzin, and E. Pagello, LADSEB-CNR
(ITALY) R O B O T S I M U L A T I O N SYSTEM AS A TASK PROG R A M M I N G TOOL T. Sata, F. Kimura, and A. Amano, University of Tokyo
(JAPAN) A CARTESION C O O R D I N A T E S M A N I P U L A T O R WITH ARTICULATED STRUCTURE S. Hirose and Y. Umetani, Tokyo Institute of Technology
(JAPAN) ON APPLICATIONS OF D I F F E R E N T I A L G E A R MECHANISM TO M A N I P U L A T O R T. Mizutani and K. Hasegawa, Tokyo Institute of Technologr'
(JAPAN) S T U D Y ON SPEED-UP OF ROBOT M O T I O N
S. Toyama and M. Takano, University of Tokyo (JAPAN) DESIGN C O N C E P T OF D I R E C T - D R I V E M A N I P U L A TORS U S I N G R A R E - E A R T H DC T O R Q U E MOTORS H. Asada, T. Kanade, and R. Reddy, Carnegie-Mellon
University (U.S.A.) P R O G R A M M A B L E E L E C T R O - H Y D R A U L I C MOTR1CITY M O D U L E S F. Lhote, D. Simon, J. Berger * and P. Andre *, Laboratoire
d'Automatique-C.N.R.S, and SociktO SORMEL * (FRANCE) ON T H E R E M O T E MINI M A N I P U L A T O R "TINYM I N I " - C O N T R O L , ITS A R M A N D G R I P P E R K. Matsushima and A. Nagai *, University of Tsukuba and
Tokyo Institute of Technology * (JAPAN) R O B E X - A N O F F - L I N E P R O G R A M M I N G SYSTEM FOR I N D U S T R I A L ROBOTS
Conference Reports
221
M. Weck, W. Eversheim, and D. Zuehlke, Werkzeug-
maschinenlabor, TH Aachen (W. GERMANY) A S T R U C T U R E D WAY OF I M P L E M E N T I N G T H E H I G H LEVEL P R O G R A M M I N G L A N G U A G E AL ON A MINIAND MICROCOMPUTER CONFIGURATION C. Blume, Universitgtt Karlsruhe ( W. GERMAN Y) DESIGN A N D I M P L E M E N T A T I O N OF HIGH LEVEL ROBOT LANGUAGE H. lnoue, T. Ogasawara, O. Shiroshita, and O. Naito,
University of Tokyo (JAPAN) LM: A HIGH-LEVEL P R O G R A M M I N G L A N G U A G E FOR C O N T R O L L I N G ASSEMBLY ROBOTS J.-C. Latombe and E. Mazer, 1MAG (FRANCE) T H E P R O G R A M M I N G L A N G U A G E FOR W E L D I N G ROBOT R. Abe, S. Ueno, S. Tsujikado, and H. Takagi, Komatsu Ltd
(JAPAN) A U T O M A T I Z E D C O M P L E X OF M E T A L W O R K I N G WITH I N D U S T R I A L ROBOTS G. Chelidze, O. Ezikashvili, and V. Natbiladze. Georgian
Polytechnic Institute (U. S. S. R.) T R A N S I S T O R CHIP S O R T I N G A P P A R A T U S K. Edamatsu, T. Kiuchi, Y. Isono, S. Naruse, and A. Momose, Fuji Electric Co. Lid (JAPAN) PILOT I N S T A L L A T I O N FOR F E T T L I N G OF CASTINGS W I T H I N D U S T R I A L ROBOTS BASIC EQUIPMENT, STRATEGIES, EXPERIMENTS A N D RESULTS H.-J. Warnecke, E. Abele, R.-D. Schraft, and M. Schweizer, -
Fraunhofer Institute for Production and Automation, IPA ( W. GERMAN Y) D E V E L O P M E N T OF PLASMA C U T T I N G ROBOT FOR THE AUTOMOBILE INDUSTRY E. Tsuda, H. Koyama, and F. Noguchi, Shin Meiwa In-
dustry Co., Ltd (JAPAN) T H E T A P E - W I N D I N G ROBOT F O R L A R G E G E N E R A T O R STATOR COIL R. Ueda, Y. Sakaue, and H. Maruyama, Mitsubishi Electric
Corporation (JAPAN) O P T I M A L C O N T R O L OF M A N I P U L A T O R A R M N. Sprinceana and M. Ivanescu, Polytechnical Institute of
Bucharest, University of Craiova (ROMANIA) BILINEAR M A N I P U L A T O R MODELS: A P P L I C A T I O N TO SUBOPTIMAL CONTROL M.A. Armada and J. NO, Instituto de Autom~tiea Industrial
(SPAIN) G E O M E T R I C A N D K I N E M A T I C MODELS OF A ROBOT M A N I P U L A T O R : C A L C U L A T I O N OF THE JACOBIAN M A T R I X A N D ITS INVERSE M. Renaud, Laboratoire d'Automatique et d'Analyse des
Systkmes du CN.R.S. (FRANCE) N E W L A G R A N G I A N F O R M U L A T I O N OF M A N I P U L A TOR DYNAMICS S. Megahed, Laboratoire d'Automatique et d'Analyse des
Systbmes du C.N.R.S. (FRANCE) D E R I V A T I O N OF O P T I M A L M O D E L USING HAMILT O N ' S PRINCIPLE J. Lenar~i~, P. Oblak, U. Stani~, and S. Strm~nik, Institute
Jo2ef Stefan (YUGOSLA VIA) IMPROVED WORKING ENVIRONMENT ROBOTIC A R C W E L D I N G STATIONS B. Lagerl~)f, ESAB AB (SWEDEN)
