Robotics and Factories of the Future '87, Softcover reprint of the original 1st ed. 1988
Proceedings of the Second International Conference San Diego, California, USA July 28-31, 1987

The papers presented at the Second International Conference on Robotics and Factories of the Future held in San Diego, California, USA during July 28-31, 1987 are compiled in this volume. Over two hundred participants attended the conference, made technical presentations and discussed about various aspects of manufacturing, robotics and factories of the future. The number of papers published in this volume and the number of unpublished presentations at the conference indicates the evidance of growing interest in the areas of CAD/CAM, robotics and their role in future factories. The conference consisted of five plenary sessions, twenty three technical sessions, workshops, and exhibits from local industries and educational institutions. I wish to acknowledge with many thanks the contributions of all the authors who presented their work at the conference and submitted the manuscripts for publication. It is also my pleasure to acknowledge the role of keynote, banquet, and plenary sessions speakers whose contributions added greatly to the success of the conference. My sincere thanks to all session chairmen. I wish that the series of the International Conferences on Robotics and Factories of the Future which was initiated in 1984 in Charlotte, North Carolina will have a major impact on the use of robots and computers in the automated factories of the future.

Invited Lectures.- Elements of Effective CIM.- Intelligent Task Automation Manufacturing System.- Robotic Manufacture of Hazardous Substances.- Robotics and Factories of the Future as Applied to Large Mechanical Products.- Microcomputer Applications for CAD/CAM in Engineering Education.- Planning of Automation.- Methodology of Assembly Automation: A New Approach.- The Application of the Second Law Technique for the Prediction of Trends in the Development of a Factory of the Future.- A Coherent Model of Production Highlighted from an Epistemological Approach.- Probabilistic Calculation of Critical Clearing Time in a Large Power System.- Critical Observations on “The Japanese Manufacturing Competitive Advantage”.- Preliminary Study on Design Methods for Large Scale Systems Applications; Integrating Distributed-Problem-Solving.- Producibilty Awareness.- Application of a Stochastic Inventory Model.- A Just-in-Time/Group Technology Based Scheduling Model.- Single Facility Location Problem With Non-Traditional Cost Function.- Cellular Manufacturing — Some Design Considerations.- Single-Source, Single-Truck Models for the Location—Production—Distribution Problem.- CAD/CAM.- An Interface Between CAD/CAM Softwares.- Isoparametric Finite Elements for Micropolar (Cosserat) Elasticity.- An Interface Standard for Communicating Between Dimensional Measuring Equipment and CAD Data Bases.- Integrating the Management of Product Design.- Use of CAD Systems in Design of Space Station and Space Robots.- Relevance of Numerical Controlled and Computer Controlled Machine Tools in India.- CAD/CAM Data Representation and Interchange: An Assessment of Current Practice and Future Trends.- A Program in Basic to Calculate Electronic Box Moment of Inertia.- A Computer Aided Procedure for the Selection of Manufacturing Materials.- Theory and Practice of Minimum Weight Design.- CIM/FMS.- A Work-Orientation Device for Castings in an Automated Foundry.- CIM Framework for Electronics Manufacturing Systems.- FMS and Organization.- Universal Machine Tools Make Flexible Manufacturing Systems More Efficient.- Universal Assembly Systems — Making Low Volume Assembly Pay.- A Simulation System for Flexible Manufacturing Cells.- Defining Requirements for Computer Integrated Manufacturing Systems.- Kinematic Analysis.- Differential Relationships with Applications to Robot Inverse Joint Solution and Motion Correction.- A Kinematic Model of Flexible Robot Arms.- Closed-form Solution of Inverse Kinematics for the Puma Manipulator.- Inverse Kinematic Analysis for a Five Axis Robot Using Monte Carlo Method.- Relative Robot Inaccuracy Compensation Using Kinematic and Stochastic Modeling.- Optimization of Angular Position and Location Accuracy in Robots.- Dynamics and Control.