Robot control 1991 : selected papers from the 3rd IFAC/IFIP/IMACS Symposium [on Robot Control], Vienna, Austria, 16-18 September 1991

Content: 
IFAC SYMPOSIA SERIES, Page ii
Front Matter, Page iii
Copyright, Page iv
3rd IFAC/IFIP/IMACS SYMPOSIUM ON ROBOT CONTROL (SYROCO\'91), Page v
PREFACE, Pages vii-viii
ADAPTIVE INTERFACES FOR ROBOTS, Pages 1-7
COMPARISON OF DESCRIPTOR MODELS AND REDUCED DYNAMIC MODELS FOR CONSTRAINED ROBOTS, Pages 9-14
DYNAMIC MODEL SIMPLIFICATION OF INDUSTRIAL ROBOT MANIPULATORS, Pages 15-20
ROBOTICS IN SPACE: DISTURBANCES OF PAYLOADS, Pages 21-26
ON THE STATISTICAL MODELLING OF MECHANICAL MANIPULATORS, Pages 27-32
MINIMUM DYNAMICS PARAMETERS OF ROBOT MODELS, Pages 33-38
SELF-TUNING CONTROL OF A COMMERCIAL MANIPULATOR BASED ON AN INVERSE DYNAMIC MODEL, Pages 39-44
OFF-LINE IDENTIFICATION/ESTIMATION OF PARAMETERS FOR TWO D.O.F. SCARA ROBOT, Pages 45-50
ON THE MATHEMATICAL MODELING OF ROV\'S, Pages 51-54
COULOMB FRICTION AND SIMULATION PROBLEMS, Pages 55-60
POSITION CONTROL FOR ELASTIC POINTING AND TRACKING SYSTEMS WITH GEAR PLAY AND COULOMB FRICTION AND APPLICATION TO ROBOTS, Pages 61-70
FRICTION COMPENSATION VIA DISTURBANCE OBSERVER, Pages 71-74
DIRECT KINEMATICS OF THE REVERSE STEWART PLATFORM MECHANISM, Pages 75-80
A SOLUTION TO THE GENERALIZED INVERSE KINEMATIC PROBLEM, Pages 81-86
A FAST ALGORITHM FOR INVERSE KINEMATICS OF UNSOLVABLE MANIPULATORS: SEMI-ITERATIVE AND SEMI-ANALYTIC METHOD, Pages 87-91
ISSUES IN ACCELERATION RESOLUTION OF ROBOT REDUNDANCY, Pages 93-98
RESOLVING REDUNDANCY THROUGH A WEIGHTED DAMPED LEAST-SQUARES SOLUTION, Pages 99-104
BACKWARDS SOLUTION OF AN EIGHT-DEGREES-OF-FREEDOM KINEMATIC STRUCTURE, Pages 105-110
SIX DEGREES-OF-FREEDOM TASK SPACE CONTROL FOR THE PUMA 560 MANIPULATOR: AN EXPERIMENTAL STUDY, Pages 111-116
ROBUST CONTROL OF ROBOT MANIPULATORS WITH FAST DYNAMICS, Pages 117-121
SENSITIVITY ANALYSIS OF ROBOT CONTROL SYSTEMS BASED ON DISTURBANCE OBSERVERS, Pages 123-128
MODEL-BASED FORCE SENSING FOR AN INDUSTRIAL ROBOT BY USING DRIVE SIGNALS, Pages 129-134
ADVANCED INDUSTRIAL ROBOT CONTROL USING EXTENDED KALMAN FILTER, Pages 135-140
ON LINE DISCRETE-TIME CONTROL OF INDUSTRIAL ROBOTS, Pages 141-147
POINT-TO-POINT MOTION OF ROBOTIC MANIPULATORS: DYNAMICS, CONTROL SYNTHESIS AND OPTIMIZATION, Pages 149-152
ADAPTIVE ‘PD+’ CONTROL OF RIGID ROBOT MANIPULATORS, Pages 153-158
PASSIVITY OF ROBOT DYNAMICS IN LEARNING CONTROL, Pages 159-164
A FUZZY EXPERT TUNER FOR ROBOT CONTROLLER, Pages 165-169
SELF-TUNING SELF-ORGANIZING FUZZY ROBOT CONTROL, Pages 171-176
HYBRID FORCE-POSITION CONTROL FOR ROBOTS IN CONTACT WITH DYNAMIC ENVIRONMENTS, Pages 177-182
ON THE STABILITY OF A FORCE/POSITION CONTROL SCHEME FOR ROBOT MANIPULATORS, Pages 183-188
