Birendra Prasad (Editor) CAD/CAM Robotics and Factories of the Future Volume II: Automation of Design, Analysis and Manufacturing 3rd International Conference on CAD/CAM Robotics and Factories of the Future (CARS and FOF'88) Proceedings With 97 Figures Springer Verlag Berlin Heidelberg NewYork London Paris Tokyo Hong Kong Editorial Board Chainnan Birendra Prasad Senior Engineering Staff Artificial Intelligence Services Technical System Development Electronic Data Systems General Motors Post Box 7019 Troy, MI48007-7019 Editors: S N Dwivedi K B Irani Associate Editors: M Botkin E.J Carl R T Haftka G.Jones V Kumar P.Liu M.D.OlifT P C Shrivastava S Srivastava T.H.Caiati R V Grandhi J Horgan R T Johnson A Kusiak E Nikolaidis RD.Oza D Sriram H.-P.Wang ISBN 978-3-642-52325-0 ISBN 978-3-642-52323-6 (eBook) DOI 10.1007/978-3-642-52323-6 This work is subject to copyright.AII rights are reserved, whetherthe whole orpart ofthe material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, broadcasting, reproduction on microfilms or in other ways, and storage in data banks Duplication of this publication or parts thereofis only permitted under the provisions of the German Copyright Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be paid Violations fall under the prosecution act of the German Copyright Law © Springer-Verlag Berlin, Heidelberg 1989 Softcover reprint of the hardcover 1st edition 1989 The use of registered names, trademarks, etc in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use 216113020543210 - Printed on acid-free paper Conference Objective Improving cost competitiveness and remaining abreast in high technology are some of the challenges that are faced by a developing enterprise in the modern times In this context, the roles of engineering, manufacturing and plant automation are becoming important factors to enhance productivity and profitability, and thereby increase market share and product quality The commuter automobile, actively controlled car, the U.S space station, the unmanned platform, and commercial space ventures are all real life examples of a few explorations now being undertaken on earth and space - requiring a greater dependence by people on machines Complete shop floor automation - a "lights out" plant may be unrealistic to many but automating and integrating the engineering and manufacturing process, where it makes sense from a cost/benefit stand point, are certainly viable u~dertakings Hence, the objective of the Third International Conference on CAD/CAM, Robotics and Factories of the Future (FOF) is to bring together researchers and practitioners from government, industries and academia interested in the multi-disciplinary and inter-organizational productivity aspects of advanced manufacturing systems utilizing CAD/CAM, CAE, ClM, Parametric Technology, AI, Robotics, AGV technology, etc It also addresses productivity enhancement issues of other hybrid automated systems that combine machine skills and human intelligence in both manufacturing (aerospace, automotive, civil, electrical, mechanical, industrial, computer, chemical, etc.) and in nonmanufacturing (such as forestry, mining, service and leisure, process industry, medicine and rehabilitation) areas of application such an exchange is expected to significantly contribute to a better understanding of the available technology, its potential opportunities and challenges, and how it can be exploited to foster the changing needs of the industries and the marketplace Conference Scope The conference included the following areas of active research and application: CAED: CAD, CAT, FEM, Kinematics, Dynamics, Simulation, Computer Graphics, Off-line Programming Analysis, CIM: CAD/CAM, CNC/DNC, FMS, AGV, Integration of CNC, Interactions between Robotics, Control, Vision, AI, Machine Intelligence, and other Automation Equipments, and communications Standards Design/Build Automation: Parametric Programming, Design, Sensitivity, optimization, Variational Geometry, Generic Modeling, Identification, Design Automation, Value Engineering" Art to Part, Quality, cost & Producibility Knowledge Automation: Artificial Intelligence, Expert Systems Robotics: Mechanical Design, Control, Trajectory Planning, Mobility, End Effecters, Maintenance, Sensory Devices, Work Cells, Applications, Testing and Standardization Factory of the Future: Planning of Automation, Management, Organization, Accounting, Plant Design, Informative Systems, Productivity Issues, Socioeconomic Issues, Education, Seminars and Training Conference Theme The theme of the 3rd International Conference was: C4 (CAD/CAM/CAE/CIM) Integration, Robotics, and Factory Automation for improved productivity and cost containment Conference Organization SPONSOR International Society for Productivity Enhancement (ISPE), USA ENDORSING SPONSORS Association for computing Machinery (ACM), USA National Science Foundation (NSF), USA Society of Automotive Engineers (SAE), USA Automotive Industry Action Group (AIAG), USA Robotic Industries Association (RIA), USA Electronic Data Systems (EDS), General Motors Corporation, USA The International Association of Vehicle Design (IAVD), UK International Society for Computational Methods in Engineering (ISCME), UK American Institute of Aeronautics and Astronautics (MI) (AlAA), USA American Society of Civil Engineers (MI) (ASCE), USA Center for Robotics and Advanced Automation (CRAA), Oakland university, USA American Society of Engineering Education (ASEE), USA Engineering Economics Division (EED-ASEE), USA Japan