We examine the properties of an integrated, intelligent controller for multifingered manipulators. The discussion addresses the dynamic constraints on computation and resource allocation in systems which must continually adjust objectives and the set of behaviors employed to attain them. We present a means of specifying general force domain tasks and include techniques for reflexive, sensor-based control and for optimal combinatoric grasp synthesis as alternative grasp formation mechanisms. Examples are presented to illustrate the acquisition of information, the incremental refinement of models, the use of uncertain information in reflexive grasp formation, and the use of complete geometric information in optimal grasping.

This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with the required dynamics. The parameter insensitive response provided by this control method is demonstrated on the model of the SCARA robot. Simulation results confirm the validity of accurate tracking capability and the robust performance.

Velocity similarity principle V(θ., ṡ, ub, Qb) = DabV (θ., ṡ, ua, Qa)D ab–1 is presented and used to derive several useful forms of the Jacobian matrix for the manipulator from its basic kinematic equations in 4 X 4 matrix form. The zero reference position representation is used and, therefore, the base system is the only coordinate system utilized in the derivations. For manipulators with a spherical wrist, a modified form of the Jacobian is presented in which the Jacobian columns corresponding to the regional structure are completely decoupled from those corresponding to the wrist structure.

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.

Taylor Hitec Ltd are active in the field of inventive design and successful construction of unique robotic implements for remote working in nuclear power plant and associated waste processing. The company has widened its operation and expertise to provide a concept-to-commission service in consultant and applications engineering for the introduction of robots and FMS in manufacturing and process industries. In the profile presented here are some examples of the manipulators produced by the company and their technical evolution, together with an outline of the successful widening of business into the fields of industrial robotics and flexible manufacturing systems.

The UK Advanced Robotics Research Centre's VERDEX Project (Virtual Environment demote Driving Experiment) is an experimental test bed for investigating telepresence and virtual reality technologies in the design of human-system interfaces for telerobots. The achievements of the Project to date include the transformation of scanning laser rangefinder output to stereo virtual imagery (viewed using the VPL EyePhoneTM), the Teletact® Tactile Feedback Glove (for use with the VPL DataGloveTM), a high-speed, head-slaved stereo TV system, and a T800/i860 SuperVisionTM graphics/video parallel processing system.

Increased speed of inverse dynamics computation is essential for improving the characteristics of robot control systems. This is achieved by reducing the numerical complexity of the models and by introducing parallelism in model computation. In this paper customized symbolic models with a near minimum numerical complexity will be used as a basis for the examination of parallelism in inverse dynamic robot models. A scheduling algorithm for the distribution of computational load onto an arbitrary linear array of pipelined processors will be developed. The proposed algorithm is experimentally evaluated on a transputer network.