ECPD

European Center for Peace and Development-University for Peace established by the United Nations

Proceedings

The First ECPD International Conference on

Advanced Robotics and Intelligent Automation

6-8 September, 1995

Athens, Greece

UB/TIB Hannover 89
114 265 461
 Table of Contents
Plenary lectures
How to Control Robots Interacting with Dynamic Environment
Miomir Vukobratovid. 2
What Ways Today to Make Possible Work Automation Using Robots?
Philipe Coiffel 22
Fuzzu and Neural Approaches to Robot Control
Spyros Tzafestas 34

Session Wcl-1: Intelligent Automation and Flexible Cells I

A Force-Torque Sensor Based Motion Strategy for Robot Assisted Disassembly
A. Weigl. K. Holm 57
Static and Dynamic Analysis of Feeding and Transport Systems Used in Automation
L Cristea, D. Cristea 63
Information Categorization in a Hierarchical Industrial Environment
V. C. Georgopoulos, P. P. Groumpos 69
Intelligent Robotized Flexible Cell
R. Tomovid, B. Borovac, S. Stankovski 75
On the Relation Between LQG and H_ Design Algorithms
/. Bachilina, D. Lerner, S. Stepanov 80

Session Wel-II: Knowlcdgc-Bascd Modeling and Control I

Neural Network for Control of Upper Extremities
R. Tomovid, 1. Reljin, B. Reljin, B. ToSid. \ 87
Neuro-Fuzzy-Genetic Trajectory Tracking Control of Flexible Joint Robots
G.Mester 93
Fuzzy-Logic-based Neural Network Control for Scara-Type Manipulators"
S.PIetl. 99
Design of Non-Adaptive Fuzzy Logic-Based Gain Tuning Scheme for Enhancement
of Free-Space Robots Motion Control
B.Karan.M. Vukobratovid 105
Sensor/Knowledge Based Control and Information System for High Quality Manufacturing
of Concrete Products"
J. Held, U. Kirchhoff. 112
On use of Artificial Neural Network for Identification of Dynamic Systems
S. Odri, D. Petrovadki, A. Erdeljaa 117

Session Wcl-III: Robot Control I

Skill Acquiring in Robotics by Successive Approximation of Nominal Control Sequences
G. Djordjevid, V. Potkonjak 122
ASM Based Versatile Interface for Robot Motion Control
A. G. V. Moise, S. Sorin, S. Dumitrescu 128
The Application of Neural Networks for Learning Impedance Control in Robotic Contact Tasks
D.Katid,M. Vukobratovid 134
An Efficient Algorithm for the Optimal Linear Schedule of Uniform Dependence Algorithms
T. Andronikos, N. Koziris, Z. Tsiasoulis, G. Papakonstantinou, P. Tsanakas 140
Neural Networks in Robot Control: A Comparative Case Study Using Backpropagation and
Radial Basis Function Networks
P.J. Dalianis, S. Tzafestas, G. Chalamandrais 146
Sensor-Based Computing Scheme for Parallel Manipulator
A:. T. Yap, Y. Nakamura 155

Session We2-I: Intelligent Automation and Flexible Cells II

Knowledge-Based Semantic Model for Assembly Lines Design
Y. Sadi, C. Moreno, F. Artigue 161
A Modular Cell Structure for Robotized Assembly
R. Caracciolo, E. Ceresole, A. Gasparetto, A. Rossi 167
Intelligent Automated Cell for Assembly of Lamps
R. Zahariev, B. Stoyanov 173
Kinematics and Dynamics of Automated Transport Devices as Manipulating Robots
M. Georgijevid. 178
Decision Support System BIOR
B. N. Iordanova '. 184

Session Wc2-II: Knowledge-Based Modeling and Control II

Self-Tuning Computed Torque Controller Based-on Flexible Star Neural Network
M. Teshnehlab, K. Watanabe 191
The Self Learning Algorithms. Motion and Force Control
A. Turnau. K. Kolek, M. Pauluk, M. Rosol 197
Parameter Estimation Problem in Mechatronic Modeling-Neural Network Approach
M. Szymkat, A.Turnau, T. Uhl 203
Neural Network Based System for Microparts Assembly
J. Radjenovid-Mrdarica, H. Detter 209
Adaptive Assembly Robot Using Fuzzy Logic
R. Krusteva, V. Geortchev, D. Butchvarov 215