Technology Transfer Association (JTTAS) American society of Engineers from India (ASEI), USA Michigan society of Architects (MSA), USA CAD/CIM Alert, Massachusetts, USA Automation and Robotics Research Institute, university of Texas at Arlington, TX, USA Committee Chairpersons Conference General Chairperson: Dr Siren Prasad, Electronic Data Systems, GM, USA Program chairpersons: Dr Sur en N Dwivedi, UWV, USA ; William R Tanner, Cresap Manufacturing Cons., USA Doug Owen, EDS, USA Technical Chairpersons: Rakesh Mahajan, Deneb Robotics, Inc., USA; Dr Jean M Mallan, EDS, USA International Chairpersons: Dr Ario·Romiti, Politechnico di Torino, ITALY ; Dr Marcel Staroswiecki, Universite De Lille, FRANCE ; Dr Jon Trevelyan, Computational Mechanics Institute, UK Panel Session Chairpersons: Dr Frank Bliss, EDS, USA ; Dr Subra Ganesan, Oakland University, USA Workshops Chairperson: Dr Pradeep K Khosla, carnegie Mellon University, USA Video/Tech Display Chairperson: Dr Addagatla J G Babu, University of South Florida, USA Student Session Chairperson: Dr Hamid R Parsaei, University of Louisville, USA Exhibits Chairpersons: Jon Keith Parmentier, Tektronix Inc., USA; Forrest D Brummett, GM, USA Receptions Chairperson: Umesh B Rohatgi, Charles S Davis Associates Inc., USA; Dr Bhagwan D Dashairya, Inventors Council of Michigan, Ann Arbor, MI, USA Administration Chairperson: Dr Prakash C Shrivastava, GM, USA Conference Directory: Dr Yogi Anand, Consultant, Rochester Hills, MI, USA Committees'Roster PROGRAM COMMITIEE Dr Hsin·VI LoI, North Carolina Ag & Toch State Unlve"lty, USA Dr, Kang G Shin, University of Michigan, USA Dr Paiya Uu, Siemens Corp., USA Anthony R Skomra, AutomaUon Technology Products, USA Dr Sudhlr Aggarwal, Bell Communications Research, USA Dr Surosh M Mangrulkar, Ford Motor Co., USA Dr, John S Bara., University 01 Maryland, USA Dwight Morgan, GMF RoboUcs, USA Dr Marc Becque~ Unlverslt.' Ubro De Bruulle., BELGIUM Thomas H CaiaU, EDS, USA James P Cal., GM, USA Dr Michael Mulder, UniverSity 01 Portland, USA Yasuo Nagai, institute 01 New Generation Computer Technology, JAPAN Micha.1 F Carter, GM, USA Dr Shlgeo Nakagakl, Toshiba Fuchu Works, JAPAN Dr, M Colsaltis, UGRA CEN.FAR FRANCE Dr Los:lo Nemes, CSIRO, AUSTRAUA J P Crestin, DDREET, FRANCE Dr Elstratios Nikolaldls, VPI & Stat University, USA Kenneth A Crow, Western Data Systems, USA Dr A F D'Sou:a, liT, USA Catherln Foregon, DDREET, FRANCE Dr Michael D Oliff, University 01 South CarOlina, USA Loster Ottinger, THP Inc., USA Dr William M Spurgeon, University 01 Michigan Dearborn, USA Dr Raj S Sodhi, New Ja y Institute 01 Technology, USA Rick Stapp, Auto Simulations Inc, USA Dr Rajan Surl, University 01 WisconSin, USA Dr Bharat Thacker, Universal Computer Applications, USA Dr Joe Torok, Rochester Institute 01 TeChnology, USA Michael J Tracy, Smith Hinchman & Gryfls Associates Inc, USA Dr H S T:ou, University 01 Kentucky, USA Michael J Frelling, Tektronix Lob., USA Dr Rejshekar D 0:0, University 01 Aorida, USA Don H Turner, Arthur Young & Co., USA Dr Ramana V Grandhl, Wright Stat University, USA Dr Sudhakar Paldy, Rochester Institut 01 Technology, USA Dr Hsu·Pin Ben Wang, University 01 Buffalo, USA Jack B Harrison, Th Hands-on JIT inc., USA Prof V M Ponomaryov, Academy 01 Sciences, USSR Dr Peter Ward, SDRC Englneerlng Services Ltd., UK M.C Portmann, INRIA-Lorralne, FRANCE Dr Ronald L Websler, Morton Thlokol Inc., USA Dr Gary P Herring, US Postal Service, USA Dr Jack Horgan, Ari•• Technology, USA Dr Ming C Huang, EDS, USA J.M Proth, INRIA·Lorraln., FRANCE Prof J G Postalro, Unlveralte' De Ulle, FRANCE Dr Ichlro Inou., NEC Corp., JAPAN Dr Tim Pryor, Diffracto, Ud., CANADA William B Johnson, Rockwell International, USA Prof J Ragot, Unlverslte' De Nancy, FRANCE Dr Senlay Joshi, Pennsylvania Stat University, USA Arthur D Rogers, Integrated Automation Corp., USA Richard B Katnlk, GM, USA Joseph D Romano, A T Koamey, USA Dr Rakesh K Kapanla VPI & Stat University, USA Dr Anll Salgal, Tulia University, USA Gerald A Kasten, NlA T.ch Corp., USA Dr Sunil Selgal, Worcester Polylochnlc institute, USA Prof F Kimura, University 01 Tokyo, JAPAN Harshad Shah, Eagl Technology Inc., USA Dr Andrew Kusiak, University of Manitoba, CNlADA Dr Rom P Sharma, Westem Michigan University, USA Donald A Vincent, RIA USA Dr Tony Woo, National Science Foundation, USA Dr Wei Uang Xu, Beijing Instltule 01 Aeronautics & Astronautics PRC Dr Y F Zheng, Clemson University, USA Dr William J Zd.bllck, Molcut Res Associates, USA Dr John S Zuk, Brooklyn PolytechniC University, USA x ADVISORY COMMITTEE Tony Affuso, EDS, USA Dr Carloa A er.bbla, W x In.tltut of Technology, UK Dr M A I""gham, The Open Unlv.rsity, UK Dr G G Dodd, GM Research laboratori ••, USA Rudi Gem, EDS, USA W C Hamann, Ford Motor Company, USA Dr Pierro Har.n, Intelligence Loglcl.lle, FRANCE Russ.1I F Henke, Automation T.chnology Products, USA Prof K Iwata, Kobe University, Japan Dr Henry H Fong, MARC Analysis Research Corporation, USA Dr Muke.h Gandhi, Michigan State University, USA D Galara, EDF/DEFVSEP, FRANCE Dr Kalyan Ghosh, Eoole Polytechnlque, CANADA Dr Dan G Gam., Davidson Research, USA John E Gotz, Fru.hauf Corporation, USA Dr Abid Ghuman, Chrysl.r Molors, USA GI.nn R Gramling, Hewl.tt.Packard Company, USA Jam.s D Hock, GM, USA Dr ANn Jain, BP Am.rlca Inc., USA Dr Hiroshi Kawanishl, NEC Corporation, JAPAN Dr R T Hallka, VPI and Stale University, USA Dr C B Jennings, South Bank Polytechnic, UK Dr R T, Johnson, University of Missouri, USA Dr Steven H Kim, Massachusetts Institute of Technology, USA