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1 Robotics Physical Analogies for Rapid Robot Motion Planning and Execution in Dynamic Environments Identification of Base Parameters of a Direct Drive Arm - A New Experimental Result p. 9 p. 3 A Six Degree of Freedom Robot Measurement System I: A Precision Universal Joint p. 15 Parallel Manipulators: State of the Art and Perspectives p. 21 Development of the Parallel Manipulator p. 27 New Robotic Mechanism Using a Parallel Moving Platform p. 33 An Analysis of Passive Impedance of 6-DOF Direct-Drive Wrist Joint p. 39 Design and Simulation of a Parallel Link Compliant Wrist p. 45 Simulation Study of Dynamic Properties and Nodal Offset of Truss-Type Parallel Mechanism p. 51 Group Mathematics and Parallel Link Mechanisms p. 57 Bilateral Control for Parallel-Link Manipulators p. 63 Design and Control of a Very Fast 6-DOF Parallel Robot p. 69 Bio-Parallel Mechanism of Mastication Robot p. 75 A Minimal, Minimal Linkage: The Tension-Compression Parallel Link Manipulator p. 81 Kinematic and Control Issues on a Tendon-Controlled Wrist Mechanism p. 89 A Modular Multi Purpose Robotic Testbed for Space Applications p. 95 Photo-Pneumatic Control Robot Arm p. 101 An Intelligent Wrist Mechanism for Robot Assembly of Chamferless Parts p. 107 A Finite State Control Model for Flexible Robotized Assembly Cell p. 113 Diagnosing Contact Situations in Intelligent Robotics p. 119 Vehicle Guidance System Using On-board Laser Beam Emitters and Corner Cubes along p. the 125 Course Environment Recognition Using a Virtual Corner Point p. 131 Development of Welding Line Detecting Sensor System p. 137 Occlusion Cues for 3-D Stereoscopic Display p. 143 Statistical Reliability of 3-D Interpretation from Images p. 149 Tracking a Moving Object by an Active Vision System: PANTHER-VZ p. 155 Multisensor Integration and Fusion: Issues, Approaches, and Future Trends p. 161 System for the Remote Monitoring and Control of Robotized Devices p. 171 Auditory-Visual Fusion Using Multi-Input Hidden Markov Model p. 177 Flexible Control of Autonomous Vehicle Utilizing Hierarchical Map and Planning p. 185 A Neural Network Approach to Sensorimotor Fusion - Intentional Sensing for Recognizing Three-Dimensional Objects Minimum-Time Trajectory Planning for Multi-Degree-of-Freedom System under Average Heat Generation Restriction Development of an Efficient and Suboptimal Obstacle Avoidance Algorithm for Planar Robots p. 191 p. 197 p. 203 An Adequate Robot Modeling for Rapid and Good 3D Collision-Free Path Planning p. 209 A Seven-League-Boots Algorithm for Path Planning in Configuration Spaces p. 215

