This paper proposes a new algorithm, known as the Segmentation Algorithm, which provides model-based, real-time, whole-arm collision avoidance for telerobotic applications. The work presented here is an extension and modification of potential field theory. Novel aspects of the algorithm include the application of a hierarchical segmentation technique to minimize on-line processing and the development of procedures which account for workspace object translation, rotation, and grasping. The'SA outputs torques, which, when applied to the control arm, prevent the teleoperator from driving the remote arm into a collision. The teleoperator actually feelsworkspace objects that are spatially close to the remote arm—an experience known as virtual force-reflection. The SA's performance has been analyzed in terms of its speed and efficiency vis a vis various system parameters, including workspace object distribution, size, and number. Simulation results show that the SA succeeds in providing real-time collision avoidance where less elegant brute force algorithms fail.

A new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in workspace are required. This reduces calculation time essentially because joint positions in workspace can be computed every time from the joint variable through robot geometry. It is supposed that the obstacles in the workspace of the manipulator are represented by convex polygons. For every link of the redundant robot and every obstacle a boundary ellipse in 2D is defined in workspace such that there is no collision if the robot joints are outside these ellipses. First, some methods are presented for the automatic determination of these ellipse functions from the obstacle and robot data. Then, the boundary ellipse functions are used as optimization criterion in a collision-avoidance method. The method permits the tip of the hand to follow a given path in the free space while the kinematic control algorithm maximizes the boundary ellipse function of the critical link. The effectiveness of the proposed methods is discussed by theoretical considerations and illustrated by simulations of the motion of three- and four-link manipulators between obstacles.

A technique for open-loop minimum time planning of time-histories of control torques for robotic manipulators subject to constraints on the control torques using evolutionary algorithm is presented here. Planning is carried out in joint space of the manipulator and the path is represented as a string of via-points connected by cubic spline polynomial functions. Repeated path modification is done by using the evolutionary algorithm to search for a time-optimal path. Time taken to traverse over a particular path is calculated by reducing the dynamic equations of motion over that path in terms of a path parameter and then calculating the time optimal-control over that path.

This paper describes a compact assembly sequencer for automatic robotic assembly using a configuration space-based path planner. Connection graph of the assembly is constrained by the feasibility information made available from the analysis of local disassembly paths tried by the robot's path planner. Free space of the robot performing assembly is explicitly used to generate the disassembly constraints. We show with the help of a ball pen assembly how the sequencing is performed with this representation.

Robotic peg-hole insertion operations can play a very important role in manufacturing industry because it is a common requirement in the manufacturing process and, it requires high precision and high speed.

In general, this operation can be divided into two processes: Search process to engage the peg and the hole and, insertion process.

The search process is critical in the assembly operation. It can be defined as a process where the angular.and the translational errors between the peg and the hole are reduced until insertion can occur.

The coupled dynamic response of two cooperating robots handling two flexible payloads is treated using a new algorithm. In this algorithm, the dynamic equations describing the system are obtained using Lagrange's method for the rigid robot links and the finite element method for the flexible payloads. The contact between the flexible payloads is modelled using the penalty function method and a contact search algorithm is employed to identify the contact region.

In this paper a new method is presented for solving the inverse kinematics of free-floating space manipulators. The idea behind the method is to move the space manipulator along a path with minimum dynamic disturbance. The method is proposed to use the manipulator Jacobian instead of the generalized Jacobian of the spacecraft-manipulator system. This is based on the simple fact that, if the space manipulator moves along the so-called Zero Disturbance Path (ZDP), the spacecraft is immovable. As a result, the space manipulator can in this case be treated as a terrestrial fixed-based manipulator. Hence, the motion mapping between the joints and the end-effector can be described directly by the manipulator Jacobian. In the case that the ZDP does not exist, it can be shown that the solutions obtained by the proposed method provide a path with minimum dynamic disturbance.

Position localization is a necessary and important task for an intelligent robot, which moves and works in place of human workers. Various methods for position localization tasks have been proposed and developed by many researchers; for example, can active method using ultrasonic waves or laser and a passive method using images of bar codes or marks in the workspace of the robot. The passive method, using images of the object in the workspace of the robot, is particularly desirable, as this method does not influence the workspace. Thus, an arrangement of the workspace is not necessary and many robots can work simultaneously.

Automation of heavy construction machinery needs sensors that can detect each position under severe construction fields. Motivated by this need a hydraulic cylinder equipped with Hall sensors of Ga-As type has been developed. However, this sensor device has some problems associated with incorrect detection of positions owing to the existence of some magnetic slope and electric noises. To solve these problems, this paper proposes a digital stroke sensing cylinder enhanced by digital signal processing. An apparatus of two hydraulic systems coupled with each other is installed in an experimental setup to evaluate the performance of the developed digital stroke sensing cylinder. In order to control the position of a cylinder rod, a PWM method is used. Evaluation of the performance is carried out under artificial disturbances such as an impulse, addition of some magnetic slope, and additional noises.