Theory and Practice of Robots and Manipulators: Proceedings of RoManSy 10: The Tenth CISM-IFToMM Symposium

Front Matter....Pages ii-xiv
Front Matter....Pages 1-1
Past, Present and Future of RoManSy Symposia Where are we going ?....Pages 3-17
Front Matter....Pages 19-19
Position Analysis of the Rhombic Assur Group....Pages 21-31
A New Method for the Inverse Kinematics....Pages 33-38
An Algebraic Formulation for the Workspace Determination of General 4R Manipulators....Pages 39-48
Discrete Calculation of Set Points in Mechanism Motion Control....Pages 49-56
Front Matter....Pages 57-57
Analysis of the Acceleration Characteristics of Manipulators....Pages 59-64
Dynamics of Elastic Robot Arms with Varying Length....Pages 65-70
Front Matter....Pages 71-71
An Application of the Rigid Finite Element Method to Modelling of Flexible Structures....Pages 73-78
Sensitivity Analysis of Multibody Systems....Pages 79-84
Singularity Analysis of Spherical Parallel Manipulators....Pages 85-90
Dynamics of Evolving Systems....Pages 91-98
Front Matter....Pages 99-99
Anthropomorphic Telemanipulation System in Terminus Control Mode....Pages 101-111
Path Planning of Redundant Manipulator and Determination of its Configuration of Bending Elastic Plate Spring....Pages 113-118
Redundancy Resolution for two Cooperative Spatial Manipulators with a Sliding Contact....Pages 119-124
Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor....Pages 125-130
Optimal Efficiency of a Robot Environment Interaction Task in a Matching Impedance Approach....Pages 131-141
Modelling and Control of Constrained Robots....Pages 143-152
Impedance Control of an Industrial Manipulator in a Dual Arm Assembly Cell....Pages 153-159
Front Matter....Pages 161-161
Modelling and Control Synthesis of Flexible Multibody Systems....Pages 163-170
Contribution to the Position/Force Control of a Robot Interacting with Dynamic Environment in Cartesian Space....Pages 171-176
Front Matter....Pages 161-161
Inverse Dynamics Approach for Invariant Control of Constrained Robots....Pages 177-185
Simulation Experiments with Fuzzy Logic-Based Robot Control....Pages 187-192
Application of Neural Nets for Control of Robotic Manipulators....Pages 193-200
A Structure and Principle of Operation of the Adaptive Control System of the Underwater Vehicle Motion....Pages 201-209
Parallel Computation and Control Method for Dynamic Motion Control of Robot by Utilizing Digital Signal Processor (DSP)....Pages 211-216
Front Matter....Pages 217-217
Analysis and Design of Position/Orientation Decoupled Parallel Manipulators....Pages 219-224
Parallel Manipulators with Controlled Complianace....Pages 225-230
A Multiobjective Optimisation Approach to Robot Kinematic Design....Pages 231-239
Development of Robotic Surgical Instruments....Pages 241-246
Optimization of Kinematics Performances of Manipulators under Specified Task Conditions....Pages 247-252
Front Matter....Pages 253-253
Dynamic Testing of Space Manipulators....Pages 255-260
Design of a Manipulator for Planetary Rovers....Pages 261-267
The Design and Control of a Novel Robot Structure with Differential Drive Units....Pages 269-274
Development of a Synchronous Motor with Three Degrees of Freedom....Pages 275-280
Design of the Fast Manipulator with Eliminated Joint Limits and Reduced Dynamic Interactions....Pages 281-286
Front Matter....Pages 287-287
Micro-Robot with Integrated Parallel Links....Pages 289-294
The Modelling of a Hand with 16 Degrees of Freedom Integrating Surfacic Elastic Contacts....Pages 295-300
Methodical Design of New Parallel Robots via the Lie Group of Displacements....Pages 301-306
Vibration Control of a one Link Flexible Arm: Experimental Results....Pages 307-312
Front Matter....Pages 313-313
Sensor-Based Reactive Robot Control....Pages 315-322
Front Matter....Pages 313-313
Sensing the Position of a Remotely Operated Underwater Vehicle....Pages 323-328
Micro-Energy Flow Beam-Shaped Microactuators and Sensors....Pages 329-334
Front Matter....Pages 335-335
Application of Polymer Gel to Micro-Actuator....Pages 337-342
History-Dependent Assembly Planning....Pages 343-348
Robotic Deburring Task Design Based on the Nature of Burr....Pages 349-356
Numerical Modelling of a Floating Robot....Pages 357-364
Front Matter....Pages 365-365
Development of Actively Controlled Electro-Hydraulic Above-Knee Prostheses....Pages 367-372
Investigation of Terrain Adaptive Control Foe a Walking Machine Motion....Pages 373-378
Design of the Program Regime for Biped Walking Anthropomorphic Apparatus....Pages 379-385
Impulsive Control for Anthropomorphic Biped....Pages 387-393
Estimating Power of Walking: Method and Instrumentation....Pages 395-405
CAD/CAM and Robotics: A Bioengineering Application in Bone Prosthesis Realization....Pages 407-415
Back Matter....Pages 417-427