AN IJC BASED FORCE-POSITION CONTROL OF A ROBOT ARM, Pages 189-194
SOFTWARE SYSTEM FOR SIMULATION AND CONTROL SYNTHESIS OF ROBOTS FOR METAL MACHINING PROCESSES, Pages 195-200
FORCE CONTROL FOR TRACKING A SET OF TASKS IN PRESENCE OF CONSTRAINTS, Pages 201-206
ON THE MODEL-BASED CONTROL OF A HYDRAULIC LARGE RANGE ROBOT, Pages 207-212
CAD AND IMPLEMENTATION OF DIGITAL CONTROLLERS FOR THE FAST TUD-HYDRAULIC TEST ROBOT MANIPULATORS, Pages 213-218
NONLINEAR CONTROL OF A HYDRAULIC ROBOT, Pages 219-223
MINIMAL POWER CONSUMPTION FOR AN INDUSTRIAL ROBOT WITH 6 AXES, Pages 225-229
OBJECT CONTOUR SURFACE GENERATION FOR ROBOTIC APPLICATIONS, Pages 231-236
OPTIMAL SCHEDULING OF FUNCTIONAL POINTS OF A TRAJECTORY GENERALIZATION TO CLUTTERED ENVIRONMENT, Pages 237-241
PREDICTIVE CONTROL OF A MANIPULATOR IN A CLUTTERED ENVIRONMENT, Pages 243-246
UNCERTAINTY MODELLING IN CONFIGURATION SPACE FOR ROBOTIC MOTION PLANNING, Pages 247-252
FAST COLLISION-FREE MOTION-PLANNING FOR ROBOT MANIPULATORS BASED ON PARALLELIZED ALGORITHMS, Pages 253-258
PATH-PLANNING SOLUTION BASED ON A POTENTIAL FIELD NON UNIFORMLY DISTRIBUTED, Pages 259-264
A STOCHASTIC CONTROL FRAMEWORK FOR MOVING VEHICLES IN CHANGING ENVIRONMENTS, Pages 265-270
A NEURAL CONTROLLER FOR MOBILE ROBOTS, Pages 271-275
COMPUTATIONAL COMPLEXITY OF PATH PLANNING ALGORITHMS BASED ON SAFE TRIANGLES AND QUADTREE AS WORK SPACE REPRESENTATIONS: A COMPARISON, Pages 277-281
CONTROL ARCHITECTURE FOR AN ELECTRICAL, ACTIVELY BALANCED MULTI-LEG ROBOT, BASED ON EXPERIMENTS WITH A PLANAR ONE LEG MACHINE, Pages 283-290
AN OBJECT-DIRECTED PATHPLANNING SYSTEM FOR MULTIPLE ROBOTS WITH SINGULARITY-COPING PROPERTIES, Pages 291-296
FLEXIBLE, ONLINE COLLISION AVOIDANCE IN MULTI-ROBOT SYSTEMS, Pages 297-302
COLLISION AVOIDANCE OF THE DELFT INTELLIGENT ASSEMBLY CELL, Pages 303-308
A CONTROL SYSTEM FOR TWO ROBOT ARMS COORDINATION, Pages 309-314
HEURISTIC DECENTRALIZED CONTROL OF MULTI ARMS COORDINATED SYSTEMS, Pages 315-320
SLENDERNESS OF FLEXIBLE ROBOT LINKS: DYNAMIC MODEL SELECTION, Pages 321-326
SIMULATION OF ROBOTS WITH FLEXIBLE LINKS, Pages 327-332
DYNAMIC MODELLING OF INDUSTRIAL MANIPULATOR JOINTS, Pages 333-337
ENERGY BASED DETERMINATION OF IDENTIFIABLE PARAMETERS OF FLEXIBLE LINK ROBOTS, Pages 339-344
AN EXTENDED LOAD COMPENSATION METHOD TO CONTROL FLEXIBLE JOINT ROBOTS, Pages 345-350
COMPOSITE COMPUTED TORQUE CONTROL OF ROBOTS WITH ELASTIC MOTOR TRANSMISSIONS, Pages 351-355
A PD CONTROL LAW FOR TRAJECTORY TRACKING OF FLEXIBLE JOINT ROBOTS, Pages 357-362
PATH FOLLOWING FOR A FLEXIBLE JOINT ROBOT, Pages 363-368
ADAPTIVE TRAJECTORY TRACKING FOR FLEXIBLE JOINT MANIPULATORS WITHOUT JOINT ACCELERATION MEASUREMENT, Pages 369-374