Dr Kant Kothawala, EMRC, USA Dr Robert D Loghcer, Massachusetts Institute ofTechnology, USA Dr Marshall M Uh, National Science Foundation, USA Dr Virendra Kumar, General E1.ctric Company, USA Dr Arch W Naylor, University of Michigan, USA Dr M E Merchant, Metcut Research Associates, Inc., USA Dr Peter A Marks, Automation Technology Products, USA Dr Wall.r D Pilk.y, Unlv.rslty of Virginia, USA Dr Sanjay Mittal, Xerox USA Dr Paul G Ranky, Unlv.rslty of Surr.y, UK Dr Munlr M Kamal, GM Research laboratorl.s, USA Dr Howard Morall, National ScI.nce Foundation, USA Georg E Munson, University of Califomia Santa Barbara, USA Dr Jay Nathan, Unlv.rslty of Scranton, USA Wallace M Murray, Morton Thlokollnc., USA laJos Imre Nagy, Ford Molor Company, USA Ram G Narula, Bachtel Corporation, USA Dr G J OIling, Chrysl.r Motor., USA Dr Frank Plonka, Chrysler Motors, USA Dr A P.t.rs, rNWA FRG Donald L Smith, Ford Motor Company, USA Kar.n L Resmussen, GM, USA Robert B Schwar1l, Fru.hauf Corp., USA Oonnls E Wisnosky, Wizdom Systems Inc., USA Dr Gerald A Thompson, Hughe Aircraft Co., USA UNIVERSITY COMMITTEE Dr S S Rao, Purdu University, USA Dr Eugene I Rivin, Wayne Stat University, USA Dr Rak.sh Sagar, South Bank Polyt.chnlc, UK Dr Har.sh C Shah, Stanford University, USA Dr Nanua Singh, Unlv.rsity of Windsor, CANADA Dr Ouwuru Sriram, Massachusetts Institut of Technology, USA Dr K.s Tararnan, lawr.nce Institut of T.chnology, USA INDUSTRIAL COMMITTEE Dr David Ardayfoo, Wayne Stata University, USA W Robert Bu.II, Ford Motor Comparry, USA Dr V.S Chadd&, University of Ootrolt, USA Dr wayne W Walt.r, Rochest.r Institute of Technology, USA Edward J Carl, m, USA Dr John B Cheatham, Jr~ Ace University, USA Dr Marek B Zaremba, Universlt.' Cu auebec.' HuD, CANADA Dr Robert G Cubensky, Chrysl.r Motors, USA Dr Rollin C Oix, Ilinolsinstitut of Technology, USA Dr Macl.J Zgorz.lskl, GMI Eng & Management Inst., USA Etim Sam Ekong, Unlsys Corp., USA Dr Joe G Elsley, Unlvarsity of Michigan, USA EdwIn J Fablszak, Jr., MSC/CAD COMP Inc., USA Dr Nar.n R Vir., Howard University, USA XI INTERNATIONAL ORGANIZING COMMIITEE BELGIUM M Bec:quet (Bru••els) R Gobin (leINen) J Peter (leINen) R SnCO)" (LelNOn) PEOPLES REPUBLIC OF CHINA a.lan Zhang (Beijing) POlAND A Morecld (Warsaw) REPUBLIC OF CHINA H Van Brussel (Lewen) Shul-Shong Lu (T.Ipei) P Vanherck (lewen) ROMmIA BRAZIL Voleu N Chloroanu (Slghetu Marmatiei) Maria Emilia Camargo (Santa Marla) Mircea Ivaneseu (Cralova) Edger Pereira (porto Alegre) SPAIN CANADA R Core (Madrid) B Manas Das (Calgary) THAlLmD Mark B Zaremba (Hull) R Sadananda (Bangkok) DENMARK UNITED KINGDOM Finn Fabricius (lyngby) John Billingsley (portsmouth) FRANCE Carlos A Brebbla (Southampton) BourJault Alain (Besancon) M A Dorgham (Milton Keynes) Phlilipe Pract (Besancon) David G Hughes (Plymouth) Marcel Staroswleckl (Vilienewe-D'Ascq) David Paul Stoten (BrIstol) Oaude Viebet (Evry) INDIA C Amarnath (Bombay) P C Pandey (Roorkee) Rakesh Sagar (Delhi) V Singh (IIaranasi) N Viswanadham (Bangalore) ITALY Ario RomlU (Torino) JAPm Yoshiakllchlkawa (HitachI) T_ Yamashita (Tobata) NETHERLmDS J A M Willenborg (Utrecht) 295 from the application of this technology the research phase are: (1) Some of the conclusions from The technology is feasible; (2) Expert system based scheduling has potential for planning and operations; (3) Model based reasoning contributes to developing and testing scheduling strategies; (4) Symbolic reasoning simplifies handling complex logic; (5) Heuristics specific to a particular factory are easily included; (6) Multiple approaches which can be used under different opera.ting conditions can be developed; (7) The tools available enhance the development of integrated schedul ing analys is tools; (8) The technology supports modular system components and incremental development The Saginaw Vanguard project offers an opportunity to move this technology from the research phase to a real world application To meet the needs of this project, expert system technology is being used to generate a master schedule In four months a proof of concept system was feasible, developed to generate schedules minimize missed due dates, synchronous schedules These address machine dedication, make the first steps toward setup minimization and The approach used is to back schedule from the due date of each order, and to give priority to parts which must flow through a bottleneck Site dependent heuristics are used to select which machine within a cell is selected to perform the next operation on a tray of parts A major additional benefit surfaced during testing of this prototype The potential end user of the system says that the schedule generated by this system makes sense to the factory worker It doesn't schedule for the optimum or even the average condition in the factory; it knows the factory state, the way that particular factory is operated, what is different today from yesterday, and schedules intelligently This technology has allowed scheduling to move from the abstract to the concrete While continued development is needed to fully explore the benefits of applying expert systems technology to factory floor scheduling, completed work clearly demonstrates that follow up is warranted Contents of Volume I CHAPTER I: Integrated Design and Geometric Modeling Introduction •••••••••••••••••.••••••••••••••••••••••••••.••••• I • Conceptual Des ign ••••.••.•••••.•••.•.••.•••.••••••••••••••••• structured Planning: A Method for Developing Design Concepts C.L Owen ••••••••.••.••••••••••• •••••••.•••••••.••••.