Microprocessors in Robotic and Manufacturing Systems

I Robotic Computations.- 1 Computation of Robot Dynamics by a Multiprocessor Scheme.- 1. Introduction.- 2. Tree-Height Reduction by Newton-Euler State Space Equations.- 3. The Multiprocessor System and the Task Allocation.- 4. Performance Evaluation.- 5. Parallel Processing for a Two Link Robot System.- 6. Conclusion.- References.- 2 Automatic Scheduling of the Newton-Euler Inverse Dynamics.- 1. Introduction.- 2. Task Granularity and Communication Overhead.- 3. The Newton-Euler Inverse Dynamics.- 4. Automatic Data-Flow Analysis: the LEM Analyzer.- 5. Parallel Execution.- 6. Conclusion.- References.- 3 Numerical Applications of DSPs in Robotic Computations.- 1. Introduction.- 2. A Survey of the Main Characteristics of DSPs.- 3. Numerical Applications in Robotic Computations.- 4. Conclusions.- References.- 4 Parallel Processing of Robot Control and Simulation.- 1. Introduction.- 2. Parallel Processing of Robot-Arm Control Computation.- 3. Parallel Processing of Robot Dynamics Simulation.- 4. Summary and Future Directions.- References.- 2 Robotic Control and Vision.- 5 Microprocessor-Based Controllers for Robotic Manipulators.- 1. Introduction.- 2. Survey of Microprocessor-Based Controllers.- 3. Techniques to Improve Microprocessor-Based Controller Implementation.- 4. Conclusions.- Acknowledgements.- References.- 6 Design Aspects of a Robot Coordinated by a Desktop Computer.- 1. Introduction.- 2. The Supervisory System.- 3. Kinematics and Their Inverse.- 4. Polynomial Fitting.- 5. Implementing the Difference Equations.- 6. Axis Command and Coordination.- 7. Implementing the Position Control Loop.- 8. Priority of Operations in the Axis Controller.- 9. Conclusions.- Acknowledgements.- References.- 7 A PC Simulation Program for Comparing Performances of Robot Control Algorithms.- 1. Introduction.- 2. Trajectory Generation.- 3. Robot Control.- 4. Robot Dynamics.- 5. Some Control Algorithms.- 6. Conclusions.- References.- 8 Collision Strategies for Robot Retreat and Resistance.- 1. Introduction.- 2. Pre-Collision Visual Sensing.- 3. Post-Collision Tactile Sensing.- 4. Control Requirements.- 5. Four Link Biped.- 6. Discussion and Conclusions.- References.- 9 A Distributed Control Network for Sensory Robotics.- 1. Introduction.- 2. Distributed system architecture.- 3. Modelling the environment.- 4. Vision system.- 5. Manipulator gripper and associated sensors.- 6. Sensor data integration.- 7. Software considerations.- 8. Conclusions.- References.- 10 Neural Networks and Robot Vision.- 1. Neural networks : what's in a name?.- 2. Neural networks operation.- 3. The linear pattern associator.- 4. The nonlinear multilayered pattern associator.- 5. The auto associator.- 6. Constraint satisfaction network.- 7. Competitive learning model.- 8. Neural networks as parallel distributed processing systems ..- 9. Conclusion.- References.- 3 Manufacturing Systems.- 11 Microprocessors in Data Acquisition Systems for Process Control.- 1. Microprocessor based data acquisition systems.- 2. Process control.- 3. Integration/automation with microprocessor based systems.- References.- 12 Design and Analysis of a Modular CNC System.- 1. Introduction.- 2. Physical components of the CNC milling machine.- 3. Transfer functions of the feed drive control system.- 4. State space modelling of the feed drive control system.- 5. Experimental verification of the feed drive servo model.- 6. Time domain simulation of contouring errors.- 7. Conclusion.- References.- 13 Computer / Programmable Control of a Flexible Manufacturing Cell.- 1. Introduction.- 2. Cell functional requirements.- 3. Structural requirements.- 4. Study and realization.- 5. Conclusion.- Acknowledgements.- References.- 14 Robot and PLC Support System Based on Fiber Optic Map Network.- 1. Introduction.- 2. Local area network selection criteria.- 3. Network design.- 4. Support application softwares.- 5. Conclusions and recommendations.- 15 Experimental Results of Parameter Identification And Nonlinear