Theory and practice of robots and manipulators: proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy]
Gespeichert in:
| Format: | Tagungsbericht Buch |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
Wien [u.a.]
Springer
1997
|
| Schriftenreihe: | International Centre for Mechanical Sciences <Udine>: Courses and lectures
381 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | X, 432 S. |
| ISBN: | 3211829032 |
Internformat
MARC
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Datensatz im Suchindex
| _version_ | 1804126148590829568 |
|---|---|
| adam_text | CONTENTS
PREFACE
OPENING LECTURE:
Mobile Manipulator Systems
O.Khatib
......................................................................................................................... 3
CHAPTER I: Mechanics
-
1
Towards Reducing Thruster-Flexibility Interactions in Space Robots
E. Martin, E. Papadopoulos, J. Angeles
....................................................................... 13
Modeling and Optimization of the Tube-Crawling Robot
F.L. Chernousko, N.N. Bolotnik
.................................................................................... 21
An Investigation of a Quality Index for the Stability of In-Parallel Planar
Platform Devices
J. Lee, J. Duffy, M. Keler
............................................................................................... 27
Workspaces of Planar Parallel Manipulators
J-P. Merlet, CM.
Gosselin,
N.
Mouly............................................................................
37
Nonlinear Control of a Parallel Robot Including Motor Dynamics
L.
Beji,
A. Abichou,
P.
Joli, M.
Pascal
.......................................................................... 45
An Inverse Force Analysis of the Spherical 3-DOF Parallel Manipulator with
Three Linear Actuators Considered as Spring System
J. Knapczyk, G.
Tora ..................................................................................................... 53
CHAPTER
Π:
Mechanics-II
Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator
R.
Cieślak,
A. Morecki
................................................................................................... 63
Vibration Suppressing for Hydraulically Driven Large Redundant Manipulators
M. Schneider, M.
Hiller ................................................................................................. 73
Nonlinear Dynamics of Computer Controlled Machines
G.
Stépán,
E.
Enikov,
T.
Müller ..................................................................................... 81
Identification and Compensation of Gear Friction for Modeling of Robots
M. Daemi, B.
Heimann .................................................................................................. 89
CHAPTER III: Synthesis and Design
Designing Manipulators for Both Kinematic and Dynamic
Isotropie
Properties
R. Matone,
B.Roth ......................................................................................................... 99
viu
Contents
Group
Theoretical Synthesis of Binary Manipulators
G.S. Chirikjian
............................................................................................................. 107
Distributed Kinematic Design from Task Specification
S. Régnier,
F.
В.
Ouezdou, P. Bidaud
......................................................................... 115
Optimal Design of a Shape Memory Alloy Actuator for Microgrippers
N.
Troisfontaine, Ph. Bidaud
....................................................................................... 123
CHAPTER IV: Walking Machines and Mobile Robots
-
1
On Direct-Search Optimization of Biped Walking
P. Kiriazov, W. Schiehlen
............................................................................................ 133
Development of a Biped Walking Robot Adapting to the Real World
—
Realization of Dynamic Biped Walking Adapting to the Humans Living Floor
J. Yamaguchi, A. Takanishi
......................................................................................... 141
Simulation of an Anthropomorphic Running Robot
(Using the Multibody Code
MECHANICA
Motion)
H. De
Man, D. Lefeber, J.
Vermeulen,
В.
Verreist ...................................................... 149
Gait Control Method of Robot and Biological Systems by Use of HOJO-Brain
Y.Sankai
...................................................................................................................... 157
Gait Rhythm Generators of a Two Legged Walking Machine
T.Zielińska
.................................................................................................................. 165
CHAPTER V. Walking Machines and Mobile Robots
-
II
Development of a Mechanical Simulation of Human Walking
K.
Kędzior,
A. Morecki, M. Wojtyra, T. Zagrajek, T.
Zielińska,
A. Goswami, M. Waldron, K. Waldron
........................................................................ 175
Mechanical Design of an Anthropomorphic Electropneumatic Walking Robot
G. Figliolini, M. Ceccarelli
......................................................................................... 189
Energetic Analysis of Three Classical Structures of Walking Robots Leg
O. Bruneau, F. Ben Ouezdou
...................................................................................... 197
Dynamic Control of Wheeled Mobile Robot Using Sliding Mode
P. Ruaux, G. Bourdon, S. Delaplace
........................................................................... 205
Simulation Study of a Group-Behavior of Micro-Robots on the Model
of Insect s Behavior
K. Matsushima, Y. Hayashibara, K. Nakamoto
.......................................................... 213
CHAPTER VI: Walking Machines and Mobile Robots
-
III
Active Coordination of Robotic Terrain-Adaptive Wheeled Vehicles
for Power Minimization
S.C. Venkataraman,
S.V.
Sreenivasan,
K.J.
Waldron
................................................. 223
Pulse Width Modulated Control for the Dynamic Tracking of Wheeled
Mobile Robots
X. Feng,
S.A.
