Romansy 6: Proceedings of the Sixth Cism-Iftomm Symposium on Theory and Practice of Robots and Manipulators

ISBN-13: 9781468469172 / Angielski / Miękka / 2012 / 656 str.

A. Morecki; G. Bianchi; K. K?dzior

Spis treści

1 Opening Session / Jean Vertut Memorial Session, Eulogy.- Advanced Teleoperation. Introductory Paper. The Advanced Teleoperation Project.- Advanced Teleoperation (I). Control and Supervision in Computer Aided Teleoperation.- Advanced Teleoperation (II). The Generalized Information Feedback Concept in Computer-Aided Teleoperation.- Advanced Teleoperation (III). An Integrated Experiment.- Analysis of a Robot Wrist Device for Mechanical Decoupling of the End-Effector Position and Orientation.- 2 Mechanics 1.- Robot Motion: Configuration Analysis of Redundant and Non Redundant Manipulators.- Analysis of the Positioning and Orientation Accuracy in 6R Manipulators (Direct Task).- A Unified Approach to Modelling of Flexible Robot Arms.- Solving the Inverse Kinematic Problem for Robotic Manipulators.- Determination of the Accuracy of Flexible Automatic Positioning Module with Clearances.- Invariant Kinestatic Filtering.- 3 Mechanics 2.- Redundant Manipulators and Kinematic Singularities The Operational Space Approach.- Modelling and Simulation of Mechanical Process in Hyperstatical Gripping with n-Contact Points.- Computer Aided Modelling of Pneumo-Hydraulic Robots.- A Cartesian Model of Manipulator Kinematics.- A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist.- Dynamic Equations of General Robots by Kane’s Method.- The Role of Delay in Robot Dynamics.- 4 Synthesis and Design 1.- Smart Hand Systems for Robotics and Teleoperation.- A Mathematical Model of a Flexible Manipulator of the Elephant’s-Trunk-Type.- Analytical Design of Two-Revolute Open Chains.- On a Fundamental Study of Micro Mechanical Gripper Using Shape Memory Alloy (SMA) Actuator.- The Kinematic Design and Mass Redistribution of Manipulator Arms for Decoupled and Invariant Inertia.- Graphical-Interactive System for CAD and Simulation of Manipulation Systems.- 5 Sensing and Machine Intelligence 1.- Force Feedback in Telemanipulators.- Theoretical and Experimental Investigations of Optical Fibre Reflective Sensors for Robotics.- Task Specification and Closed Loop Control of Manipulators in the Presence of External Sensors.- Adaptive Force Control of Grippers Taking into Account the Dynamics of Objects.- Bilateral Remote Control with Dynamic Reflexion.- 6 Control of Motion 1.- Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot.- A Model-Based Expert System for Strategical Control Level of Manipulation Robots.- Robot-Task Adaptability by Semi-Local Correction without Contact.- Robot Control Synthesis in Conjunction with Moving Workpieces.- Dynamic Command Motion Tuning for Robots. A Self Learning Algorithm.- 7 Sensing and Machine Intelligence 2.- C-Surface Theory Applied to Force-Feedback Control of Robots.- Experimental Investigation of Active Force Control of Robot and Manipulator Arms.- Automatic Grasp Planning. An Operation Space Approach.- A Method of Optical Processing in the Robot Vision.- Tridimensional Optical Syntaxer.- 8 Locomotion and Walking Machines.- Towards Generalized Concepts and Tools for Unconventional Mobile Robots. General Languages, Mobility Modes.- Mobile Robotic Systems for Use in Unstructured Terrain.- Wall Climbing Vehicle Using Internally Balanced Magnetic Unit.- Experimental Development of a Walking Transport Robot.- Legs that Deform Elastically.- Features of Mechanisms Synthesis of Walking Robot Propelling Agents.- Avoiding Obstacles by a Mobile Robotized Vehicle.- 9 Application and Performance Evaluation.- The Automation of the Mine Support Erection Technology with Remotely-Controlled Manipulators.- Experimental Investigations of Robots and Manipulators.- Minimization of Vibrations of a Gantry Manipulator During Positioning.- Experimental Evaluation of Feedforward and Computed Torque Control.- Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics.- 10 Synthesis and Design 2.- Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand.- Progress towards a Robotic Aid for the severely Disabled.- Logical Structures for Collision Avoidance in Assembly with Robots.- Repositioning-Unit for very Fine and Accurate Displacements Analysis and Design.- 11 Synthesis and Design 3.- Polyarticulated Mechanical Structure for Decoupling the Position and Orientation of a Robot.- Application of I-Coordinates in Robotics.- Design of Spring Mechanisms for Balancing the Weight of Robots.- Structural and Geometrical Systematization of Spatial Positioning Kinematic Chains Employed in Industrial Robots.- Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment.- 12 Control of Motion 2.- Contribution to Solving Dynamic Robot Control in Machining Process.- An Approach to Development of Real-Time Robot Models.- Time-Optimal Robotic Manipulator Task Planning.- Time-Optimal Motions of Some Robotic Systems.- Frequency Space Synthesis of a Robust Dynamic Command.- Structure Strategy Problem on a Redundant Manipulator.- Participants.