Computing Techniques for Robots

1. Front Matter

   Pages 1-7

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2. Introduction

   1. Introduction

      • I. Aleksander

      Pages 9-14

3. Sensor Information Processing

   1. Front Matter

      Pages 15-15

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   2. A method for grasping randomly oriented objects using touch sensing

      • D. J. Todd

      Pages 17-34

   3. Method of contour recognition

      • Z. M. Wójcik

      Pages 35-56

   4. The design of sensors for a mobile teleoperator robot

      • C. M. Witkowski, A. H. Bond, M. Burton

      Pages 57-84

4. Mathematical Concerns

   1. Front Matter

      Pages 85-85

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   2. Constrained average path tracking for industrial robots

      • J. Y. S. Luh

      Pages 87-100

   3. The application of spline functions to trajectory generation for computer-controlled manipulators

      • C. C. Cook, C. Y. Ho

      Pages 101-110

   4. Kinematic equations of robot manipulators

      • Jadran Lenarcic

      Pages 111-130

   5. Solution of kinematic equations for robot manipulators

      • C. Y. Ho, K. W. Copeland

      Pages 131-148

5. Practical Concerns

   1. Front Matter

      Pages 149-149

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   2. A strategy to achieve an assembly by means of an inaccurate, flexible robot

      • B. Shariat, P. Coiffet, A. Fournier

      Pages 151-177

   3. Trajectory planning for a multi-arm robot in an assembly task

      • R. Zapata, P. Coiffet, A. Fournier

      Pages 178-196

   4. Cooperation of two manipulators in assembly tasks

      • P. Dauchez, P. Coiffet, A. Fournier

      Pages 197-218

6. Computer Aids to Robot Design

   1. Front Matter

      Pages 219-219

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   2. A CAD system for programming and simulating robots’ actions

      • E. Dombre, P. Borrel, A. Liegeois

      Pages 221-247

   3. The development of a suite of programs for the analysis of mechanisms

      • A. J. Medland

      Pages 248-276

I. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be powerful enough to think only in tool coordinates. That is, a programmer concerns himself only with the tool on the end of the robot arm. He can think of the tool's frame of reference and com­ puter subroutines automatically make the various articulations move so as to accomplish the desired tool manipulation. ' As is often the case with statements of this kind, they are appealing and generally well-founded in technological feasibility. But in order to turn the prediction into reality it requires the dedication and in­ ventiveness of an international community of researchers. The object of this book is to provide a window on to some of the advances made by this community which go towards the fulfilment of Engelberger's predictions. A significant factor in the framework within which this work is being pursued is the phenomenal advance in the availability of inex­ pensive and highly compact computing power. It becomes increas­ ingly possible to imagine powerful microprocessors providing local intelligence at key points in a robot arm Uoints, gripper, etc) by being connected through a communications network and controlled by some specially designated supervisory microchip.

• Information Technology (IT)
• cognition
• communication
• design
• industrial robot
• manipulation
• microchip
• network
• programming
• research
• robot
• robotics
• sensing
• sensors
• software

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