A geometrical methodology for automatic machine tool command generation is introduced. The geometric entities relevant to machine tool operation are unambiguously defined by volume models. A vector sum operator is used to determine regions of the configuration space of the machine tool which correspond to undesired collisions, cavity access and material removal. Some indication of how cutter paths are generated is given and a practical implementation for the case of machining two and a half dimensional components under two and a half axis control is discussed in more detail.

Finding optimal paths for robot navigation in a known terrain has been studied for some time but, in many important situations, a robot would be required to navigate in completely new or partially explored terrain. We propose a method of robot navigation which requires no pre-learned model, makes maximal use of available information, records and synthesizes information from multiple journeys, and contains concepts of learning that allow for continuous transition from local to global path optimality. The model of the terrain consists of a spatial graph and a Voronoi diagram. Using acquired sensor data, polygonal boundaries containing perceived obstacles shrink to approximate the actual obstacles surfaces, free space for transit is correspondingly enlarged, and additional nodes and edges are recorded based on path intersections and stop points. Navigation planning is gradually accelerated with experience since improved global map information minimizes the need for further sensor data acquisition. Our method currently assumes obstacle locations are unchanging, navigation can be successfully conducted using two-dimensional projections, and sensor information is precise.

For a manipulator which works in a given fixed environment, like in manufacturing plants for instance, the control system may be designed in a fixed definite way. But when the characteristics of this environment is subject to variations, e.g. change in the mass of the object to be moved, it is necessary to endow the manipulator with some versatility which allows it to adapt itself to the new working conditions. The purpose of the paper is to show that the use of links with varying inertia is a possible way to achieve this flexibility.

Path planning of the end effector motion is here treated from the viewpoint of the path invariance under the transformations of its parametrical representation. Thus, a new method for path planning of the robot arm motion is being developed. Both the problems of finding the end effector time optimal motion and the end effector motion with a prescribed velocity profile along a preplanned path are being solved by the employment of this method. Simulation results are presented and some aspects of implementation are also discussed.

Increasing domestic and international competition is forcing the adoption of robotics. The advantages of robotics can be measured objectively at both a national and company level. The rate of adoption is slower than was predicted in the late 70's; and Computer Integrated Manufacturing has yet to appear. Generally, the UK's manufacturing industry is reluctant to adopt robotics, though changes in managerial attitude, strategic objectives, and the training of future staff is overcoming this reluctance.