Romansy 13: Theory and Practice of Robots and Manipulators

Front Matter....Pages ii-xi
Front Matter....Pages 1-1
The Theoretical Basis for the Mechanical Aspects of Robot Design....Pages 3-12
Front Matter....Pages 13-13
New Frontiers in Robotics....Pages 15-39
Front Matter....Pages 41-41
Coordination of Parallel Arrays of Binary Actuators....Pages 43-50
A Formal-Numerical Approach to Determine the Accuracy of a Parallel Robot in a 6D Workspace....Pages 51-58
Symbolic Calculation of Robots’ Base Reaction-Force/Torque Equations with Minimal Parameter Set....Pages 59-65
Mechanics of the New UWA Robot....Pages 67-74
On Kinematic Singularities of Nonholonomic Robotic Systems....Pages 75-84
Experimental Determination of Robot Workspace by Means of CATRASYS (Cassino Tracking System)....Pages 85-92
A Pantograph Mechanism With Large-Deflective Hinges for Miniature Surface Mount Systems....Pages 93-102
Adaptive λ -Tracking for Rigid Manipulators....Pages 103-112
Mobility Analysis of the 3-PSP Mechanism....Pages 113-120
Detaching and Grasping Strategy Inspired by Human Behavior....Pages 121-130
Cross-Country Capabilities of a Walking Robot: Geometrical, Kinematic and Dynamic Investigation....Pages 131-138
Optimization of Robot Gripper Parameters Using Genetic Algorithms....Pages 139-146
Design of Spatial Fixed-Sequence Manipulator for Precise and Approximate Reproduction of Gripper Predetermined Positions....Pages 147-154
Front Matter....Pages 155-155
A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks....Pages 157-167
Motion Coordination and Hybrid Position/Force Control of a Mobile Micromanipulator Actuated by Direct-Drive Vibromechanisms....Pages 169-178
Coordination Control of a Human/Manipulator System....Pages 179-185
Stability of Cooperating Manipulators with Symmetric Position/Force Control and Time Delay....Pages 187-195
Remote Control of Periodic Robot Motion....Pages 197-203
Front Matter....Pages 155-155
Dynamic Control of Multiple Joint Manipulators Interacting with Dynamic Environment....Pages 205-214
A Comparison Between PD Controls in Terms of Normalized and Unnormalized Quasi-Velocities....Pages 215-222
Front Matter....Pages 223-223
The Modular Design of a Long-Reach, 11-Axis Manipulator....Pages 225-233
Structure Synthesis of Parallel Manipulators....Pages 235-240
Design of Manipulators Under Dynamic and Kinematic Performances....Pages 241-248
Influence of Leg Flexibilities on the Trajectory Planning of a 3-DOF Spherical Parallel Manipulator....Pages 249-256
Study on the Specific Characteristics of Various Actuators....Pages 257-264
Micro-Manipulation and Adhesion Forces....Pages 265-273
Universal Dental Robot — 6-DOF Mouth Opening and Closing Training Robot WY-5....Pages 275-284
Development of the Design of Polycrank Manipulator Without Joint Limits....Pages 285-292
Front Matter....Pages 293-293
Emotion-based Walking of a Biped Humanoid Robot....Pages 295-306
Design and Control of the Humanoid Robot ARMAR....Pages 307-312
On Dynamics of Movement of Walking Machines with Gears on the Basis of Cycle Mechanisms....Pages 313-322
Development of Walking Machines: Novel Leg Drive Design and Control....Pages 323-329
Autonomous Locomotion of Walking Machines in Rough Terrain....Pages 331-337
Design and Control of a Biped Robot....Pages 339-345
Six Link Mechanisms for the Legs of Walking Machines....Pages 347-354
Design, Analysis and Measurements Problem of Mili-Walking Machines Using Multi-Body System Formulation....Pages 355-362
Modelling, Simulation and Nonlinear Control of a Combined Legged and Wheeled Vehicle....Pages 363-370
A New Local Path Planner for a Nonholonomic Wheeled Mobile Robot in Cluttered Environments....Pages 371-378
Front Matter....Pages 293-293
Three-Dimensional Simulation of Walk of Anthropomorphic Biped....Pages 379-387
Front Matter....Pages 389-389
Cooperative Micro Object Handling by Dual Micromanipulators under Vision Control....Pages 391-400
A Comparative Study of Torque Control Using a Wrist or a Base Force/Torque Sensor....Pages 401-408
Front Matter....Pages 409-409
Quality Feature Based Adjustment of Robot Programs Exemplified for the Welding Process — MAGROB....Pages 411-419
Application of the RNT Robot to Milling and Polishing....Pages 421-429
Path Planning in Complex Environments for Industrial Robots with Additional Degrees of Freedom....Pages 431-438
Robotic Deburring Using a Fuzzy Force Controller....Pages 439-445
A Distributed SMA Actuator System and Associated Self-Guiding Control Strategy for a Scalable Endoscope Steering Device....Pages 447-455
Front Matter....Pages 457-457
Low-Energy Biped Locomotion....Pages 459-466
Jumping Motion of an Object Controlled by Muscle Contraction....Pages 467-477
Inverse Simulation Study of Trampoline-Performed Somersaults....Pages 479-487
Functional Biomechanics of Human Grasping and Requirements for Simple Robotic End-Effectors....Pages 489-499
Back Matter....Pages 501-511