••.• Hypertext for Organizing Engineering Design R.C Dix ••••• ••••• ••••••.•• •.•••••••••••.•••.••••••• Productivity Through Software Prototyping J Horgan ••••••••.•.•••••••.•••.••••.••••••• •• •••••.•• I.2 Integrated CAD/CAM •••.• •••••.•••••••••••••••••••••••••••••• Integration of CAD/CAM Into Engineering Sciences Education N Berzak ••••••••.•••••.•.••.••••••• •••.•.•••••••••• •• From Systems That Interface to Systems That Integrate CAD/CAM for Computer Integrated Product Realization C.A Fritsch ••••• •.•••.• • • •••••• •.•• ••••.•.• CAD/CAM: A Microcomputer-Based Integrated Approach S.P Kolluri and A.A Tseng .••••.•••.••.••••••• CAD/CAM Integration for Injection Mold Design S.-S Chern and A Saigal •.• •••• • ••••••••.•• ••• Microcomputer Aided Tolerance Chart for Squareness and concentricity R.C Lin and E.A Lehtihet .•.•• • •••••.•••••• I.3 Geometric Modeling ••• ••••••••.• •••.••••••••••• •.• An Interactive CAD System for Styling Design M Inagaki and M Higashi ••••••••••••• •••••••••••••• ••• Automated Mesh Generation for simulations Exhibiting Extreme Geometric Change J M Sullivan, Jr .••••.•• •••••••.• ••••••••••••••••.•• Automatic Finite Element Mesh Generation in a Solid Modeling Environment: A General Framework and an Evaluation of Existing Algorithms N Sapidis and R Perucchio •••••.••.•••••.•••.• • •••.•• A Vector/Solid Intersection Technique for Three-Axis NC Verification J H Oliver •••••••••••.•••••••••••••••••••••••••••••.•••.• Solid Modeling and Geometric Reasoning for Design and Process Planning D N~U, N ~de, R Karinthi, G Vanecek, and Q Yang •••• • I.4 Mechan~sm Des~gn •.•••••••••••••.••.•••••••••••••••.••••••••••• Personal Computer Based CAD System for the Synthesis of Planar Four-Bar Mechanisms H.J Kim and R.J Sodhi ••••.••••.••••••••••••••••••••.••.•• 10 16 23 25 30 33 39 46 53 55 60 65 71 76 81 83 298 1.5 simulation as a Design Tool •••••••••••••••••••••••••••••••••• 89 Parametric study of an Electromagnetic Valve and the Fluid System R P Sharma and P K Patel ••••••••••••••••••••••••••••••• 91 Availability Analysis of a Repairable System Through Computer Simulation K.C Kurien, G.S Sekhon, and O.P Chawla •••••••••••••••••• 97 Realtime simulation of Manufacturing Systems S Paidy •••••.••••••••••••••••••••••••••••••••••••••••••••• 102 A Micro-Processor Controlled Carburetor and Fuel Injector Test Stand R.P Sharma and W.H Kirk •••••••••••••••••••••••••••••••••• 107 1.6 Design for Manufacture ••••••••••••••••••••••••••••••••••••••• 113 Virtual Manufacturing: A New Concept in Automated Design Aids J.J Mills, W Furth, Y Sekine, E Wysocki and A Burzio •• 115 An Innovative Control System for Resilient Manufacture A.W Smith •••••••••••••••••••••••••••••••••••••••••••••••• 119 Chapter II: Integrated Engineering Analysis Introduction ••••••••••••••••••••••••••••••••••••••••••••••••• 125 11.1 Finite Element Method •.•••••••••••••••••••••••••••••••.••• 127 Hierarchic Models for Plates and Shells B.A Szabo •••••••••••••••••••••••••••••••••••••••••••••••• 129 Order 2p Derivatives from p-Differentiable Finite Element Solutions by a Spectral Method E.R Johnson and D.L Bonanni ••••••••••••••••••••••••••••• 134 An Analysis of an Incompressible, Fiber-Reinforced Material Subjected to Finite strains in the Direction of Reinforcement D L Cox •••••••••••••••••••••••••••••••••••••••••••••••••• 139 On Analytical Modeling of Thick Composite Laminates J.N Reddy, E.J Barbero, and J.L Teply •••••••••••••••••• 145 A Systematic Approach Using Finite Elements for Improving Vehicle Ride B W Deutschel •••••••••••••••••••••••••••••••••••••••••••• 150 Advanced Dynamic Analysis of Vehicle Structures R Kannan, S Sutharshana, and D Lam ••••••••••••••••••••• 155 Design of Flexible Fixtures for the Broaching Process Using the Finite Element Method K Nyamekye and L Yi ••••••••••••••••••••••••••••••••••••• 160 299 II.2 Boundary Element Method •••••••••••••••••••••••••••••••••••• 165 The Solution of Elastic Contact Problems Using a Boundary Element Flexibility Approach S Takahashi and C.A Brebbia ••••••••••••••••••••••••••••• 167 The Solution of Transient Heat Transfer Problems Using Boundary Elements C.A Brebbia •••••••••••••••••••••••••••••••••••••••••••••• 173 A Simplified Technique for the Analysis of Electrostatic and Magnetostatic Problems J Trevelyan, S Nageswaran, and C.A Brebbia ••••••••••••• 180 Two Domain Heat Transfer Studies using Coupled Finite-Difference and Boundary Element Programs S Dikmenli and P.J Florio •••••••••••••••••••••••••••••• 185 The Appropriate Use of Boundary Elements in the Aircraft Gas Turbine Business G.H Richards •••••.••••••••••••••••.•••••.•••••••••••••••• 191 Methodology for Steam Valve Chest Assessment Using Boundary Elements F.J Cunha and J Trevelyan ••••••••••••••••••••••••••••••• 196 II.3 Other Numerical Methods ••••.•••••••••••••••••••••••••••••••• 203 Numerical Analysis of Air-Borne Particle Movement in Industrial Clean Room Y Suwa ••••••••••••••••••.•••••••••••••••••••••••••••••••• 205 Evaluation of Finite Difference Schemes for Solution to the Inverse Velocity and Acceleration Problem for Robot Manipulators R.K Dean and S.M Nesbit •••••••••••••••.•••••••••••••••• ~210 II.4 Dynamics and Vibration •••••••••••••••••••••••••••••••••••••• 217 Computer Instrumentation of Robotic Test Arm J.E Barbay •••• •••••••.