RoManSy 9: Proceedings of the Ninth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

On micromechanisms and their researches and developments....Pages 1-12
New manipulators with simple inverse kinematics....Pages 13-22
The semigraphical determination of all real inverse kinematic solutions of general six-revolute manipulators....Pages 23-32
An approach to symbolic kinematics of multiloop robot mechanisms....Pages 33-40
Analytical form solution of the direct kinematics of a 4–4 fully in-parallel actuated six degree-of-freedom mechanism....Pages 41-50
Characterization of redundancy in spatial closed kinematic chains....Pages 51-60
Finding collision-free trajectory for redundant manipulator by local information available....Pages 61-71
Some effects of the joint's drive systems torsional compliances and the velocity profiles on the 5R manipulator's dynamic accuracy....Pages 73-84
Comparing structures of stiffness matrices using invariants....Pages 85-92
Kineto-static analysis of cooperative robot manipulators achieving dexterous configurations....Pages 93-100
Geometrical decomposition of robot elasticity....Pages 101-110
A life devoted to TMM and robotics: Professor M. S. konstantinov....Pages 111-120
Multi-criteria optimization of robots for planar trajectory operations....Pages 121-127
Planning motions of robotic systems subject to force and friction constraints with an application to a robotic climber....Pages 129-139
Feasibility of trajectories in cluttered environments and automatic positioning of the robot....Pages 140-149
A new scheme for hybrid force-position control....Pages 150-159
An adaptive implicit hybrid position force control of robots: Implementation problems....Pages 160-169
Parallel computing of symbolic robot models and control laws: Theory and application on advanced multiprocessor architectures....Pages 170-178
Decoupling and suboptimal control for robots....Pages 179-185
‘Dynamic’ multi-functional tactile sensing....Pages 187-198
A concurrent interpreted language, including constraints, for robot programming....Pages 199-206
Flexible controller for robots equipped with sensors....Pages 207-214
A three degree-of-freedom in-parallel actuated manipulator....Pages 215-226
Planning workpiece grasp points for cooperating robot movements....Pages 227-233
Full envelope dexterous manipulation....Pages 234-242
Multi-degree of freedom spherical ultrasonic motor....Pages 243-252
A spatial fully-parallel manipulator....Pages 253-261
A new approach to the modelling of power grasp....Pages 262-271
Design of a carbon fiber robot: Architectural choices and design balancing....Pages 273-284
A new actuation system for high-performance torque-controlled manipulators....Pages 285-292
Real time kinematics for a 6 dof telerobotic joystick....Pages 293-300
Structural and kinematic synthesis of multi — Degree of freedom high-class manipulation devices....Pages 301-310
A control scheme for biped walking without impacts....Pages 311-321
Methods of evaluation of the power developed in a man's leg during normal walking....Pages 322-332
Modelling upper extremity muscles effort under static working conditions....Pages 333-338
Development of a coupled tendon drive manipulator with seven degrees-of-freedom....Pages 339-346
A basic concept of super rabbit....Pages 347-358
Dynamics and control of 6-legged walking machines....Pages 359-365
Robotics training station — A new application area in robotics....Pages 367-377
Interactive planning using graphical simulation for robot task programming....Pages 378-384
Supervision and sensing in flexible assembly....Pages 385-390
The robotic milking of cows....Pages 391-410
Telemanipulation control of a robotic hand with cooperatingfingers by means of telepresence with a hybrid virtual-real structure....Pages 411-417
Control of robot-based assembly cell....Pages 418-427
From the round table discussion: The role of dynamic control in contemporary and tomorrow's robotics....Pages 429-438