Session Wc2-III: Robot Control II

Robust Adaptive Feedback Linearization Control of Flexible Joint Robots
A. D. Zagorianos, D. L Kostis, S. G. Tzafestas 220
Event Based Robot Control
K. Brink, M. Olsson, G. Bolmsjo 228
Intelligent Robot Controlling System
E. Antoniou, A. Maglara, T. Lilas, G. Kouparousos 234
Stability Analysis of Resolved Acceleration Control of Robots at Singularities using
Damped Least Squares Approach
N. Kirdanski, M. Kirdanski, D. Lekovid, M. Vukobratovid. '. 239
A Robot-Independent Optimal Force Control Strategy
J. A. Tenney, M. Tomizuka 246
Visual Sensor-Based Control of Robot Spatial Motion
/. V. Miroshnik, G. I. Boltunov 252

Session Thl-I: Sensors and Drives

Cortical Representation in Active Vision on a Network of Transputers
P. Bustos, F. Redo, D. Guinea, M. C. Garcia-Alegre 259
New Design of Two-Component Sensor for Contact Sensing
B. Borovac, L. Nagy 265
A Multi-Agent Hierarchy for Motor Control
D. Guinea. J. Vicente, A. Ibanez, P. Bustos 271
Tactile Displays for Dextrous Telemanipulation
D.A. Kontarinis, R. D. Howe 277
Modeling, Analysis and Optimal Design of Multicomponent Force/Displacement Sensors
S.Havlik 283

Session Thl-II: Legged Locomotion of Robots

Stability Analysis of Certain Class of Bipedal Walking Robots with Hybridization of Classical and Fuzzy Control
M. Vukobratovid, O. Timdenko 290
Odysseus Walking Robot: Walking Simulation
N. G. Bourbakis, T. Pimenides , 296
Foot-Placement for Legged Robots
M. Me Henry, G. Bekey 302
Modeling and Control of Biped Locomotion and Four-Legged Walking Microrobot
A. Morecki, K. Jaworek, T. Zielinska 307
A Realization of Fuzzy-logic Based Controller for Active Above-Knee Prosthesis
D. Lekovid, O Timdenko 313
Optimization of the Program Regime for Biped Walking Apparatus
Budanov V. M., Lavrovsky E. K 319

Session Thl-III: Intelligent Automation and Flexible Cells III

Modeling of a RFC Control
0. Morav&k, M. MiSut, P. Vaian 324
A Hybrid System for Automation of Assembly Tasks
S. Stankovski, R. Tomovid. 330
Robotized Assembly System for Intelligent Automation
R. Zahariev 336
The Development of an Integrative Process Planning System within Intelligent Manufacturing Environment
B. Kosnhnevis, D. Sormaz : 341

Session Th2-I: Robot Design I

A Rule-Based Algorithm for the Optimum Control of the Grasp with Unexpected Disturbances
Kim Yun-Gyu, Ali A. Seireg 350
Tactile Sensing on the TUB-PC Dexterous Hand
L. Ludvig 356
Experimental Investigations and Analysis of Performances of Serial-Parallel Manipulators
K. Nazarczuk, C. Rzymkowski 362
On-Line Statistical Process Monitoring and Feedback Adjustment
G. S. Stavrakakis 368
Some Comparisons of Monocontour and Policontour Closed Structures for Robots
V. Pavlov, D. Taslakova 374
Designing of Manipulators with Light Links of Increased Stiffness
V.V. Cheboxarov. V Filaretov 379

Session Th2-II: Kinematic and Dynamic Accuracies of Robots

The Direct Positional Problem in Kinematic Analysis of Second Type Spatial Mechanisms
with Guide in Six Points
M.Arghir, V. Ispas 386
Dynamic Analysis of a Manipulator on a Moving Base
S. Wojciech 391
Influence of Dry Friction in Joints of Robot Manipulators on Positioning Accuracy
A.Harlecki \ 397
Robot Calibration Methods in Industrial Applications
G.Nikoleris 403

