Romansy 9: Proceedings of the Ninth Cism-Iftomm Symposium on Theory and Practice of Robots and Manipulators

ISBN-13: 9783540198345 / Angielski / Miękka / 1993 / 441 str.

Adam Morecki; Giovanni Bianchi; Krzysztof Jaworek

Opis

This book comprises the proceedings of one of the most important international conferences in robotics. The individual contributions focus primarily on mechanical engineering and control and are unique in describing work completed in Eastern and Central European Countries and the former USSR. The annual symposia play an important role in the development of the theory and practice of manipulators, walking machines, robots, and the papers present significant contributions from experts in the field. The connection between biomechanics, robotics, and other related sciences is examined, as well as the biomechanical aspects currently applied in the theory and practice of manipulators and robots. The book is divided into sections covering mechanics, synthesis and design, sensing, control of motion, mobile robots and walking machines, application and performance evaluation.

Spis treści

On micromechanisms and their researches and developments.- New manipulators with simple inverse kinematics.- The semigraphical determination of all real inverse kinematic solutions of general six-revolute manipulators.- An approach to symbolic kinematics of multiloop robot mechanisms.- Analytical form solution of the direct kinematics of a 4–4 fully in-parallel actuated six degree-of-freedom mechanism.- Characterization of redundancy in spatial closed kinematic chains.- Finding collision-free trajectory for redundant manipulator by local information available.- Some effects of the joint's drive systems torsional compliances and the velocity profiles on the 5R manipulator's dynamic accuracy.- Comparing structures of stiffness matrices using invariants.- Kineto-static analysis of cooperative robot manipulators achieving dexterous configurations.- Geometrical decomposition of robot elasticity.- A life devoted to TMM and robotics: Professor M. S. konstantinov.- Multi-criteria optimization of robots for planar trajectory operations.- Planning motions of robotic systems subject to force and friction constraints with an application to a robotic climber.- Feasibility of trajectories in cluttered environments and automatic positioning of the robot.- A new scheme for hybrid force-position control.- An adaptive implicit hybrid position force control of robots: Implementation problems.- Parallel computing of symbolic robot models and control laws: Theory and application on advanced multiprocessor architectures.- Decoupling and suboptimal control for robots.- ‘Dynamic’ multi-functional tactile sensing.- A concurrent interpreted language, including constraints, for robot programming.- Flexible controller for robots equipped with sensors.- A three degree-of-freedom in-parallel actuated manipulator.- Planning workpiece grasp points for cooperating robot movements.- Full envelope dexterous manipulation.- Multi-degree of freedom spherical ultrasonic motor.- A spatial fully-parallel manipulator.- A new approach to the modelling of power grasp.- Design of a carbon fiber robot: Architectural choices and design balancing.- A new actuation system for high-performance torque-controlled manipulators.- Real time kinematics for a 6 dof telerobotic joystick.- Structural and kinematic synthesis of multi — Degree of freedom high-class manipulation devices.- A control scheme for biped walking without impacts.- Methods of evaluation of the power developed in a man's leg during normal walking.- Modelling upper extremity muscles effort under static working conditions.- Development of a coupled tendon drive manipulator with seven degrees-of-freedom.- A basic concept of super rabbit.- Dynamics and control of 6-legged walking machines.- Robotics training station — A new application area in robotics.- Interactive planning using graphical simulation for robot task programming.- Supervision and sensing in flexible assembly.- The robotic milking of cows.- Telemanipulation control of a robotic hand with cooperatingfingers by means of telepresence with a hybrid virtual-real structure.- Control of robot-based assembly cell.- From the round table discussion: The role of dynamic control in contemporary and tomorrow's robotics.