ROMANSY 11: Theory and Practice of Robots and Manipulators

Front Matter....Pages ii-x
Front Matter....Pages 1-1
Mobile Manipulator Systems....Pages 3-10
Front Matter....Pages 11-11
Towards Reducing Thruster-Flexibility Interactions in Space Robots....Pages 13-20
Modeling and Optimization of the Tube-Crawling Robot....Pages 21-26
An Investigation of a Quality Index for the Stability of In-Parallel Planar Platform Devices....Pages 27-35
Workspaces of Planar Parallel Manipulators....Pages 37-44
Nonlinear Control of a Parallel Robot Including Motor Dynamics....Pages 45-52
An Inverse Force Analysis of the Spherical 3-DOF Parallel Manipulator with Three Linear Actuators Considered as Spring System....Pages 53-60
Front Matter....Pages 61-61
Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator....Pages 63-72
Vibration Suppressing for Hydraulically Driven Large Redundant Manipulators....Pages 73-80
Nonlinear Dynamics of Computer Controlled Machines....Pages 81-88
Identification and Compensation of Gear Friction for Modeling of Robots....Pages 89-96
Front Matter....Pages 97-97
Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties....Pages 99-106
Group Theoretical Synthesis of Binary Manipulators....Pages 107-114
Distributed Kinematic Design from Task Specification....Pages 115-122
Optimal Design of a Shape Memory Alloy Actuator for Microgrippers....Pages 123-130
Front Matter....Pages 131-131
On Direct-Search Optimization of Biped Walking....Pages 133-140
Development of a Biped Walking Robot Adapting to the Real World....Pages 141-148
Simulation of an Anthropomorphic Running Robot Using the Multibody Code Mechanica Motion....Pages 149-156
Gait Control Method of Robot and Biological Systems by Use of Hojo-Brain....Pages 157-164
Gait Rhythm Generators of a Two Legged Walking Machine....Pages 165-171
Front Matter....Pages 173-173
Development of a Mechanical Simulation of Human Walking....Pages 175-187
Mechanical Design of an Anthropomorphic Electropneumatic Walking Robot....Pages 189-196
Energetic Analysis of Three Classical Structures of Walking Robots Leg....Pages 197-204
Dynamic Control of Wheeled Mobile Robot Using Sliding Mode....Pages 205-212
Simulation Study of a Group-Behavior of Micro-Robots on the Model of Insect’s Behavior....Pages 213-219
Front Matter....Pages 221-221
Active Coordination of Robotic Terrain-Adaptive Wheeled Vehicles for Power Minimization....Pages 223-232
Pulse Width Modulated Control for the Dynamic Tracking of Wheeled Mobile Robots....Pages 233-240
Manoeuvre Analysis of Multilegged Walking Robots with Dynamic Constraints Between Leg Propulsors....Pages 241-248
Front Matter....Pages 249-249
Biomechanical Aspect of a Mastication Robot....Pages 251-258
A Strategy for the Finger-Arm Coordinated Motion Analysis of Human Motion in Violin Playing....Pages 259-266
Front Matter....Pages 267-267
High Performance Control of Manipulators Using Base Force/Torque Sensing....Pages 269-276
Control of a Redundant SCARA Robot in the Presence of Obstacles....Pages 277-284
Experiments of Kinematic Control on a Two-Robot System....Pages 285-292
Optimal Path Planning for Moving Objects....Pages 293-300
Stiffness Control of an Object Grasped by a Multifingered Hand....Pages 301-308
Front Matter....Pages 309-309
Practical Stabilisation of Robots Interacting with Dynamic Environment by Decentralised Control....Pages 311-318
Control of Reduntant Robots at Singularities in Degenerate Directions....Pages 319-326
Application of Neural Networks for Control of Robot Manipulators-Simulation and Implementation....Pages 327-334
Front Matter....Pages 335-335
Active Force Control of Pneumatic Actuators....Pages 337-346
Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot....Pages 347-354
Front Matter....Pages 335-335
Hopfield’s Artificial Neural Networks In Multiobjective Optimization Problems of Resource Allocations Control....Pages 355-362
Front Matter....Pages 363-363
Type Synthesis of Contact Sensing Elements for Robotic Fixturing....Pages 365-372
Object-Oriented Approach to Programming a Robot System....Pages 373-380
Contact Tasks Realization by Sensing Contact Forces....Pages 381-388
Front Matter....Pages 389-389
Application of Force Control in Telerobotics....Pages 391-398
Development and Application of the Telbot System....Pages 399-408
A Decision-Making System for the Initial Stage Implementation of Assembly Strategies....Pages 409-418
Back Matter....Pages 419-432