2 Design and Development of an Electric Wheelchair Mounted Robotic Arm for Use by People p. 221 with Physical Disabilities Modeling and Control of Flexible Robot Arm with Flexible Drive System p. 227 A Study on Tasks of Dealing with Moving Objects p. 233 On-Line Recurrent Programming of a Robot-Task System in Two Operating Modes p. 241 Application of Parallel Computing to Robot Dynamics p. 249 Adaptive vs Learning Controls for Flexible N-Link Robotic Systems p. 257 A Single Link Dual Actuation System for High Speed and High Accuracy p. 263 Stability of Manipulators Interacting with Unstructured and Structured Dynamic Environments p. 269 A Robust Robotic Manipulator Controller Based on P-D MRAC for Payload Adaptability p. 275 Hybrid Position and Force Control with Unsteady Assembly Dynamics p. 281 On Synthesis of a Hybrid Position/Force Controller for Robot Manipulators p. 287 Principle of Orthogonalization for Hybrid Control of Robot Manipulators p. 295 Robust Control of Pneumatic Servo System using a Disturbance Observer p. 303 H[actual symbol not reproducible] Control of a Robot Manipulator Using the Loop Shaping Design Procedure p. 309 Robustness and Stability of Actuator Based on Dynamic Impedance Matching p. 315 H-infinity as a Tool for Control Assessment in Mechatronics p. 321 Control of Impact for a Hammering Robot Using a Flexible Link p. 327 A Dynamical Approach to Force Control without Force Sensor p. 333 Robust Impedance Control and Its Application to Peg Insertion p. 339 Active Tactile Sensing by Robotic Fingers p. 345 Whole-Hand Robotic Manipulation: Considerations on Results and Open Problems p. 351 Recent Advances in Grasp Planning Task Representation and Learning Hybrid Control for p. 359 Dexterous Manipulation Quadratic Programming for Dextrous Dual-Arm Manipulation p. 367 New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation p. 373 Movement Control of Brachiation Robot Using CMAC Between Different Distance and Height p. 381 Towards a Learning Control Scheme for Biped Locomotion p. 387 Vision-based Mobile Robots p. 393 Coordinated Motion Control for Multiple Industrial Mobile Robots Transporting a Material Mobile Robot Localization Using Integrated Dead Reckoning and Laser/Corner Cube Based Location Systems p. 397 p. 403 Path-Planning for Multiple Mobile Robots by Using Genetic Algorithms p. 409 Rough Terrain Robot with 4 Turn-Over Track Frames (Miniature Model) p. 415 Motion Estimation of a Mobile Robot with Uncadenced Bearings Only Measurements p. 421 Self Organizing Manipulator System Based on the Concept of Cellular Robotic System p. 427 Distributed Sensing, Control and Planning - Cellular Robotics Approach p. 433 Towards a Modular Standard for Robotic Design and Programming p. 439

3 Mechatronics Variable Structure Approach for Motion Control Systems p. 447 Sliding Mode Control, Discrete Time Approach p. 453 Sliding Mode Control of Uncertain Systems p. 459 Dynamic Sliding Mode Control and Application to Robot Manipulators p. 465 Variable Structure Control of Flexible Robotic Arm p. 471 VSS Control of Robotic Manipulators by Joint Acceleration Controller p. 479 Discontinuous Control of Sliding Base Isolated Structures under Earthquakes p. 485 A Use of the Ultrasonic Motor as a Fine Positioning Actuator p. 491 Walking Drive - A New Precision Feed Drive p. 497 Micro Flow Control Devices for Integrated Medical and Chemical Analyzing Systems p. 503 A Vacuum-compatible X-Y Microactuator using the Levitational Effect of a Superconductor p. 509 Applying Flexible Microactuators to Pipeline Inspection Robots p. 515 Development of a Screw Tightening Machine for Elastic Parts on Clean Room Environment p. 521 Some Developments of Machine Intelligence for Fully Automatic Drilling Process p. 529 Manufacturing Systems Perspective of Future Generation Manufacturing Systems p. 537 A Project Planning Method with Time Constraints p. 545 A Definition of a Reference Set as a Tool for Production Technology Acquisition Policy Development Simultaneous Optimization of Tool Allocation and Scheduling for FMS's: An Application of Simulated Annealing An Analysis of Dynamic Scheduling for Job-Shop Scheduling and its Improvement Using Intelligent Algorithms p. 551 p. 557 p. 563 Optimal Scheduling Models under JIT Environments p. 569 An Expert System for Scheduling of Plastic Molding Process p. 575 Scheduling Expert System for Continuous Annealing Line p. 581 The Structure of the Service Task Control System in an Automatic Shop Floor for One-of-a-Kind Production p. 587 Testing Rules for a Scheduling Expert System in a Steel Plant p. 593 Sensor Fusion for In-Process Identification of Cutting Process Based on Neural Network Approach A Study of Plasma Gun Orientation Control with Ultrasonic Sensors for Thermal Spraying Robot p. 599 p. 605 Implementation of an Integrated FMS Model Plant p. 613 A Neural Network Approach to Part-Machine Grouping in GT Manufacturing p. 619 Determination of an Optimum Bending Sequence - Application of AI Techniques in Production Planning p. 625 Automatic Generation of NC Tapes for Machining Tools p. 631 Development of the Autonomous Guided Vehicle System Using Laser Navigation Method p. 637 Development of Shape Discriminant Methods and Robot Arm Control for Part Pick-Up at an p. 643 Assembly Line