Velinsky
................................................................................................. 233
Contents ix
Manoeuvre
Analysis of Multilegged Walking Robots with Dynamic Constraints
Between Leg Propulsors
A.P. Bessonov, K.S. Tolmachov, N.V. Umnov
............................................................ 241
CHAPTER Vlb: Biomechanical Aspects of Robots and Manipulators
Biomechanical Aspect of a Mastication Robot
H. Takanobu, A. Takanishi
.......................................................................................... 251
A Strategy for the Finger-Arm Coordinated Motion
—
Analysis of Human Motion
in Violin Playing
K. Shibuya, S.
Sugano
................................................................................................. 259
CHAPTER
VII:
Control of Motion
-
I
High Performance Control of Manipulators Using Base Force/Torque Sensing
G. Morel, S. Dubowsky
................................................................................................ 269
Control of a Redundant
Scara
Robot in the Presence of Obstacles
W.
Risse, M.
Hiller ...................................................................................................... 277
Experiments of Kinematic Control on a Two-Robot System
F. Caccavale, P. Chiacchio, S. Chiaverini, B.
Siciliano
............................................. 285
Optimal Path Planning for Moving Objects
K.
Łasiński,
M. Galicki, P.
Gawlowicz
........................................................................ 293
Stiffness Control of an Object Grasped by a Multifingered Hand
K. Tanie, H.
Maekawa,
Y. Nakamura
.......................................................................... 301
CHAPTER
VIII:
Control of Motion
-
II
Practical Stabilisation of Robots Interacting with Dynamic Environment
by Decentralised Control
D. Stokic, M. Vukobratovic
......................................................................................... 311
Control of Redundant Robots at Singularities in Degenerate Directions
E.
Malis,
L.
Morin,
S. Boudet
...................................................................................... 319
Application of Neural Networks for Control of Robot Manipulators-Simulation
and Implementation
T.
Uhi,
M.
Szymkat,
T. Bojko, Z. Korendo, J. Rod
...................................................... 327
CHAPTER IX: Control of Motion
-
III
Active Force Control of Pneumatic Actuators
H.
Busch,
J. Hewit
....................................................................................................... 337
Using Backpropagation Algorithm for Neural Adaptive Control: Experimental
Validation on an Industrial Mobile Robot
P. HenaffS. Delaplace
............................................................................................... 347
Hopfield s Artificial Neural Networks in Multiobjective Optimization Problems
of Resource Allocations Control
J. Balicki, Z.
Kitowski
.................................................................................................. 355
χ
Contents
CHAPTER X: Sensing and Machine Intelligence
Type Synthesis of Contact Sensing Elements for Robotic Fixturing
W. W. Nederbragt, B.Ravani
.......................................................................................... 365
Object-Oriented Approach to Programming a Robot System
С
Zieliński....................................................................................................................
373
Contact Tasks Realization by Sensing Contact Forces
B. Borovac, L.
Nagy,
M. Šabli
....................................................................................... 381
CHAPTER XI: Application and Performance Evaluation
Application of Force Control in Telerobotics
R. Bicker, D. Glennie, Ow Sin Ming
............................................................................. 391
Development and Application of the TELBOT System
-
A New Tele Robot System
W.
Wälischmiller,
H.-Y. Lee
.......................................................................................... 399
A Decision-Making System for the Initial Stage Implementation
of Assembly Strategies
C.J. Tsaprounis, N.A. Aspragathos, A. Denstoras
........................................................ 409
APPENDIX A: Programme and Organising Committee
.............................................. 421
APPENDIX B: List of Participants
................................................................................. 427
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| spelling | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] Ed. by A. Morecki ... RoManSy 11 Wien [u.a.] Springer 1997 X, 432 S. txt rdacontent n rdamedia nc rdacarrier International Centre for Mechanical Sciences <Udine>: Courses and lectures 381 Manipulator (DE-588)4037349-6 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf (DE-588)1071861417 Konferenzschrift 1996 Udine gnd-content Roboter (DE-588)4050208-9 s DE-604 Manipulator (DE-588)4037349-6 s Morecki, Adam 1929-2001 Sonstige (DE-588)12149151X oth RoManSy 11 1996 Udine Sonstige (DE-588)2164252-7 oth International Centre for Mechanical Sciences <Udine>: Courses and lectures 381 (DE-604)BV000015032 381 Digitalisierung TU Muenchen application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007828226&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] International Centre for Mechanical Sciences <Udine>: Courses and lectures Manipulator (DE-588)4037349-6 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4037349-6 (DE-588)4050208-9 (DE-588)1071861417 |
| title | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] |
| title_alt | RoManSy 11 |
| title_auth | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] |
| title_exact_search | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] |
| title_full | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] Ed. by A. Morecki ... |
| title_fullStr | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] Ed. by A. Morecki ... |
| title_full_unstemmed | Theory and practice of robots and manipulators proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] Ed. by A. Morecki ... |
| title_short | Theory and practice of robots and manipulators |
| title_sort | theory and practice of robots and manipulators proceedings of the eleventh cism iftomm symposium romansy 11 held july 1 4 1996 udine italy |
| title_sub | proceedings of the Eleventh CISM-IFToMM Symposium ; RoManSy 11 [held July 1 - 4, 1996, Udine, Italy] |
| topic | Manipulator (DE-588)4037349-6 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Manipulator Roboter Konferenzschrift 1996 Udine |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007828226&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000015032 |
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