Session Th2-III: Education, Research and Social Impact

On Social Impact of Robotics in Romania
F.Kovacs 409
Computerized Training Laboratory for FMS Using Multimedia - ROBCO - C
N. Shivarov, V. Dobrinov 415
A Contribution to System Approach to Application of A&R Technology in SME's
G.Stokid, U.KirchhoJf 421
Linguistic Geometry for Robotic Systems: From Partial to Total Concurrency
B.Stilman : 427

Session Frl-I: Autonomous Robots I

Neural Architectures for Mobile Robot Navigation
G. Pradel, C. Barret, S.Al Allan, H. Abou Kandil 440
State-of-the-art Reference Architecture for Control Systems of Mobile Robots
D.Stokid, U.Kirchhoff 446
An Agent-Like Architecture for Autonomous Robot Motion in Unknown Environment
G. B. Stamou, S. N. Raptis, S. G. Tzafestas 452
Environment Representation and OfT- Line Planning for Real-Time Autonomous Wheel-Chair Navigation
N. M. Sgouros, C. Voliotis, P. Tsanakas, G. Papakonstatinou 458
Analysis of the Risk Detection and Avoidance Architecture for Indoor Autonomous Mobile Robots
N. J. Katevas, S. G. Tzafestas 464
Multi Link Mobile Robot for Motion Over Arbitrarily Inclined Surfaces
F. L. Chernousko, V. G. Gradetskii, N. N. Bolotnik, V. B. Veshnikov 470

Session Frl-II: Robot Design II

A 6-DOF Parallel Fine Motion Robot
Cai Hegao, Sun Lining, An Hui, Jiang Su 477
Microgrippers and Measuring Forces Applied to Microparts
N. Delid, H. Detter, G. Popovid, W. Brenner 481
On the "Degree of Spatiality" of Open Kinematic Chains Used in Industrial Robots
a Gogu 487
Explicit Robot Language Support for Multiple Robot Programming
M.Pavlovid, V. Kvrgic 493
Universal Master for Remote Micro-Manipulation
G. M. Acaccia, M. Callegari, L. Consano, R. Michelini, R. M. Molfmo.S. Pampagnin,.R.P. Razzoli 499
Synthesis and Application to a Wrist with Special Structure for a Grinding Robot
D. Ignatova, A. Ananiev : 505
Practical Construction of the Turin Platform 6 d.o.f. Parallel Robot
M. Sorli, S. Pastorelli 509

Session Frl-III: Kinematics and Dynamics of Robots III

Modeling of Large Deflections of Flexible Links of Manipulators
I. Adamiec-Wojcik 516
Automatic Generating the Symbolic Mathematical Models of Complex Robotic Systems
M. Rackovid, D. Surla 522
Optimization Neural Network Algorithm for Solving the Inverse Kinematics Problem for Both
Redundant and Non-Redundant Manipulators
A. Ramdane-Cherif, V. Perdereau, M. Drouin 528
Fast Implementation of Robot Inverse Dynamic with the Distributed Arithmetic on a SIMD Architecture
G. K. Grigoriadis, B. G. Mertzios, V. D. Tourassis 534
Implementation of the Positional Forward Velocities in Robotic Manipulators with the
Distributed Arithmetic Architecture
G. K. Grigoriadis, B. G. Mertzios 540

Session Fr2-I: Autonomous Robots II

Integration of a Multi-Agent Control in a Control Structure of an Autonomous Mobile Robot
N. Pons, S. Reginer, D. Duhaut, S. Delaplace 547
A High Performance, Low Cost Mobile Robot
J. Cuervo, E. Gonzalez, A. Suarez, Y. Rollot, B. Manuel, C. Moreno, F. Artigue 552
An Evaluation Methodology for Autonomous Mobile Robots for Planetary Exploration
G.Sukhatme, G. Bekey 558
Sensor Interpretation and Map-Building for Autonomous Mobile Robots
F. E. Schneider, K.-P. Gartner 564
Path Planning for 3-Wheeled Autonomous Mobile Vehicle
D. Janglova, I. Povazan, L Uher, S. Vagner 570