••••••••••••••••••••••••••••••••• 219 Mechanical Design of a Robotic Arm Test station M.L Szary •••••••••••••••••••••••••••••••••••••••••••••••• 224 Flexural Vibrations of a Tip Loaded Stepped Robot Arm K.K Pujara, V.R Jamalabad, and S Mohan ••••••••••••••••• 229 A General Purpose Program for Mechanical System Dynamics - DYMES O.K Kwon, P Jayakumar, and R Kodali •••••••••••••••••••• 234 A Multiprocessor System for Multiblade Coordinate Transformation S Ganesan, T.S Balasubramanian, and M.O Ahmad •••••••••• 239 A General Approach to the Dynamic Balancing of Mechanisms T -L Wong •••••••••••••••••••••••••••••••••••••••••••••••• 244 On Spreadsheet Simulation of Nonlinear Dynamic Systems T.G Windeknecht •••••••••••••••••••••••••••••••••••••••••• 250 Normal Modes Analysis of Structures using an Out-of-Core Component Mode Synthesis Technique W.L Wolf, A.E Duncan, and A.R Solomon •••••••••••••••••• 255 300 Chapter III: Manufacturing and Production Introduction •••••••••••••••••••••••••••••••••••••••••••••••• 261 III.1 General Manufacturing •••••••••••••••••••••••••••••••••••••• 263 CIMI - Whole New Ballgame P.J Fallon •••••••••••••••••••••••••••••••••••••••••••••• 265 Multicriteria Evaluation of Manufacturing Systems T.M West and S.U Randhawa •••••••••••••••••••••••••••••• 271 A Justification Method for Advanced Manufacturing Systems H.R Parsaei, W Karwowski, and M.R Wilhelm ••••••••••••• 276 Justification of CIM: strategic Considerations for Economic Analysis R Soni, D.H Liles, and G.T Stevens, Jr •••••••••••••••• 282 Computer-aided Analysis of the Manufacturing Process of Job Shop production by a New Input-Output-Method F Nyhuis and W.H Dumke ••••••••••••••••••••••••••••••••• 287 III.2 Flexible Manufacturing Systems •••••.••••••••••••••••••••••• 297 Information System for Flexible Manufacturing System: A conceptual Framework D K Banwet and Sushil •••••••••••••••••••••••••••••••••• 299 Modeling and Analysis of a Flexible Manufacturing Cell B.P Bandyopadhyay and T.V Nguyen ••••••••••••••••••••••• 304 A Prototype Flexible Manufacturing System M Mehdian and R Sagar •••••••••••••••••••••••••••••••••• 309 Mathematical Modeling of the Machine Grouping Problem in Cellular Manufacturing Systems K.R Gunasingh and R.S Lashkari ••••••••••••••••••••••••• 316 The Impact of Designing GT Cells on the Total Performance of Computer-Integrated Manufacturing I Al-Qattan and J.R Rose ••••••••••••••••••••••••••••••• 321 III.3 Robotics and Automation •••••••••••••••••••••••••••••••••••• 327 Project-Based Undergraduate Robotics Education W W• Walter •••••••••••••••••••••••••••••••••••••••••••••• 329 Numerical Control and Robot Technology for the Process Industry Maintenance Function P.R Hale •••••••••••••••••••••••••••••••••••••••••••••••• 334 A Configuration of Parallel Pipelined Processing with DSP-Based Controller for High-order Linear Systems M Sunwoo, S Ganesan, and K.C Cheok •••••••••••••••••••• 339 Distribution of Intelligence within a CIM Architecture for Printed Circuit Board Manufacture G Rzevski and A Lucas-smith •••••••••••••••••••••••••••• 344 301 111.4 Production Processes and Control ••••••••••••••••••••••••••• 349 A Scheme for Translating Control Flow in the C Programming Language to Grafcet B.C Thomas •••••••••••••••••••••••••••••••••••••••••••••• 351 The Challenge of Developing Large-Scale Software Systems C.A Zonca, Jr and J.F Watkins, Jr ••••••••••••••••••••• 356 Design of a Decision Support System for Computer Integrated Manufacturing B Pourbabai ••••••••••••••••••••••••••••••••••••••••••••• 360 Preventive Maintenance Scheduling in Automated Factories C Sylla ••••••••••••••••••••••••••••••••••••••••••••••••• 365 Monitoring of End Milling Operations in Unmanned Machining A.A Markowski ••••••••••••••••••••••••••••••••••••••••••• 370 A Total Production Information Service System for the Factory M shiojima, X Yamaguchi, T Yoshihara, M Gau, and T Torii ••••••••••••••••••••••••••••••••••••••••••••• 379 Effects of Components' Reliability on the Transient Performance of an Integrated Manufacturing System B Pourbabai •••••••••••••••••••••••••••••••••••••••.•••••• 385 statistical Analysis of System Performance in a FMS M.J Henneke and R.H Choi ••••••••••••••••••••••••••••••• 390 Application of Simulation for Daily Production Planning and Control in Shop Production G Schroder •••••••••••.•••••••••••••••••••••••••••••••••• 395 The White-Collar World: The Next Push for Productivity A.X Sarris •••••••••••••••••••••••••••••••••••••••••••••• 401 III Process Planning ••••••••••••••••••••••••••••••••••••••••••• 407 Fifth (5th) Generation Group Technology W.B Krag •••••••••••••••••••••••••••••••••••••••••••••••• 409 CIM 3000: A Methodology for CIM Planning and Management D.R Sloan ••••••••••••••••••••••••••••••••••••••••••••••• 414 Just-In-Lead Time (JILT) Management: A Missing Link in CIM Strategy J Nathan •••••••••••••••••••••••••••••••••••••••••••••••• 419 MRP in CIM for Selected Consumer Products J Nathan and D.L Beaton •••••••••••••••••••••••••••••••• 424 Dynamic Approach of Computer Automatic Process Planning Y Rong •••••••••••••••••••••••••••••••••••••••••••••••••• 430 An Application of Knowledge Engineering to Process Planning N Uemura •••••••••••••••••••••••••••••••••••••••••••••••• 436 An Expert Fuzzy Advisor Framework for Statistical Process Control G.R Chacon and D.H Liles ••••••••••••••••••••••••••••••• 441 Product Data Management S Sheth ••••••••••••••••••••••••••••••••••••••••••••••••• 446 Automated Extraction and Recognition of Internal Defect Configurations in Solid Log Modeling L.G Occena and J.M.A Tanchoco •••••••••••••••••••••••••• 451 Contents of Volume II ••••••••••••••••••••••••••••••••••••••••••••• 459 Contents of Volume III •••••••••••••••••••••••••••••••••••••••••••• 463 Author Index (Volume 1) •••••••••••••••••••••••••.