- Controller Design and Dynamic Simulation of Elastic Robot Arm Mounted in Spacecraft in Presence of Uncertainty.- An Adaptive Control Algorithm for Robot Machine and Process Control.- Persistently Exciting Trajectories for Estimation.- The Rational Fractional Approach: A Tool for Computer Aided Feedback System Design.- Direct and Inverse Dynamic Modelling for Complex Kinematic Structure Robots.- Computer Simulation of Manipulator Dynamics Using Different Control Laws.- Computer-Assisted Robot Modeling for Real-Time Dynamic Control.- Optimal Distributive Relation Between Fingertip Forces For the Active Robot Hand to Manipulate an Object.- A PID Sliding Mode Controller for a Robotic Link.- Trajectory Planning.- An Intelligent Path Planner in 2D and 3D with Rotation.- Robot Path Adaptation Based on Axis Drive Current Monitoring Including Discrimination Between Collision and Acceleration Transients.- Off-Line Integration Techniques for Robot Path Planning.- Collision Detection Using Sphere Approximations.- A Derivation of Robot Control Algorithms From the Lagrange Formalism.- Probabilistic Estimate of Robot End-Effector’s Position Error Due to Process Noise.- Sensors and Vision Systems.- Methodology and Development of a Software Package for a Low Cost Machine Vision System for Real Time Applications.- A Sensorized System for Delicate Piece Selection, Handling and Packaging.- Adaptive Visual Control of a Robot Arm Using Tiled Space.- Dynamic Six Components Measurement of Robot Precision.- Tactile Pattern Recognition of Polyhedra on a Plane.- Sensor Fusion: The Quest for Autonomous Robots.- A Simple Vision System for an Educational Robot.- Visual Robot Guidance for Materials Handling Operations.- A Geometric State Sensor for Robot Workcell Monitoring.- Development of End-Effector Sensors for Industrial Robots.- A Management Perception — Need for Quality Control.- Digital Image System Software for Automated Part Identification.- Modern Inspection Techniques for Computer Aided Quality Control.- AI and Expert Systems.- The Use of Expert Systems in CIM.- Expert Systems Application for Optimal Production Scheduling.- Inaccuracy Mapping of 2-D Surfaces for Robot Off-Line Programming.- Diagnosis of Robotic Workcells by Behavioral Models.- A Spatial Modeling and Reasoning System for Robotics Research.- A Structural Framework for an Expert Authoring System.- Robot Selection Through Fuzzy Set Optimization.- Robot Programming Languages — A State of the Art Survey.- Mobile Robots/Robotic Devices.- Intergration of Material Buffering Devices in an Automated Factory.- Robotics System — Elephant Trunk Type Elastic Manipulator Combined With a Quadruped Walking Machine.- Bipedal Balancing: A New Approach.- On the Conversion of an Industrial Robot to a Mobile Robot.- Simulation of Steady Human Walking and its Application to Artificial Locomotive System.- A Navigation Control System for an Autonomous Mobile Robot.- Robot Applications.- Case Study of the Implementation of a Vision System in a Robotic Assembly Application.- The Effect of Mechanical Vibrations on the Robotic Assembly Process.- Integration of Vision, Transportation and Assembly Tasks in a Flexible Assembly Cell Using Robot Cooperation.- An RCS Application Example: Tool Changing on a Horizontal Machining Center.- The Low Volume Robot Assisted Assembly of Engine Components.- A Reconfigurable Multicomputer System for Robotics Applications.- Real-Time Functional Programming.- A Computer Integration of Reconfigurable Fixtures and Drilling of Sheet Metal Parts.- Failsafe/Diagnosable Multiprocessor System for Robotics Applications.- Automation and Innovation in Mining.- A Concept of a Rock Imaging System for an Underground Computer-Controlled Drilling Machine.- Application of Artificial Intelligence and Robotics to Mining.- Remote Control of Drill and Blast Excavation and Demolition.- CAD/CAM and Robotics Education/Training.- Survey of Robotics in Industrial Engineering Education.- Impact of Robotics and CAD/CAM on an Industrial Technology Curriculum.- Undergraduate Robotics Education on a Shoestring.- Development of a Robotics Course for Engineering Students.- Safety, Human Resources, Social Economic Implications.- The Human Resources Policy Implications of Advanced Manufacturing Systems.- Displaced and Excess Workers: Rebalancing the Workforce in the Factories of the Future.- Human Health and Safety with the Robot.- Author Index.