Journal of the Society of Instrument and Control Engineers 

About: Journal of the Society of Instrument and Control Engineers is an academic journal. The journal publishes majorly in the area(s): Adaptive control & Nonlinear system. It has an ISSN identifier of 0447-7235. Over the lifetime, 7290 publications have been published receiving 19174 citations.

Reconfigurable Manufacturing Systems

Abstract: Manufacturing companies in the 21st Century will face unpredictable, high-frequency market changes driven by global competition. To stay competitive, these companies must possess new types of manufacturing systems that are cost-effective and very responsive to all these market changes. Reconfigurability, an engineering technology that deals with cost-effective, quick reaction to market changes, is needed. Reconfigurable manufacturing systems (RMS), whose components are reconfigurable machines and reconfigurable controllers, as well as methodologies for their systematic design and rapid ramp-up, are the cornerstones of this new manufacturing paradigm.

Dynamic Manipulability of Robot Manipulators

Abstract: The concept of dynamic manipulability measure of robot arms is proposed as a quantitative measure of their manipulating ability in positioning and orienting the end-effectors, which takes the arm dynamics into consideration. This measure is defined on the basis of the relation between the joint driving force and the acceleration of the end-effector. Some properties of the measure are established. A two-joint link mechanism is analyzed and its best posture is obtained under certain condition from the viewpoint of this measure. A numerical example is also given to illustrate the utilization of this concept for the design of robot manipulators.

Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling

Abstract: In bilateral control, the operator is coupled with the object at the remote site through the master-slave system and he can feel the object through his kinesthesia. The ideal kinesthetic coupling can be regarded as when the operator can manipulate the system as if he were manipulating the object directly. The authors previously discussed Yoshikawa and Yokokohji (1988) and Yokokohji and Yoshikawa (1989) one degree-of-freedom (DOF) systems in order to achieve this ideal state. In this paper, the discussion is extended into multiple DOF case. First, the ideal responses of master-slave systems are defined. Secondly, new control schemes are proposed for different configuration and for isomorphic configuration arms, respectively. Thirdly, the validity of the proposed control schemes are confirmed by simulations. Lastly, design guide of master and slave arms is discussed in the viewpoint of maneuverability. >