4 Development of a Rule-Based Graphic Simulator for FMCs p. 649 Wafer Fab Management Optimization Using Simulation p. 657 Information System in Distributed Intelligent Automation Processes p. 663 CAD Model Based System for Visual Inspection p. 669 Automatic Calculation of Dimensions and Tolerances in Manufacturing p. 675 Formal Models of Flexibility for Manufacturing Systems p. 681 Identification of Lathe Alignment Errors by Measuring Machined Parts p. 687 A Product Modeling System Considering Geometric Constraints and its Application to Basic Design of Machine Tools p. 693 An Expert Process Planning and Fixturing System with 3D CAD Data Input in Step Standard p. 699 Concurrent Processing of Product Modeling and Fault Simulation for Intelligent Design Aid p. 705 Evaluation Method for Geometrical Forms in Coordinate Metrology p. 711 Evaluation of Polished Surface for Automation of Polishing Work p. 717 The Organization of Human-Oriented C.I.M. p. 723 New Technology Fuzzy Control Technologies and Their Applications p. 731 A Study on Hovering of Model Helicopter Using Visual Information and Fuzzy Controller p. 737 A Learning Method Fusing Fuzzy Reasoning and Genetic Algorithm p. 743 A Self-Organizing Adaptable Control Scheme Based on Constraint-Oriented Fuzzy Inference p. 749 On Some Attempts for Improving Learning Performance in Multi-layered Neural Networks p. 755 of Back-propagation Methods Adaptive Control by Neural Networks with Application to Temperature Control p. 761 VQ Controller Using Recurrent Neural Networks p. 767 Neural Networks and Inverse Problems in Measurement and Control p. 773 Modeling Manned Traffic Systems p. 779 An Iterative Learning Fuzzy Control for Multi-Link Manipulators p. 785 An Autonomous Robot System Controlled by Neural Networks p. 791 Image Analysis of Melting Polymer in Heat Barrel of Injection Molding Machine p. 797 High Speed Conveyed Bill Money Recognition with Neural Network p. 803 Simulated Annealing with Modified Generation Mechanism for Flow Shop Scheduling Problems p. 809 An Architecture for the Integration of Industrial Artificial Intelligence Systems p. 815 Fault Diagnosis in Dynamic Systems p. 821 Failure Diagnosis Under Uncertain Conditions by Use of Failure Diagnosis Table p. 829 Acoustic Diagnosis with Neural Networks p. 835 Knowledge Aided Model-Based Approach to Failure Diagnosis of Adaptively Controlled Systems p. 841 Model Based Approach to the Real-Time Fault Diagnosis p. 847 Modified Schemes of Sequential Probability Ratio Test for Incipient Failure Detection in Dynamic Systems p. 853

5 Information Diversification for Improving Diagnostic Reliability in Complex Dynamic Processes Multi-Sensor Based Active Error Detection, Diagnosis, and Recovery for Flexible Assembly p. 859 p. 865 Dynamics and Control of Advanced Space Systems p. 871 Symbolic Multi-Body Formalism for Space Manipulators p. 877 Robust Controller Design for LSS Attitude Control and Experimental Demonstration p. 883 Distributed Modeling and Control for Multibody Systems p. 889 Modeling and Control of Flexible Solar Array Paddles p. 895 Control of a Space Robot at Capturing a Target p. 901 Control of a Flexible Space Structure with a Tip Mass in Minimum Time Slew Maneuver p. 907 Reaction Rejection Techniques for Control of Space-Robotic Structures p. 913 Nonlinear Control of the Space-Based Flexible Manipulators p. 919 Simulation Based Analysis of Elastic Multi-Arm Robot Control in Cooperative Motion: Dynamic Model Formulation Finite-Dimensional MRAC Method for Flexible One-Link Arms Subject to Random Disturbances Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators Design of Flexible Hydromechanical Manipulators with Active Control against Fatigue and Vibrations Shape Determination of Flexible Space Structures by Using a Remote Optical Sensing System Applications of Petri-Net to Modeling and Scheduling Problems of Flexible Manufacturing System Using Robots p. 925 p. 931 p. 937 p. 943 p. 949 p. 955 Table of Contents provided by Blackwell's Book Services and R.R. Bowker. Used with permission.

Module 1 : Introduction to robotics. Lecture 3 : Industrial Manipulators & AGVs. Objectives. History of robots : Main bodies and wrists

Module 1 : Introduction to robotics Lecture 3 : Industrial Manipulators & AGVs Objectives In this course you will learn the following History of development of robots. Main body types of manipulators with