•••••••••••••••••• 468 Contents of Volume III CHAPTER I: Planning for Automation Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• The Automated Manufacturing Project: Understanding Management's Concern R Holmberg ••••••••••••••••••••••••••••••••••••••••••••••••• strategic Planning for the Factory of the Future M Izadi, E Karbassioon, and M Toosi •••••••••••••••••••••• I Automated Systems ••••••••••••••••••••••••••••••••••••••••••••• Human Performance in Man-Robot System Y Beauchamp, T.J Stobbe, and K Ghosh ••••••••••••••••••••• Review of Determining/optimizing a Robot's Process Capability B.C Jiang, and J.T; Black ••••••••••••••••••••••••••••••••.• Automated Data Collection Workstation for Inventory Management S Ganesan, and K Athappilli ••••••••••••••••••••••••••••••• Investigation of Computer-Aided Control of a waterjet Robotic Workcell E.S Geskin, W.L Chen, and W.T Lee •••••.•••••••••••••••••• Automatic Decentralized Allocation of AGVs in a Cellular System S.P Rana, S Taneja, and A Vashishta •••••••••••••••••••••• Implementing a Transition Manager in the AMRF Cell Controller B.A Catron ••••••••••••••••••••••••••••••••••••••••••••••••• 13 15 21 27 32 37 42 Chapter II: Automated Assembly Introduction ••••••••••••••••••••.•• •••••.•.•••••.••.•••• Investigation of Automatic Assembly Methods A Harnoy ••••••••••••••••••••••••••••••••••.•••••••••••••••• The Interrelationship of Parts Classification and Gripper Design for Automated Assembly F.L Bracken, G.E Insolia, and E.W Zimmers, Jr •••••••••••• CARA - The Next Generation C Kosta, M Miller, and P Krolak •••••••••••••••••••••••••• Pin Assembly by Robot Z Mehdi, R Sagar, and T.P sattar ••••••••••••••••••••••••• Automated Robotic Cell Configuration for Electronics Assembly G.G Raman, and T.-C Chang ••••••••••••••••••••••••••••••••• 47 49 54 59 64 70 303 Chapter III: Robot Programming and Simulation Introduction •••• •• •••••.•• ••••• •••.•••••.•••••••••• 75 ADAR : A New Vision of Tasks Programming for Robotized Industrial Workcell A Haurat, and J.-L Perrard ••.•••••.••••••.••••••••••.••••• 77 Robot Systems Software I.J Cox, D.A Kapilow, W.J Kropft, and J.E Shapiro ••••••• 82 The Simulation of a Manufacturing Cell F.L Severance, and R Tanner •.•• ••••••••• ••• ••• 89 GROSS - Graphic Robot Simulation System H.-J Bullinger, R Menges, and J Warschat •.•••••.••••••••• 95 Kinematic Simulation of Robotic Systems J.L Hill, and S.-D Tang • • •.•••.••••••••••••••••••• 100 Simulation of Compliant Motions with Uncertainty S J Buckley ••• • •• • .• •.• ••• 105 Chapter IV: Kinematics, Dynamics and Path Planning Introduction • •••• •••.• • •••.•.•••.•• 111 A New Departure in Programmable Robotic Manipulators G.N Sandor, D Kohli, and T.-C Weng •••• ••••• ••.• • 113 Tunnel Following Problem of an Autonomous LHD Vehicle Operating in an Underground Mine R Hurteau, G Chevrette, and A Piche •.••••.•• ••••.• 120 A Robot Kinematic Gripper J Jeswiet, T.N Moore, and W Nshama ••.••••.•••••••••••••.• 125 A Kinematic Study of a Robot and a Dextrous Hand R.S Solanki, K.S Rattan, I Kaleps, and W Repperger ••.••• 132 Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom P.S Dutta, and T.-L Wong ••••••••••• •••.•••••••.••••••••• 139 Real-Time Obstacle Avoidance for Fast Mobile Robots J Borenstein, and Y Koren ••••••••••• ••.••••••••••••.•••• 144 Modeling, Trajectory Coordination, Control and Simulation of the Multiarm System M.M Bayoumi, and L Mo ••••.•.•••••• ••••••••.•.•• •••••• 149 Dynamic Characteristics of a PUMA 560 Manipulator, and a Complementary Tracking Control Strategy P.V Nagy • ••• •.•• •••.••••••.•••••••••••••••••••.••• 155 Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision M Becquet, J.-M Renders, and E Ponslet •.•••••• • 160 Flexible Manufacturing Using Modular Robotic Wrists M.H Ang Jr., and V.D Tourassis •••.••••••.•••••••.•••.•• 166 304 Chapter V: Object Recognition, Imaging and Sensors Introduction ••.••••••••••••••.••••.•••••••••••••••••••••••••.• 171 3-D Modeling for Robotic Tactile Object Recognition P.K Allen ••••••••••••••••.••••••••••••••••••••••••••••••••• 173 An Imaging Proximity Sensor for Robotic Inspection and Assembly G.F Mauer ••.•••• ••.•••••••.•••••.•••.••••••••••••••••••• 178 A Sensor System for Determining Position and Orientation of Robot Targets J.B Cheatham, P.L Weiland, and C.K Wu •••••••••••.•••••••• 183 Learning Shape Features Using a Binary Tree Classifier R.E Haskell, and B Mirshab •••••••••••.••.••••.•••••••••.• 188 Measurement System for Testing Magnetic Parameters of Thin Amorphous Ribbons and Metrologic Parameters of Displacement Sensor Using Amorphous Ribbons M Kozak, E Misiuk, and P Karkoszka •••••.•.••••.••••• 193 An Experimental Autonomous Articulated Robot That can Learn A.S Mohamed, and W.W Armstrong • •••••••••.•.••••••••• 198 Development of 3-D Imaging Systems for Postal Automation G.L Garcia • ••••••• •••.••••••••••.•••••••••••.•••• 209 Mailpiece Manipulation on the Basis of Partial Shape Information J Decurtins, and P.G Mulgaonkar ••.•••.•••••••.••••••••.••••• 217 singulation of Irregular Objects by Adaptive Robotics and Sparse Range Imagery B.R Frederick, and W.R Ealy •••• ••.•••.•••• ••.••••• 225 A Multiview Image Acquisition System for Postal Parcels J.H Kremers, and P.G Mulgaonkar ••.•.••••••••••••••• •• 235 305 Chapter VI: Control Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 243 Application of Kalman Filters to Assembly Signature Monitoring using Empirical Process Models P.J Eagle, and L.H Tabrizi •••••••••••••••••••••••••••••••• 245 Autonomous Distributed Control Through Flexible Communications B Meandzija, and W P.