WITH
Conference Reports
222
AUTOMATION OF ARC WELDING PROCESS BY USING INDUSTRIAL ROBOTS V.I. Zagrebelny, E.O. Paton Welding Institute ( U. S. S. R.) STOCHASTIC MODEL OF ROBOT SPOT WELDING OF ITEM WITH UNSTABLE GEOMETRIC PARAMETERS G.A. Spinu, V.T. Antonenko, and K.P. Gurksy, E.O. Paton
Welding Institute (U. S. S. R:) INDUSTRIAL ROBOTS FOR WELDING WITH LINEAR DISCRETE ELECTRIC DRIVE V.T. Antonenko, Yu.P. Kotyhin, A.A. Afonin * and R.R. Bilozor *, E.O. Paton Welding Institute and Institute of
Electrodynamics
of the Ac. of Ses, of the Ukr. SSR *
(U.S.S.R.) ARC WELDING ROBOT WITH VISION I. Masaki, R.R. Gorman, B.H. Shulman, M.J. Dunne *, and H. Toda **, Joint R&D Team of Unimation and Kawasaki,
Unimation Inc. *, and Kawasaki Heavy Industries Ltd **
(U.S.A.) A R T I F I C I A L C O N S C I O U S N E S S IN I N D U S T R I A L ROBOTS A. Irtem, Delegate of International Association for Turkey
('omputers m lndust£v and Middle,East (TURKE Y) AN APPROACH TO CONTROL HIERARCHY AND CONTROL ALGORITHM FOR INDUSTRIAL ROBOT Yu Lee-Chi, Beijing Machine Tool Research Institute, Chang Hsiao-tsu. Shenyang Machine Tool Industrial College (P.R,
CHINA) BALANCE-ARM TYPE INDUSTRIAL ROBOT Chang Hsiao-tsu, Shenyang Machine Tool Industrial College, Tsao Kwang-chuan and Cheng Hsing,dao, Hunan Province
Xiang-Tan 8th Mechanical Design Institute (P.R. CHINA) THE AUTOMATIC PERONEAL ORTHOSIS Novak Jaukovi~, University of Titograd, Electrical engineer-
mg department ( YUGOSLA VIA)
The Proceedings of the 11th International Symposium on Industrial Robots are available from the Japan Industrial Robot Association (JIRA), 3-5-8, Shiba Koen Minatoku, Tokyo, Japan. 1981. vi + 854 pages.
CAD/CAM in Developing Nations A Working Conference on CAD/CAM as a Basis for the Development of Technology in Developing Nations was held in Sao Paulo, Brazil from October 21-23, 1981. This important event was sponsored by the International Federation for Information Processing, Working Group 5.2 (Computer-Aided Design) and by the Society of Computer and Subsidiary Equipment Users (SUCESU). According to E. Warman and J. Encarnagao, chairmen of the conference, IFIP is aware of the need for technology transfer to developing nations and the need to endorse within these nations activities that assist in the process of technology transfer. This meeting in Brazil was the first of many interactions where both sides could benefit. This benefit was not only in the scientific and technical sense but was also able to produce the social benefits of better understanding between nations at their working level. The conference did not produce any instant solutions but it was a positive and correct move toward the application and exploitation of the powerful techniques of CAD/CAM. Seven sessions, covering the following aspects, were held at the conference: (1)
Principles and Techniques, (2) Graphics Standards, (3) CAD in Civil Engineering, (4) CAD in Mechanical Engineering, (5) CAD for Digital Systems Design, (6) CAD/CAM Practice and Promotion, (7) CAD/CAM and Technology Transfer. In addition, four tutorials were presented at the event. We feature below a synopsis of this relevant Working Conference
Key-Address
Reality of CAD According to J. Vlietstra (N.V. Philips' Gloeilampenfabrieken. The Netherlands), the various C A D programs that have been developed so far provide solutions only for parts of the design and manufacturing activities in industry. The input description of the design data has not been tuned to the specific requirements of designers and product engineers, the output documents are not in conformity with the demands imposed by an industrial organization. Standard data processing techniques, Vlietstra further observed, are a rarity or have not yet been properly introduced. His