DYNAMIC CONTROL OF FLEXIBLE JOINT ROBOTS WITH CONSTRAINED END-EFFECTOR MOTION, Pages 375-380
QUASI-STATIC COMPENSATION OF FORCE ERRORS FOR FLEXIBLE MANIPULATORS, Pages 381-385
ON THE CONTROL OF THE FLEXIBLE MANIPULATOR ARM, Pages 387-391
ITERATIVE LEARNING CONTROL OF A ONE-LINK FLEXIBLE MANIPULATOR, Pages 393-398
STATE-FEEDBACK CONTROLLER FOR A TWO-DEGREE-OF-FREEDOM FLEXIBLE ROBOT ARM, Pages 399-404
FLEXIBILITY CONTROL OF A LIGHTWEIGHT ROBOT ARM MODULE, Pages 405-410
ANALYTICAL CALCULATION OF THE FEEDFORWARDS UP TO THEIR SECOND DERIVATIVES AND REALIZATION OF AN OPTIMAL SPATIAL SPLINE TRAJECTORY FOR A 6-DOF ROBOT, Pages 411-416
FEASIBILITY OF PARALLELIZATION OF NONLINEAR FEEDBACK METHOD OF ROBOT ARM CONTROL, Pages 417-422
TRANSPUTER NETWORK CONTROLS ROBOT AXES, Pages 423-427
ROPSIM, A ROBOT OFF-LINE PROGRAMMING AND REAL-TIME SIMULATION SYSTEM INCLUDING DYNAMICS, Pages 429-434
SIMULATION ENVIRONMENT FOR ROBOT CONTROL DESIGN, Pages 435-440
PROGRAM PACKAGE FOR GENERATION OF CONTROL LAWS FOR ROBOT MANIPULATORS IN SYMBOLIC FORM, Pages 441-446
AN EXPERT SYSTEM FOR ROBOTIC ARC WELDING ALUMINIUM ALLOYS, Pages 447-450
ADP: AN ARC WELDING DIAGNOSIS AND PLANNING AID, Pages 451-456
FORCE AND TORQUE SENSORIAL SUBSYSTEM OF ROBOT WRIST, Pages 457-461
ROBOT CONTROL SYSTEM USING SLIP DISPLACEMENT SIGNAL FOR ALGORITHM CORRECTION, Pages 463-467
ACCOMMODATION BASED ON THE COMPLIANT ROBOT WRIST WITH SIX D.O.F. DISPLACEMENT/FORCE SENSING CAPABILITY, Pages 469-473
ACTIVE SENSING STRATEGIES WITH NON-CONTACT COMPLIANT MOTIONS FOR CONSTRAINT BASED RECOGNITION, Pages 475-480
AN OPTOELECTRONIC SYSTEM FOR FORCE-TORQUE SENSING AND FEEDBACK ALGORITHMS PROCESSING, Pages 481-486
A NEW MEASUREMENT SYSTEM FOR ADVANCED MODELLING AND IDENTIFICATION FOR ROBOT CONTROL, Pages 487-493
CONTROLLING THE RELATIVE POSITION USING COHERENT ULTRASONICS, Pages 495-500
NEW METHODS FOR DETECTING MOVING OBSTACLES USING A PASSIVE 3-D VISUAL SENSOR, Pages 501-506
CLOSED LOOP ROBOT CONTROL BY REAL TIME VISUAL SENSOR, Pages 507-512
ROBOT CONTROL USING STEREO EYES IN HAND TECHNIQUE, Pages 513-518
PROXIMITY MATRIX SENSOR IMAGE PROCESSING, Pages 519-524
HIGH BANDWIDTH ORIENTATION MEASUREMENT AND CONTROL BASED ON COMPLEMENTARY FILTERING, Pages 525-530
A RUNAWAY PROTECTION SYSTEM FOR ROBOTS BASED ON ACCELERATION MEASUREMENTS, Pages 531-535
INVESTIGATIONS ON LIGHTWEIGHT INDUSTRIAL ROBOTS, Pages 537-541
CONTROL ALGORITHM AND CONTROLLER FOR THE DIRECT DRIVE DELTA ROBOT, Pages 543-549
ROBOT SAPIENS ON THE MOVE TO … PERSONAL ROBOTS, Pages 551-558
AUTHOR INDEX, Pages 559-560
KEYWORD INDEX, Pages 561-564
SYMPOSIA VOLUMES, Pages IBC1-IBC2
WORKSHOP VOLUMES, Page IBC2