-C Ho ••••••••••••••••••••••••••••••• 250 Non-Homogenous Redundancy Management for Fault Tolerant Robots G Toye, and L.J Leifer •••••••••••••••••••••••••••••••••••• 255 Reflex-Action Position Control and Two-Arm Load-Sharing Force Control with Adaptive Load Apportioning J.N Anderson ••••••••••••••••••••••••••••••••••••••••••••••• 260 Performance Implications of Rendezvous in the Design of Multi~Task Robotic Systems M.B Zaremba, and J.W Miernik •••••••••••••••••••••••••••••• 269 A Microprocessor Based Speed ed Controller and Data Processor for Dynamic Testing of Rotor Blades T.S Balasubramanian, G Raghumurthy, and S Ganesan •••••••• 274 A DSP Microprocessor Based Workstation for Expert Control S Ganesan ••••••••.•••••••••••• •••••••••••••••.••••••••••• 281 Chapter VII: Motion Coordination Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 287 Lifting of an Object by Coordination of Two Planar Robots R.E Goddard, K Laroussi, and H Hemami •••••••••••••••••••• 289 Dynamics and Coordination of Multiple Robot Arms Moving a Common Task Object G Rodriguez, M.H Milman, and K Kreutz •••••••••••••••••••• 291 Coupling of a Robotic Language with a supervisor for a Simultaneous Adaptive Control of Two Robots D Jolly, R Ferhati, M Bayart, and M Staroswiecki •••••••• 296 306 Chapter VIII: Communication and Networking Introduction ••••.•••••••••.•••• ••••••••.••• •.•••.•••••• 301 Fiber optic Factory of the Future R.H Appleby ••••••••••••.••• •.•• ••••.•• ••••••••••••.•• 303 MAP/TOP Functionality from User Perspective B Thacker ••••••••.••••.• ••••.••.•••.••••• •••••••.•••••• 308 Robot Support System for Automotive Manufacturing Using MAP communication Standards R.B Keil, and C.D Groff • •.•.•.••.•••.•.••• •.••••••• 313 Chapter IX: Factories of the Future - Plant Organization Introduction •.•.••.• .••• • •.••••• ••••••••••••••••• 321 A Cross-Decomposition Method for Layout Systems and Scheduling Problem M.-C Portmann, and J.-M Proth • • •.• •.•••••.••••• 323 Extraction of Flowshop Type Lines From a Set of Working Processes M Happiette, and M Staroswiecki •.•••••••••••••.•.•••••.••••• 328 Modeling Multistage Production Systems by Timed Petri Nets H.P Hillion • ••••• • • •••••••.•••.•••••••••••••• 333 Modeling Cellular Manufacturing Systems by Using Petri Nets S.H Teng, and J.T Black •• •.•.••.• •••• ••• •••• 338 Modeling of Production systems by Continuous Petri Nets H AlIa, and R David ••••.••• •••••••••••••••••••••••• 344 specification and composition of Relativized Models of Real-Time Systems S Aggarwal, B Gopinath, and P Uppaluru ••••••••••••••••••• 349 Waterjet cutting Systems for Factories of the Future D.J Gerhardt, and R.G Ferguson • • •• •••.••••••• 358 Chapter X: Future Trends Introduction •••.••••••.•••.•.••.•.•••••••••••••••••••••••••.•• 363 Beyond CIM - A Computer Optimized Manufacturing System G.J Hess •••••• ••• •• ••••••••••• • •• ••••• 365 Proposed ANSI/RIA Mechanical Interface Standards: For Industrial Robots H.A Akeel •••••••••••.• •.••••.• •• •• ••••••••••••••• 370 Robots Beyond the Factory W.L Whittaker ••••.•.•.••.••••.• •••••.••••• ••.•••••.•••• 375 Guidelines and Rules for Automated Assembly by Robots in Space S.N Dwivedi, S Srivastava and G Jones •••••.••.••••• •••• 381 Contents of Volume I •••••••••••••••••••••••••••••.••••••••••••••• 389 Contents of Volume II ••.••••••••••• •.••••••••••••••••••••••••••• 394 Author Index ••••••••.•••••••••.••.••••••••••••••••••••••••••••.••• 398 Author Index Afzal, M•••••••••.••••• 46 Aringe, O.B •.•••••••• 215 Arora, J S • ••••••••••.• 90 Atrek, E .• •••••••.•• 11 Barber, K•••••••.•••••• 291 Beier, K.-P •••••••••••• 107 Belegundu, A.D •.•.•.•.• 16 Belsare, S •••••••.••••• 55 Bera, H.•••••.••••••••• 136 Bidanda, B.••.••••••.• 207 Biswas, G•••.••.••••••• 240 Borggard, J.T •••.••••• 79 Brown, F.M •••••.•.•.•.• 197 Burridge, K••••••••.•.• 291 Cardoso, J.B ••••.• • 90 Cecchin, T ••••••.• •• 245 Cheatham, J.B •• •.•.• 277 Chen, M • • •••••.••.• 192 Chen, Y C • •.•••••• • 277 Chu, C.-H • •.••••.•.• 150 Chu, C.N ••.•.••••••.•.• 268 Chung, J C H ••••••••.• 22 Cleghorn, T.F •••••••• 277 Cohen, P.H •••••.••• 145,207 Cook, R L •••••••.••••• 22 Dagli, C.H •••••••••••• 282 Darouach, M.••••••.••• 245 Davis, J •• ••••.•.•.• 126 Diamantidis, D•••••••.• 36 German, M.D ••••••••••• Ghosh, K • ••.••••••.•.• 253 Goss, C•••.•.•••••••••• 145 Grandhi, R.V ••••••••••• 60 Grost, M.E •••••••.•.•• 169 Haririan, M••.••••••••• 55 Heller, R.A •.•••••••••• 41 Hou, J.W ••••.•••••••••• 65 Houlihan, T.A •••••••••• 65 Jaeger, T •••••••••••••• 174 Kane, J H • •••••••••••• 84 Kapur, K C •••••.•••••• 46 Kashyap, R.L •••••••••• 268 Kaza, K.R.V •••••••••••• 71 Klahs, J.W •••••.•.•.•• 22 Kodali, R ••••.•••••••• 11 Kumar, G.S •••.•••••••.• 202 Kumar, V ••.••.•.•••.•• Kusiak, A •••.• ••.• 192 Lee, S -J .•••••••••••• Leininger, G••.•••••••• 287 Leu, M C • ••••••••••••• 179 Lopez-Linares, S ••••••• 95 Mackowiak, R.M ••.•.•.• 145 Mili, F ••.•.•••••• 220,225 Moradmand, J.K •.•••••• 60 Murthy, D.V •••.•••••.• 71 Nagai, Y • • 263 Nikolaidis, E ••••.••••• 31 No, M ••••••••••.••••• 95 Noui-Mehidi, A••••••••• 225 Oliff, M.D •••••••• 126,240 Osterfeld, D•••.•••••• 291 Paeng, J.K ••••••.••••• 55 Pai, K••••••.•••••••••• 179 Pan, P • •••••.••••••••• 150 Park, S.S •••••••••••••• 197 Pequignot, S.P •••••••• 160 Ragot, J •••••••••••••• 245 Rajan, S D • ••••••••••• 16 Ramaswamy, P.K •••••••• 258 Rana, S P • ••••••••••• 121 saigal, S •••••••••••.•• 79 Sauter, D•••••••••••••• 245 Shi, D••••••.•••••.