Robotic Systems: Advanced Techniques and Applications

Front Matter....Pages i-xiii
Front Matter....Pages 1-1
Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled....Pages 3-10
A General Method for a Closed-Form Solution to Robot Kinematics Problems....Pages 11-18
Fast Implementation of Robotic Manipulator Kinematics using Cordic and Systolic Processors....Pages 19-26
A Formal Framework for Specifying Robot Kinematics....Pages 27-35
Non-Geometrical Parameters Identification for Robot Kinematic Calibration by use of Neural Network Techniques....Pages 37-44
The Use of Skew-Symmetric Cartesian Tensors in Describing Orientations and Invariants of Spatial Rotations....Pages 45-52
An Automatic Verification of Simplified Robot Models....Pages 53-60
A Comparison between Theoretically Derived and Experimentally Verified Dynamic Modelling of a SCARA-Robot....Pages 61-69
Dynamics of Robots Having Supple Bodies....Pages 71-78
A Finite-Elements Model of Two-Joint Robots with Elastic Forearm....Pages 79-86
On the Modeling of the Contact Forces of Constrained Robots....Pages 87-95
Front Matter....Pages 97-97
Passivity and Learning Control for Robot Tasks under Geometric Constraints....Pages 99-107
A Decentralized Adaptive Controller for Robot Manipulator Trajectory Control....Pages 109-116
Robust Control of Robot Arms Using the Variable Structure Approach....Pages 117-124
A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulator....Pages 125-133
An Algorithm for the Nonlinear Adaptive Robot Control Synthesis....Pages 135-142
Model Reference Adaptive Control (MRAC) of Robotic Manipulators using a Modified Output Error Method (MOEM)....Pages 143-150
Application of Modified Generalized Predictive Controllers to Trajectory Control of a Robot Arm....Pages 151-158
Design of Manipulator Trajectories with Minimum Motion Time and Specified Accuracy....Pages 159-166
The Use of Simulation Systems To Control Manually Operated Remote Manipulators, with Long Pure Time Delays....Pages 167-174
Front Matter....Pages 97-97
Path Coordinated Control of Robotic Arms....Pages 175-181
Command Matching for a Constraint Robot System....Pages 183-191
Control of a Flexible Arm for Prescribed Frequency Domain Tolerances: Modelling, Controller Design, Laboratory Experiments....Pages 193-204
Front Matter....Pages 205-205
High-Speed Robot Path Planning in Time-Varying Environment Employing a Diffusion Equation Strategy....Pages 207-215
Path Planning of Transfer Motions for Industrial Robots by Heuristically Controlled Decomposition of the Configuration Space....Pages 217-224
Planning and optimization of geometrical trajectories inside collision-free subspaces with the aid of high order Hermite splines....Pages 225-233
A fast and efficient algorithm for the computation of path constrained time-optimal motions....Pages 235-243
Three-Dimension Abstraction of Convex Space Path Planning....Pages 245-252
An Approach to Real-Time Flexible Path Planning....Pages 253-260
A Path Planning Method for Mobile Robots in a Structured Environment....Pages 261-270
Minimum-Time Motion Planner for Mobile Robots on Uneven Terrains....Pages 271-278
Mobile Robot Trajectory Planning....Pages 279-286
Task Modeling for Planning an Autonomous Mobile Robot....Pages 287-295
An Optimal Solution to the Robot Navigation Planning Problem Based on an Electromagnetic Analogue....Pages 297-303
Real-Time LQG Robotic Visual Tracking....Pages 305-312
Trajectory Tracking for Mobile Robot....Pages 313-320
A Robust Tracking System for Mobile Robot Guidance....Pages 321-332
A Real-Time Multiple Lane Tracker for an Autonomous Road Vehicle....Pages 333-340
Front Matter....Pages 341-341
An Architecture for Intelligent Mobile Robots....Pages 343-350
Software Architecture for an Autonomous Manipulator....Pages 351-358
Front Matter....Pages 341-341
Automatic Control of Mobility....Pages 359-366
A Modular Approach to Mobile Robot Design....Pages 367-374
Environment Representation by a Mobile Robot using Quadtree Encoding of Range Data....Pages 375-382
Perception Planning in Panorama....Pages 383-390
Navigation and Perception Approach of Panorama Project....Pages 391-398
Trajectory generation for mobile robots with clothoids....Pages 399-406
Digital models for autonomous vehicle terrain — following....Pages 407-413
Navigation of a Mobile Robot....Pages 415-422
Robot Navigation and Exploration in an Unknown Environment....Pages 423-430
The Optimal Next Exploration: Uncertainty Minimization in Mobile Robot Self-Location....Pages 431-438
A Parallel Blackboard Model for Mobile Robotics control....Pages 439-447
Front Matter....Pages 449-449
Graphical Robot Programming: Requirements and Existing Systems....Pages 451-458
Practical Error Compensation for Use in Off-Line Programming of Robots....Pages 459-467
Intelligent Programming of Force-Constrained Cooperating Robots....Pages 469-477
Sensing Strategies Generation For Monitoring Robot Assembly Programs....Pages 479-486
Integration of a Constraint Scheme in a Programming Language for Multi-Robots....Pages 487-494
Software architecture and simulation tools for autonomous mobile robots....Pages 495-503
A Logical Framework of Sensor/Data Fusion....Pages 505-513
Maintaining World Model Consistency By Matching Parametrized Object Models to 3D Measurements....Pages 515-522
Front Matter....Pages 523-523
A Model of Manned Robotic Systems....Pages 525-533
Front Matter....Pages 523-523
Design, construction and performance of an anthropomorphic robot head....Pages 535-542
Multi-Fingered Robot Hands....Pages 543-550
Multidirectional Pneumatic Force Sensor For Grippers....Pages 551-558
Grasping in an Unstructured Environment using a Coordinated Hand Arm Control....Pages 559-567
Effective Integration of Sensors and Industrial Robots by Means of a Versatile Sensor Control Unit....Pages 569-576
Identification and Evaluation of Hydraulic Actuator Models for a Two-Link Robot Manipulator....Pages 577-584
A Modular Architecture for Controlling Autonomous Agents....Pages 585-593
Development of Intelligent Control for Robot Cells using Knowledge Based Simulation....Pages 595-602
Recent Advances in Robot Grinding....Pages 603-610
A low cost robot based integrated manufacturing system for the garment industry....Pages 611-618
Vision for Robot Guidance in Automated Butchery....Pages 619-626
Use of Robots in Surgical Procedures....Pages 627-635
Back Matter....Pages 637-641