Session Fr2-II: Kinematics and Dynamics of Robots I

The Inverse Dynamical Model of B Type Parallel Manipulators
Plitea N., Jtul T., Fodor G 577
Dynamics of Balanced and Unbalanced Robot Mechanism with Structure of Five Bar Linkage
M. Cavic(Kolarski) 583
Kinematic Group of Third Class as a Consisting Part of Robot Mechanism
M. Zlokolica, N. Poznanovid, M. Cavid(Kolarski), M. Kostid. 589
A New Approach to Modeling Manipulator Dynamics
V. Filaretov, A. Korzun, M. Vukobratovid. 595
On the Quaternions Based Trajectory Generation
K. Dobrovodsky 601
Session Fr2-III: Contact Tasks I
Matched Impedance Control in Robotic Applications. What is Required?
G. A. Ombede, J. P. Simon, O. Champoussin, A. Jutard 606
Contribution to the Position/Force Control of Robot Interacting with Dynamic Environment
R. Stojid,M. Vukobratovid. 614
Modeling and Simulation of Redundant Robot in Contact Task
V. Potkonjak, G. Djordjevid, V. Drenovac 620
Influence of the Environment on the Stability of Shaft Vehicles With Parametric Excitation
and Small Parameter
B. Zajid,M. Vukobratovid. 626
Environment Parameters Identification for the Control of Robotized Machining
D. SeMija.M. Vukobratovid. 632

Session Fr3-I: Kinematics and Dynamics of Robots II

Research Concerning the Dynamical Analysis of Flexible Robots
D.Badiou.J. Posea 639
How to Deal With Euler Angles' Singularities?
M. Kir&mski, S. Pantid. 645
Efficient Algorithm for Solving the Inverse Problem of Redundant Kinematics
C. Fedrowitz, T. Zentner, S. Ditscheid '. 651
Some Analytical Methods to Derive the Dynamical Model of a Single Flexible Link Manipulator
I. Lupea 659
Active Suspension Control of Front-Wheel-Steering Vehicles as Robotized, Multibody Dynamic Systems
A.Rodid,M. Vukobratovid. 665

Session Fr3-II: Contact Tasks II

A New Position Based Force/ Impedance Control for Industrial Robots
D. Surdihvid, J. Kirchhof. 673
Contact Stability Issues in Position Based Force and Impedance Control: Theory and Experiments
D. Surdilovid, M. Vukobratovid. 679
A New Method for Modeling the Dynamic Robot-Environment Interaction Based on the
Generalization of the Canonical Formalism of Classical Mechanics
J. K. Tar, O. Kaynak, J. F. Bito, I. J. Rudas, G. Mester 687
Contribution to Practical Stability Analysis of Robots Interacting with Dynamic Environment
D. Stokid, M Vukobratovid 693
Robust Force Control Using Hoo Approach for a Hydraulic Actuator
Laval Laurent, M'Sirdi Nacer Kouider 699

Session Fr3-III: Robot Design III

Gripper with Electric Drive for Industrial Robots and Manipulators
V. Dobrinov, M. Shivarov 706
Towards Intelligent Handling of Non Rigid Materials
K. Paraschidis, N. Fahantidis.V. Vassiliadis, V. Petridis, Z. Doulgeri. L Petrou, G. Hasapis 710
Investigation of a New Automatic Control Method of Anti Lock Systems for Road Vehicles
N. Janidjevid, Liu Zhaodu 717
An Integrated Robotic-Based System for the On-Site Reinforced Concrete Construction
M. Al-Fares, A. Seireg 723
Channel Segregation or Bandwidth Allocation for Multichanel Multiaccess Protocols
1. E. Pountourakis, E. D. Sykas 729
Analysis and Synthesis of Manipulator with Compliant Joints
D. Chakarov 735
Algorithms and Software Tools for Robotic Welding Workcell Design
E. Kukareko.A. Pashkevich, Y. Yurkevich, Y. Kushelev 741

Late Papers
Designing G-Optimal Experiments for Robot Dynamics Identification
KLizama.D. Surdilovic. 748
Integral Mechatronic System with Controlled Performances
KBelov, V. Geortchev 756