•••• 220 Singh, N••••••••••••••• 121 Sluiter, T ••••••••••••• 22 Soom; A •••••••••••••• 160 Stabinsky, M••••••••••• 84 Stewart, P.J ••••••.•••• 107 308 studebaker, F.F •••••••• 31 Tai, N.D ••••••••••••••• 253 Taneja, S.K ••••••••••• 121 Thangj itham, S •••••••• 41 Tristan-Lopez, A ••••••• 100 Trousse, B ••••••••••••• 112 Vicens, L •••••••.•••••• 126 Villeneuve, L •••••••••• 253 Vishnubhotla, S.R ••••.• 235 Wang, H.-P ••••••••• 131,155 Wiseman, M.A ••••••••••• 65 Wong, T.-L ••••••••••.•• 258 Wu, C K • •••••••••••••• 277 wysk, R.A ••••••••••.••• 145 Xu, H •••••••••••••••••• 155 You, I.C •••.•.••••••••• 268 Yung, J 131 Zajko, P ••••••••••••••• 220 Zhu, Q••••••••••••••••• 187 Scientific Fundamentals of Robotics M Vukobratovic, N.Kircanski Real-Time Dynamics of Manipulation Robots 1985 XII, 239 pp 43 figs (Communications and Control Engineering Series) ISBN 3-540-13072-1 M Vukobratovic, V Potkonjak, Dynamics of Manipulation Robots Theory and Application 1982 XIII, 303 pp 149 figs (Communications and Control Engineering Series) ISBN 3-540-11628-1 Contents: Introduction - Survey of Computer-Aided Robot Modelling Methods - Computer-Aided Method for Closed-Form Dynamic Robot Model Construction - Computer-Aided Generation of Numeric-Symbolic Robot Model - Model Optimization and Real-Time Program-Code Generation.Examples - Appendix 5.1 - References - Subject Index M Vukobratovic, D Stokic, N Kircanski M Vukobratovic, D Stokic Control of Manipulation Robots Theory and Application 1982 XIII, 363 pp III figs (Communications and Control Engineering Series) ISBN 3-540-11629-X M Vukobratovic, N Kircanski Kinematics and Trajectories Synthesis of Manipulation Robots 1986 X, 267 pp 66 figs (Communications and Control Engineering Series) ISBN 3-540-13071-3 Contents: Kinematic Equations - Computer-Aided Generation of Kinematic Equations in Symbolic Form - Appendices I-III - Inverse Kinematic Problem - Kinematic Approach to Motion Generation - Dynamic Approach to Motion Generation Motion Generation for Redundant Manipulators References - Subject Index Non-Adaptive and Adaptive Control of Manipulation Robots 1985 X, 383 pp 111 figs (Communications and Control Engineering Series) ISBN 3-540-13073-X Contents: Computer-Assisted Generation of Robot Dynamic Models in Analytical Form - Non-Adaptive Control Manipulation Robots with Variable Parameters - Adaptive Control Algorithms - ComputerAided Control Synthesis - Implementation of Control Algorithms - Subject Index M Vukobratovic, V.Potkonjak Applied Dynamics and CAD of Manipulation Robots 1985 XII, 305 pp 187 figs (Communications and Control Engineering Series) ISBN 3-540-13074-8 Contents: General About Manipulation Robots and Computer-Aided Design of Machines - Dynamic Analysis of Manipulator Motion - Theory of Appel's Equations - Closed Chain Dynamics - ComputerAided Design of Manipulation Robots - References - Subject Index Springer-Verlag Berlin Heidelberg New York London Paris Tokyo Hong Kong M Vukobratovic, D Stokic Applied Control of Manipulation Robots Analysis, Synthesis and Exercises 1989 Approx 495 pp 100 figs ISBN 3-540-51469-4 Contents: Concepts of Manipulation Robot Control - Kinematic Control Level - Synthesis of Servo Systems for Robot Control - Local Optimal Regulator - Control ofSimuitaneous Motions of Robot Joints - Stability Analysis of Nonlinear Model of Robot - Synthesis of Robot Dynamic Control - Variable Parameters and Concept of Adaptive Robot Control - Control of Constrained Motion of Robots - Software Package for Synthesis of Robot Control - Subject Index M Vukobratovic Applied Dynamics of Manipulation Robots Modelling, Analysis and Examples 1989 Approx 495 pp 176 figs ISBN 3-540-51468-6 Contents: General About Robots - Computer Forming of Mathe matical Model of Manipulation Robots Dynamics - Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models - Connection Between the Moving and Fixed System - Manipulator Kinematical Model - Determining Velocities and Accelerations - Momentum of Rigid Body with Respect to a Fixed Pole - Specifities of Lever-Mechanisms Dynamics - Mathematical Models of Driving Units - Automatic Forming of Dynamic Models Dynamics of "ASEA" Mechanism - Programme Support for Dynamics Modelling of Manipulation Robots - Subject Index M Vukobratovic (Ed.) Introduction to Robotics With contributions by M Djurovi6, D Hristi6, B Karan, M Kircanski, N Kircanski, D Stoki6, D Vuiji6, M Vukobratovi6 1988 Approx 350 pp 228 figs ISBN 3-540-17452-4 Springer-Verlag Berlin Heidelberg New York London Paris Tokyo Hong Kong Contents: Preface - General Introduction to Robotics - Manipulator Kinematic Model - Dynamics and Dynamic Analysis of Manipulation Robots - Hierarchical Control of Robots - Microprocessor Implementation of Control Algorithms - Industrial Robot Programming Systems - Sensors in Robotics - Elements, Structures and Application ofIndustrial Robots - Robotics and Flexible Automation Systems - Appendix ... Prasad (Editor) CAD/ CAM Robotics and Factories of the Future Volume II: Automation of Design, Analysis and Manufacturing 3rd International Conference on CAD/ CAM Robotics and Factories of the Future. .. Integration of Design, Analysis and Manufacturing II: Automation .of Design, Analysis and Manufacturing Volume III: Robotics and Plant Automation Volume I includes papers from Symposia I and II, Volume II. .. Engineering (ISCME), UK American Institute of Aeronautics and Astronautics (MI) (AlAA), USA American Society of Civil Engineers (MI) (ASCE), USA Center for Robotics and Advanced Automation (CRAA), Oakland